Robot Arm Internal Sensor Wiring for Entanglement-Free Motion
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Solution Overview
Problem
Existing robot systems with sensor wiring-line sets secured outside the robot arm face issues of obstruction and entanglement during motion, leading to potential catching on surrounding parts.
Innovation Solution
The sensor wiring-line set is arranged inside the robot arm, allowing it to twist around joint axes without being pulled, and the jacket-type sensor covers a wide area for touch detection.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If the sensor wiring-line set is secured onto external surfaces of the link parts, then the wiring-line set can be easily installed and connected, but the wiring-line set is pulled and caught on surrounding parts during robot arm motion
Solution Approach 1:
The sensor wiring-line set is arranged inside the robot arm, utilizing the internal space of the robot arm structure. This nesting approach protects the wiring-line set from external contact and catching while maintaining connection functionality, directly resolving the contradiction between ease of installation and reliability during motion.
2Ease of operation
If the wiring-line set has sufficient length to prevent obstruction of movement, then the robot arm can move freely, but the loose parts of wires may be caught on surrounding parts
Solution Approach 1:
The harmful loose wire ends are extracted from the external environment by routing the entire wiring-line set through the internal space of the robot arm. This eliminates the entanglement hazard while preserving the necessary length for free motion, as the wires are contained within the robot arm structure rather than hanging loosely externally.
3Ease of manufacture
If the wiring-line set is arranged outside the robot arm, then installation is simpler, but the wiring-line set obstructs the motion of the robot arm
Solution Approach 1:
The wiring-line set is relocated from the external dimension (outside the robot arm) to the internal dimension (inside the robot arm). This dimensional transition eliminates motion obstruction while maintaining installation feasibility through predefined internal routing paths, resolving the contradiction between installation simplicity and motion freedom.
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
Prevents the sensor wiring-line set from being caught on surrounding parts while maintaining the robot arm's motion, enabling efficient touch detection over a wide area without obstructing the arm's movement.
Implementation Method 1
a detector included in the jacket and configured to detect a touch on the jacket
Data Source
AI summary
A robot system includes a jacket-type sensor including a detector included in a jacket and configured to detect a touch on the jacket; and a sensor wiring-line set configured to transmit a detection result from the detector. The sensor wiring-line set is arranged inside the robot arm.