Parallel Link Robot Ball Joint Attachment Mechanism
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Solution Overview
Problem
Existing parallel link robots face challenges in efficiently replacing ball joints due to the need to maintain precise alignment and the complexity of disassembling support links.
Innovation Solution
The design incorporates attachment mechanisms with screw holes and through-holes that allow for detachable attachment of ball joints to drive links and movable members, enabling easy replacement without altering the distance between ball joints.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of repair
If ball joints are fixed using traditional screw holes in the axial direction, then the connection is stable, but the replacement process requires disassembling support links and maintaining precise alignment, increasing maintenance time and complexity
Solution Approach 1:
The attachment mechanism is segmented into a fixed part with a first screw hole and a moving part with a second screw hole, allowing independent replacement of ball joints without disassembling the entire support link structure. This segmentation enables localized maintenance while preserving the overall structural integrity.
Solution Approach 2:
The attachment mechanism acts as an intermediary component between the support link and the ball joint, providing a standardized interface that simplifies replacement. The mechanism includes a fixed part integrated with one component and a moving part that can be attached or detached independently, serving as a mediator that reduces the complexity of direct fastening.
2Reliability
If traditional fastening methods are used for ball joints, then the connection is secure, but the alignment precision must be maintained during assembly and replacement, increasing operational complexity
Solution Approach 1:
The attachment mechanism provides a universal interface that can be applied to multiple ball joints and support link configurations. The standardized first and second screw holes create a multi-functional attachment system that maintains reliable connections while simplifying operations through consistency and repeatability across different assembly points.
Solution Approach 2:
The attachment mechanism is designed to maintain its own alignment through the integrated fixed part and moving part structure. The first screw hole in the fixed part and the second screw hole in the moving part are positioned to automatically align during assembly, reducing the need for external alignment tools or procedures while ensuring reliable connection.
3Strength
If ball joints are permanently fixed to drive links and movable members, then the structure is rigid, but maintenance requires complete disassembly of the support link, reducing productivity
Solution Approach 1:
The attachment mechanism introduces dynamic capability to the previously static connection between support links and ball joints. The moving part with the second screw hole can be detached and reattached, allowing the structure to transition between a rigid operational state and a disassembled maintenance state. This dynamic attachment enables quick replacement of ball joints without complete disassembly of the support link.
Solution Approach 2:
The attachment mechanism allows for the discarding (detachment) of the moving part during maintenance and its subsequent recovery (reattachment) after ball joint replacement. The first screw hole in the fixed part and the second screw hole in the moving part are designed to maintain structural rigidity when connected, while allowing efficient separation when maintenance is required, enabling rapid replacement without permanent fixation.
Data Source
AI summary
A parallel link robot includes a base, a movable member, and multiple arms that connect the base and the movable member in parallel. Each of the arms includes: a drive link that is rotationally driven by a motor in the base; two parallel passive links that couple the drive link and the movable member; ball joints between the drive link and the corresponding passive link and between the movable member and the corresponding passive link; and attachment mechanisms that detachably attach the ball joints to the corresponding drive link or the movable member. Each ball joint includes a ball and a fixed part integral with the ball. At least one of the attachment mechanisms includes: a first screw hole in the fixed part; a second through-hole in the drive link or the movable member; and a screw member that is fastened to the first screw hole through the second through-hole.