Articulated Robot Arm Layout for Wire Routing and Torque Transfer
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Solution Overview
Problem
Existing robot designs with rotating arms face challenges in efficiently guiding linear objects and managing wire paths due to complex and offset axis configurations, leading to issues with torque transmission and wire deformation during wide-range rotations.
Innovation Solution
A 6-axis articulated robot design featuring a base, swivel body, and two arms with specific gear sets and hollow sections that allow for high-torque rotation and streamlined wire guidance through strategically aligned axes, reducing the need for excessive wire lengths and preventing wire deformation during operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If complex and offset axis configurations are used in existing robot designs, then the robot can achieve wide-range rotations, but wire deformation occurs and torque transmission becomes inefficient
Solution Approach 1:
The robot arm is divided into multiple segments (first arm, second arm, third arm) with distinct rotational axes, allowing each segment to be optimized independently for wire routing while maintaining overall wide-range motion capability
Solution Approach 2:
A wire guide mechanism is introduced as an intermediary component to manage wire paths between rotating components, preventing wire deformation while enabling full range of motion across all joints
2Adaptability or versatility
If complex and offset axis configurations are used in existing robot designs, then the robot can achieve wide-range rotations, but torque transmission becomes inefficient
Solution Approach 1:
The patent implements dynamic torque transmission through synchronized control of multiple rotational joints, optimizing power delivery during wide-range rotations by adjusting transmission angles in real-time
Solution Approach 2:
The robot system dynamically changes operational parameters including joint angles and transmission ratios to maintain optimal torque transmission efficiency across the full range of motion, preventing power loss during extreme positions
3Reliability
If excessive wire lengths are used to accommodate complex axis configurations, then wire deformation is prevented, but the device complexity increases
Solution Approach 1:
Wire guides and routing channels are pre-configured during robot assembly to establish optimal wire paths before operation, eliminating the need for excessive wire length while preventing deformation during motion
Solution Approach 2:
The patent replaces traditional mechanical wire routing with a guided channel system that constrains wire movement, reducing wire length requirements while maintaining integrity during wide-range rotations
Data Source
AI summary
A robot includes: a base; a swivel body supported rotatable about a first axis; a first arm supported rotatable about a second axis perpendicular to the first axis; a second arm supported rotatable about a third axis parallel to the second axis; and a first wrist element supported rotatable about a fourth axis perpendicular to the third axis and disposed in a same plane as the first axis. A first hollow section penetrating along the first axis is provided in the base and the swivel body; a second hollow section penetrating along the fourth axis is provided in the first wrist element; the first and second arms have shapes allowing a linear object having passed through the first hollow section to be guided to the second hollow section via a space extending along a line connecting intersections of the first and second axes and the third and fourth axes.