Robot Arm Overlap Configuration for Interference Reduction
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Solution Overview
Problem
Existing vertically articulated robots face interference issues when the base is fixed to a lower surface, as the rear portion of the third arm interferes with the first arm when trying to access the side or installation surface.
Innovation Solution
The robot design includes an n-th arm with a first and second portion, where the second arm is rotatable around a different axis, allowing overlap and separation, with the (n+1)-th arm being shorter than 80% of the second portion's length, enabling easy access to the installation surface and reducing interference.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Volume of moving object
If the base is fixed to a lower surface and the robot arm has multiple overlapping arms, then the robot can achieve a compact structure and extended reach, but the rear portion of the third arm interferes with the first portion of the first arm when accessing the side or installation surface
Solution Approach 1:
The patent makes the basic orientation of the (n+1)-th arm changeable, allowing the robot to dynamically adjust its arm configuration. By changing the basic orientation angle of the second arm relative to the first arm, the robot can avoid interference between arms when accessing the side or installation surface, while maintaining a compact overlapping structure during normal operation. This dynamic adjustment resolves the contradiction between compactness and accessibility.
2Ease of operation
If the (n+1)-th arm is made shorter to reduce interference, then accessibility to the installation surface is improved, but the reach range of the robot arm is narrowed
Solution Approach 1:
The patent specifies that the length of the (n+1)-th arm should be equal to or less than 80% of the length of the second portion when viewed in the axis direction of the (n+1)-th rotation axis. This parameter optimization allows the arm to be sufficiently short to avoid interference with the installation surface while maintaining adequate reach range for various work tasks. The 80% ratio provides an optimal balance between accessibility and reach capability.
3Strength
If the n-th arm is made more rigid to improve structural stability, then the arm can support heavier loads, but the weight and dimensions of the n-th arm increase
Solution Approach 1:
The patent incorporates a first portion in the n-th arm that extends in advance toward the (n+1)-th arm, creating a preliminary structural support before the main arm section. This preliminary extension provides additional rigidity and load-bearing capability to the n-th arm without requiring a substantial increase in overall arm weight, as the reinforcement is strategically positioned only where needed for structural integrity.
Data Source
AI summary
A robot includes: an n-th arm (where n is at least one integer equal to or greater than 1) that includes a first portion and a second portion having a portion extending in a different direction from the first portion and is rotatable around an n-th rotation axis; and an (n+1)-th arm that is installed in the n-th arm to be rotatable around an (n+1)-th rotation axis as a different axis direction from a axis direction of the n-th rotation axis. The second portion is located closer to the (n+1)-th arm than the first portion. The n-th arm and the (n+1)-th arm are overlapable when viewed in the axis direction of the (n+1)-th rotation axis. The n-th rotation axis and the (n+1)-th rotation axis are separate from each other. A length of the (n+1)-th arm is equal to or less than 80% of a length of the second portion.