Piezoelectric Robot Arm Drive Reducing Distal Weight
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Solution Overview
Problem
Conventional robots with electromagnetic motor-driven joints face challenges in minimizing size, weight, and wiring space, particularly at the distal end, due to the larger mounting space requirements of these motors, leading to increased deadweight and difficulty in securing space for wiring and reducing the weight of the robot arm's wrist side.
Innovation Solution
The use of piezoelectric driving devices, which are smaller, lighter, and do not require a reducer or brake, allowing for efficient arrangement within the arm unit and reducing the weight of the distal end by using multiple piezoelectric driving devices to achieve the necessary drive power, thereby minimizing the size and weight of the driving components and optimizing wiring space.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Power
If electromagnetic motors are used as driving devices in robot arm joints, then sufficient drive power is achieved, but the mounting space increases and the robot arm becomes larger and heavier
Solution Approach 1:
The patent replaces electromagnetic motors with piezoelectric driving devices that convert electrical energy directly to mechanical motion through piezoelectric expansion/contraction. This substitution eliminates the need for large electromagnetic motors and reducers, significantly reducing the weight of the robot arm while maintaining sufficient drive power for joint actuation.
Solution Approach 2:
The patent changes the fundamental operating parameters of the driving device by using piezoelectric materials that expand and contract in response to applied voltage. This parameter change enables compact actuation without the bulky components required by electromagnetic motors, reducing both weight and mounting space while preserving driving capability.
2Force
If electromagnetic motors with reducers are used in robot arm joints, then adequate driving force is obtained, but the mounting space for the driving device increases
Solution Approach 1:
The patent substitutes electromagnetic motors and mechanical reducers with piezoelectric driving devices that generate motion through direct piezoelectric expansion and contraction. This eliminates the need for large mounting spaces required by traditional motor-reducer assemblies while maintaining adequate driving force for robot arm joint actuation.
Solution Approach 2:
The piezoelectric driving devices are integrated within the robot arm structure itself, with multiple drive parts arranged in overlapping configurations. This nesting approach allows the driving devices to be embedded within the arm's internal volume rather than requiring separate mounting spaces, effectively utilizing the robot arm's internal structure for housing the actuators.
3Length of moving object
If the robot arm thickness is reduced toward the distal end, then the robot arm becomes more compact, but space for driving device and wiring becomes insufficient
Solution Approach 1:
The patent integrates driving devices and wiring within the robot arm's internal structure through overlapping arrangements. The drive parts are positioned to overlap when viewed from different axes, and wiring is routed through openings in driven parts, allowing compact arm design while maintaining necessary space for actuators and electrical connections.
Solution Approach 2:
The patent utilizes three-dimensional overlapping arrangements of drive parts along multiple axes. When viewed along different axes, the drive parts overlap in different configurations, effectively using vertical and lateral spaces within the arm structure. This dimensional approach maximizes space utilization, enabling compact arm design while accommodating driving devices and wiring.
4Reliability
If electromagnetic motors are used in robot arm joints, then reliable actuation is achieved, but the deadweight of the robot arm increases
Solution Approach 1:
The patent replaces electromagnetic motors with piezoelectric driving devices that provide reliable actuation through direct piezoelectric expansion and contraction. This substitution maintains actuation reliability while dramatically reducing the deadweight of the robot arm, as piezoelectric materials can generate sufficient force with minimal mass compared to electromagnetic motors and their supporting structures.
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
This configuration results in a more compact, lightweight robot arm with improved operability and reduced sagging due to its own weight, while effectively managing the space for wiring and drive components, particularly at the distal end.
Implementation Method 1
at least one of the first drive part and the second drive part contains a piezoelectric body
Data Source
AI summary
A robot includes a first arm unit and a second arm unit. The robot includes a first drive part provided within the first arm unit and rotating the first arm unit about a first axis, and a second drive part provided within the first arm unit and rotating the second arm unit about a second axis. At least one of the first drive part and the second drive part contains a piezoelectric body.