Extensible Robot Arm Locking Mechanism for Rigid Body Stability
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Solution Overview
Problem
Existing linearly-extensible and retractable arm mechanisms for robots do not form a sufficiently secure rigid body when separated, leading to instability and potential safety concerns in applications where precision and safety near humans are critical.
Innovation Solution
The mechanism consists of a first structure group coupled with a second structure group, where lock parts fix the second structures to the first structures during extension, forming a rigid body and allowing secure engagement and disengagement to ensure reliable and smooth extension and retraction.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Volume of moving object
If two structure assemblies are placed one upon another to form a linearly-extensible arm mechanism, then the arm can extend and retract with relatively less space requirement, but the structures may separate in their tracks and do not form a sufficiently secure rigid body
Solution Approach 1:
The arm mechanism is divided into multiple structure assemblies that can be separated and reconnected. Each assembly contains locking structures (protrusions and recesses) that enable secure connection when joined, while allowing easy separation when needed. This segmentation resolves the contradiction by providing both compact storage capability and secure rigid body formation during operation.
Solution Approach 2:
The locking structures are implemented with specific local geometric features (protrusions and recesses) at critical connection points. These localized structural modifications ensure that when structure assemblies are connected, they form a secure rigid body without requiring complete redesign of the entire mechanism, thus maintaining space efficiency while improving reliability.
2Reliability
If lock parts are added to fix structure assemblies together, then rigid body formation is improved, but device complexity increases
Solution Approach 1:
The locking function is merged into the structural design itself through integrated protrusions and recesses that are part of the structure assemblies. This eliminates the need for separate locking mechanisms or additional components, thereby improving rigid body formation without significantly increasing device complexity.
Solution Approach 2:
The structure assemblies are designed to self-lock through their inherent geometric features (protrusions fitting into recesses). The locking action occurs automatically when the assemblies are positioned together, without requiring external locking devices or complex control systems, thus maintaining simplicity while ensuring reliable rigid body formation.
Data Source
AI summary
An extendable and retractable arm mechanism includes a first structure group formed by coupling a plurality of first structures and a second structure group formed by coupling a plurality of second structures. Each of the first structures includes lock part for fixing the second structures. When the first structure group and the second structure group extend, the lock part fixes the second structures to the first structures.