Robot Arm Deformation Element for Joint Gap Safety
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Solution Overview
Problem
Existing robotic arms require manual intervention to secure variable joint gaps, which poses a risk of entrapment and jamming, especially when the gap opening width is greater than 5 millimeters.
Innovation Solution
Incorporating a deformation element, or buffer body, within the joint housings that can adjust to fill the variable joint gap, ensuring a residual gap width of no more than 5 millimeters, thereby preventing manual intervention and reducing the risk of entrapment by maintaining a minimum distance and using elastic materials to adapt to geometric variability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the joint gap opening width is greater than 5 millimeters, then the joint allows for easier assembly and maintenance access, but the risk of manual intervention and entrapment increases
Solution Approach 1:
A buffer body is introduced as an intermediary element between the first and second links. This buffer body fills the variable joint gap and prevents direct contact between human hands and the hazardous joint area, while still allowing the joint to function. The buffer body acts as a physical barrier that mediates between the need for access and the need for safety.
Solution Approach 2:
The buffer body is pre-positioned in the joint gap before operation. It is designed to automatically fill the gap when the joint moves, preventing manual intervention in advance. The buffer body is attached to one of the links and extends into the gap space, creating a protective barrier before any entrapment hazard can occur.
2Object-affected harmful factors
If a buffer body is introduced to fill the joint gap, then safety against manual intervention is improved, but the device complexity increases
Solution Approach 1:
The buffer body is designed to automatically fill the joint gap through the movement of the robot arm itself, without requiring additional actuators or control systems. As the joint moves and the gap changes size, the buffer body passively adjusts its position and shape to maintain coverage, making the safety function self-regulating and eliminating the need for complex control mechanisms.
Solution Approach 2:
The buffer body is made from elastic material that changes its physical parameters (shape and volume) in response to the varying joint gap dimensions. This elasticity allows the buffer body to adapt to different gap sizes as the joint moves through its range of motion, providing continuous protection without requiring adjustable mechanisms or multiple components.
3Adaptability or versatility
If the buffer body is made from elastic material to adapt to geometric variability, then adaptability to joint movement is improved, but the manufacturing precision requirements increase
Solution Approach 1:
The buffer body utilizes elastic material properties that allow it to change its physical dimensions and shape in response to the varying joint gap. This parameter change capability compensates for manufacturing tolerances, as the elastic deformation of the buffer body automatically adjusts to the actual gap dimensions, reducing the need for extremely precise manufacturing.
Solution Approach 2:
The buffer body is made from elastic material that combines flexibility with structural integrity. This composite material approach allows the buffer body to deform elastically to fit varying gap dimensions while maintaining sufficient rigidity to effectively block manual intervention, thereby reducing stringent manufacturing precision requirements.
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 solution effectively secures the joint gap against manual intervention, reduces the risk of jamming and crushing, and maintains mobility by using a passive, cost-effective design that can be monitored for safety in human-robot collaboration scenarios.
Implementation Method 1
the at least one first member and/or the second member comprises a deformation element which is formed in a variable joint gap between the first housing and the second housing due to an adjustment of the associated joint to form a buffer body
Data Source
Figure 1
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AI summary
The invention relates to a robot arm (2), comprising multiple parts (12) and multiple joints (11) which connect the parts (12) to one another in an articulated manner, wherein, in cooperation with the joints (11), the parts (12) are designed to carry a load and to move same in space, and the joints (11) can be automatically adjusted by means of motors of the robot arm (2) in order to move the parts (12), wherein, of the parts (12), at least one first part (12.1) has a first housing (14.1) and a respective neighbouring second part (12.2) has a second housing (14.2), and the housings (14.1, 14.2) are designed to transfer respective forces and torques occurring as a result of the weight of the robot arm (2) itself and/or the load to the neighbouring part (12.1, 12.2), and wherein the first housing (14.1) of the at least one first part (12.1) and/or the second housing (14.2) of the second part (12.2) has a deformation element (15a), which is designed to form a buffer body (15) in a joint space (16) between the first housing (14.1) and the second housing (14.2) which is changed due to an adjustment of the associated joint (11), said buffer body (15) at least substantially or completely filling the changeable joint space (16).