Robot Arm Balancer Cable Layout for a Smaller Footprint
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Solution Overview
Problem
Conventional robots with spring-type balancers and cable arrangements face challenges in space saving, as they tend to increase the footprint, and the cable arrangement can further contribute to this issue.
Innovation Solution
A robot configuration featuring a fluid-filled cylinder balancer connected to both the rotation base and arm unit, with a cable routed along the arm unit outside the balancer, supported by the balancer, allowing for compact operation and reduced footprint through strategic routing and attachment points.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a spring type balancer is used for weight compensation, then the balancing function is achieved, but the footprint of the robot increases
Solution Approach 1:
The cable is arranged to pass through the interior space of the balancer, allowing the cable to be nested within the balancer structure. This eliminates the need for separate cable routing space, thereby reducing the overall footprint while maintaining the balancing function.
Solution Approach 2:
The cable arrangement transitions from a external side arrangement to an internal through arrangement, utilizing the vertical dimension through the balancer. This dimensional change allows more efficient space utilization and reduces the horizontal footprint.
2Ease of manufacture
If the cable is arranged along the multi-axis arm from the outer circumference of the rotation base, then the cable routing is simplified, but the footprint increases
Solution Approach 1:
The cable is routed to pass through the interior of the balancer rather than running externally along the arm. This nesting approach consolidates components and reduces the overall space required, thereby reducing footprint while maintaining manufacturability.
Solution Approach 2:
The cable routing path is merged with the balancer structure itself, using the balancer's internal space for cable passage. This combination eliminates the need for separate external cable routing, reducing the overall footprint.
3Reliability
If the cable is arranged outside the balancer while supported by it, then the cable is protected, but the space utilization is reduced
Solution Approach 1:
The cable passes through the interior space of the balancer, which provides inherent protection while utilizing the existing structural volume. This nested arrangement protects the cable without requiring additional external space, thereby improving space utilization.
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 enables space-saving design without restricting the operation of the robot's components, allowing for more flexible and compact handling operations like spot welding while minimizing the footprint and preventing cable interference.
Implementation Method 1
a balancer (16) connected to both the rotation base (12) and the arm unit (13a)
Data Source
Figure 1
Figure 2A
Figure 2B
AI summary
A robot (10) includes: a stage unit (11); a rotation base (12) connected to the stage unit in a rotatable manner around a predetermined rotating axis (S); an arm unit (13) connected to the rotation base and having a base end rotatable around a first rotation axis (L) that is substantially orthogonal to the rotating axis; a balancer (16) connected to both the rotation base and the arm unit; and a cable (17) arranged along the arm unit outside the balancer while supported by that balancer.