Horizontal Multi-Joint Robot Duct Design for Vibration Reduction

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Solution Overview

Problem

Horizontal multi-joint robots experience unwanted vibration and increased size due to the design of their harness, which causes deformation and requires excessive space.

Innovation Solution

The design includes a duct connected to first and second joints with inclined connecting portions, maintaining a constant curvature and reducing bending stress, allowing for reduced vibration and installation space.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Ease of manufacture

If the harness is designed with both ends extending directly upward to coincide with the axes of the first and second arms, then the connection to the joints is simplified, but the harness height increases and the installation space is enlarged

Engineering Contradiction:

Improveharness connection simplicityVSAvoidinstallation space

Core Design Contradiction:

Ease of manufactureVSVolume of stationary object

Solution Approach 1:

The duct connecting portions are arranged in the vertical direction rather than extending horizontally outward, changing the spatial dimension of the harness layout. This vertical arrangement reduces the horizontal installation space while maintaining effective connection to both joints through the inclined connecting portions

Inventive Principle:

Principle #17Another dimension (Dimensionality change)

2Ease of manufacture

If the roots of the harness are shifted from the axes of the first and second arms, then the harness can be routed more easily, but the harness deforms and vibrates during arm swiveling

Engineering Contradiction:

Improveharness routingVSAvoidharness vibration

Core Design Contradiction:

Ease of manufactureVSStability of the object's composition

Solution Approach 1:

The duct connecting portions are designed with inclined angles relative to the vertical axis, creating a curved or angled path rather than a straight horizontal connection. This curvature allows the duct to accommodate the relative motion between joints during swiveling, reducing deformation and vibration while maintaining ease of routing

Inventive Principle:

Principle #14Spheroidality (Curvature)

Solution Approach 2:

The inclined angle of the duct connecting portions is optimized to balance two requirements: providing sufficient clearance for easy routing and maintaining appropriate geometric relationships to minimize vibration. By adjusting this angular parameter, both routing ease and vibration reduction are achieved

Inventive Principle:

Principle #35Parameter changes

3Adaptability or versatility

If the duct has large curvature or excessive length, then it can accommodate joint movement, but vibration is generated during driving

Engineering Contradiction:

Improvejoint movement accommodationVSAvoidduct vibration

Core Design Contradiction:

Adaptability or versatilityVSObject-affected harmful factors

Solution Approach 1:

Inventive Principle:

Principle #35Parameter changes

Data Source

PatentUS10363671B2Horizontal multi-joint robot and robot

Publication Date: 2019.07.30 SEIKO EPSON CORP

AI summary

A horizontal multi-joint robot includes: a first joint capable of swiveling around a first axis; a second joint capable of swiveling around a second axis that is parallel to and spaced apart from the first axis; and a duct connected between the first joint and the second joint. The first joint has a first connecting portion forming a predetermined angle relative to the first axis. The second joint has a second connecting portion forming a predetermined angle relative to the second axis. The duct has a first end and a second end. The first end is connected to the first connecting portion. The second end is connected to the second connecting portion.