Parallel Link Robot Moving Part Rigidity and Weight Optimization
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Solution Overview
Problem
Existing parallel link robots face challenges in achieving high rigidity while minimizing weight, particularly in the moving part, which affects their speed and size, and also struggle with fluid buildup during cleaning, especially in sanitary environments.
Innovation Solution
The design incorporates a linking/reinforcing part that bypasses the universal joint, forming a belt-shaped member to reinforce the cutaway part of the casing, and includes through holes and grooves to maintain rigidity while reducing weight, along with a posture changing mechanism that adjusts the bevel gears to optimize bearing load and fluid flow.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Weight of moving object
If the moving part is made thinner to reduce weight, then weight is reduced and speed increases, but rigidity deteriorates
Solution Approach 1:
The moving part is divided into multiple functional regions: the main body casing, the cutaway part for universal joint accommodation, and the linking/reinforcing part that bypasses the cutaway. This segmentation allows each region to be optimized independently - the main body can be thinned for weight reduction while the linking part provides localized reinforcement to maintain overall rigidity.
Solution Approach 2:
The universal joint is nested within the cutaway part of the moving part, allowing the universal joint mechanism to be integrated into the moving part structure itself rather than being a separate external component. This nesting reduces overall complexity and allows the cutaway to be precisely shaped to accommodate the universal joint while minimizing material removal.
2Volume of moving object
If the moving part is made thinner to reduce size, then size is reduced, but rigidity deteriorates
Solution Approach 1:
The moving part is divided into multiple functional regions: the main body casing, the cutaway part for universal joint accommodation, and the linking/reinforcing part that bypasses the cutaway. This segmentation allows each region to be optimized independently - the main body can be thinned for weight reduction while the linking part provides localized reinforcement to maintain overall rigidity.
Solution Approach 2:
Different regions of the moving part have different thicknesses and structural properties. The main body casing can be made thinner in non-critical areas, while the linking/reinforcing part that bypasses the cutaway maintains sufficient thickness and provides localized structural support where rigidity is most needed, creating a non-uniform but optimized structural quality distribution.
3Ease of operation
If a cutaway part is formed to accommodate the universal joint, then the universal joint can be positioned on the required line, but rigidity deteriorates
Solution Approach 1:
The moving part is divided into multiple functional regions: the main body casing, the cutaway part for universal joint accommodation, and the linking/reinforcing part that bypasses the cutaway. This segmentation allows each region to be optimized independently - the main body can be thinned for weight reduction while the linking part provides localized reinforcement to maintain overall rigidity.
Solution Approach 2:
The linking/reinforcing part combines multiple functions: it structurally reinforces the cutaway region to maintain rigidity, provides a mounting path for the universal joint, and connects the two ends of the cutaway. By merging these functions into a single integrated component, the design achieves both rigidity maintenance and proper universal joint positioning without requiring separate reinforcement elements.
4Speed
If the moving part is lightened to increase operating speed, then speed increases, but rigidity deteriorates
Solution Approach 1:
The moving part is divided into multiple functional regions: the main body casing, the cutaway part for universal joint accommodation, and the linking/reinforcing part that bypasses the cutaway. This segmentation allows each region to be optimized independently - the main body can be thinned for weight reduction while the linking part provides localized reinforcement to maintain overall rigidity.
Solution Approach 2:
Different regions of the moving part have different thicknesses and structural properties. The main body casing can be made thinner in non-critical areas to reduce weight and increase speed, while the linking/reinforcing part that bypasses the cutaway maintains sufficient thickness and provides localized structural support where rigidity is most needed, creating a non-uniform but optimized structural quality distribution.
Data Source
AI summary
A parallel link robot (10) includes an additional actuator (13d) which is arranged between two driven links (22b, 23b) in parallel with these driven links, a power transmission shaft part (39) which extends coaxially from the additional actuator and transfers the rotational drive force of the additional actuator to a posture changing mechanism part (15), a universal joint (38) which links the shaft part (14) which extends from the posture changing mechanism part and a power transmission shaft part, and a linking/reinforcing part (61) which bypasses the universal joint and links together and reinforces the two ends of the cutaway part of the casing of the moving part (12).