Nested-Drive Articulated Robot Arm for Collision-Free Motion
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Solution Overview
Problem
Traditional industrial robot arms are hindered by external electrical or pneumatic motor connections, leading to increased bulk and collision risks, limiting their ability to perform precise and complex movements within a high solid angle.
Innovation Solution
An articulated robot arm design featuring trapezoidal truncated cylinders with internal angular drive means, including motors and gear mechanisms, allows for precise control and reduced bulk by routing these components inside the arm, enabling complex trajectories and high solid angle coverage.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If external electrical or pneumatic connections are used for motorization, then the robot arm can be powered and controlled, but the bulk increases and collision risks increase
Solution Approach 1:
The motorization system is nested within the robot arm structure itself. The stator is integrated into the robot arm body while the rotor is connected to the pivot link, creating a compact internal drive system that eliminates external connections and reduces overall bulk.
Solution Approach 2:
Instead of having the motor mounted externally and connected via transmissions, the invention inverts the arrangement by integrating the stator directly into the robot arm structure and positioning the rotor at the pivot point, reversing the traditional motorization approach.
2Adaptability or versatility
If external motor connections are used, then the robot arm can be actuated, but the rotation range is hindered
Solution Approach 1:
The invention extracts the source of hindrance by eliminating external connections entirely. The motorization system is self-contained within the robot arm, with no external cables or linkages required, allowing free rotation without external interference.
Solution Approach 2:
The robot arm's motorization system is self-sufficient, with the stator and rotor forming an integrated unit that requires no external servicing or connections during operation. The system serves itself by generating all necessary actuation forces internally.
3Measurement precision
If traditional motorization with external connections is used, then the robot arm can perform movements, but precision is reduced due to bulk and collision risks
Solution Approach 1:
The compact nested motorization system reduces the overall volume of moving components, allowing for more precise control and positioning. The integrated stator-rotor arrangement minimizes mechanical play and improves measurement precision.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The internal angular drive system reduces bulk, enhances precision, and ensures safe operation by eliminating external connections, allowing the robot arm to perform complex movements with reduced collision risks and increased safety.
Implementation Method 1
The inner holding member may comprise a cable connected to means for tensioning the cable. The tension of the cable may allow exerting a compression force on the robot arm.
Implementation Method 2
the rotor may have a worm screw configured to drive in rotation the gear wheel. The worm screw allows driving precisely the rotation of the trapezoidal truncated cylinder to which it is associated. Furthermore, the irreversibility of the connection between the worm screw and the gear wheel allows guaranteeing the holding in position of the robot arm.
Implementation Method 3
the bearing means may comprise at least one ball. The robot arm may comprise bearing means positioned between each trapezoidal truncated cylinder, to allow the rotation of the trapezoidal truncated cylinders relative to each other.
Implementation Method 4
the bearing means may comprise at least one cylindrical roller. The robot arm may comprise bearing means positioned between each trapezoidal truncated cylinder, to allow the rotation of the trapezoidal truncated cylinders relative to each other.
Data Source
AI summary
The invention relates to an articulated robot arm (1) which comprises a plurality of trapezoidal truncated cylinders (2) disposed in succession around an internal holding member (4), each trapezoidal truncated cylinder (2) being configured to pivot about the internal holding member (4), the internal holding member (4) having angular control means for controlling the rotation of each trapezoidal truncated cylinder (2).