Robot Arm Wire Routing Structure Around Belt-Driven Joints
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Robot arms face challenges in maintaining the stability and path length of wires, such as power and communication lines, which can lead to disconnection and damage due to contact with drive force transmission components like timing belts, especially when these wires are not properly fixed and swing during motion.
Innovation Solution
A robot arm design that includes a supporting member within the internal space to guide and secure wires, reducing the likelihood of contact with belts and enhancing the detection sensitivity of sensors by routing them through a region surrounded by driven pulleys and belts, while maintaining a shorter path length.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If wires are laid inside the robot arm to connect functional components, then disconnection is prevented, but wires swing and contact drive force transmission components causing damage
Solution Approach 1:
A wire support structure is introduced as an intermediary component between the wire and the timing belt. This support structure guides the wire along a safe path and prevents direct contact with the timing belt, thereby eliminating the harmful effect while maintaining the wire connection inside the robot arm.
Solution Approach 2:
The wire routing path is divided into multiple segments: a first section from the proximal end to the distal end of the robot arm, and a second section from the distal end back toward the proximal end. The wire support structure creates a separated path that avoids the timing belt region, preventing contact while maintaining connectivity.
2Reliability
If wires are routed through the robot arm interior, then disconnection is prevented, but the path length increases and stability decreases
Solution Approach 1:
The wire routing is optimized by utilizing three-dimensional space within the robot arm structure. The wire support structure guides the wire through available internal passages and spaces, creating a more direct three-dimensional path rather than a longer two-dimensional surface path, thereby reducing overall wire length while maintaining protection.
3Measurement precision
If sensor is placed at distal end portion of robot arm, then detection sensitivity is improved, but wire swing and contact probability increase
Solution Approach 1:
The wire support structure serves as a mediator that enables the sensor to be positioned at the distal end for optimal detection sensitivity while simultaneously preventing the wire from contacting the timing belt. The support structure creates a protected routing path that extends to the distal end without intersecting the timing belt region.
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
This configuration effectively suppresses the swing of wires, reduces the probability of contact with belts, and minimizes damage, allowing for a lighter and more stable robot arm with improved sensor detection sensitivity.
Implementation Method 1
a belt transmitting the drive force generated by the drive unit to the driven pulley
Implementation Method 2
a sensor provided in a position overlapping with a region surrounded by the driven pulley and the belt in a plan view along the axis and detecting vibration
Data Source
AI summary
A robot arm includes a first member, and a second member translating along an axis located in the first member or rotating around the axis, and the first member has a base, a drive unit generating a drive force, a joint portion having a driven pulley and transmitting the drive force to the second member, a belt transmitting the drive force generated by the drive unit to the driven pulley, a sensor provided in a position overlapping with a region surrounded by the driven pulley and the belt in a plan view along the axis and detecting vibration, a wire routed to the region and coupled to the sensor, and a supporting member provided in the region and supporting the wire.