Industrial Robot Attachable Four-Bar Link Mechanism
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Solution Overview
Problem
Conventional industrial robots face limitations in adjusting loading weights for different applications without increasing the robot's weight or incurring additional costs, as they are designed with a predesigned and predetermined loading capacity, making them unsuitable for varied tasks and docking with other robots.
Innovation Solution
An industrial robot equipped with an attachable/detachable four-bar link mechanism allows for changing the loading weight by adjusting the installation position of the decelerator and connecting the four-bar link between the decelerator and column frame, without adding a separate actuator or altering the decelerator capacity, thereby increasing or decreasing the loading weight and stiffness.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Force
If the actuator and decelerator are changed to increase loading weight, then the loading weight is improved, but the robot body weight increases and design complexity increases
Solution Approach 1:
The robot system is divided into modular components: a common robot body and separate actuator assemblies that can be independently configured. The actuator assembly includes the motor, decelerator, and four-bar link mechanism as integrated modules that can be attached or detached based on loading weight requirements, allowing the robot body to remain lightweight while achieving variable loading capacities.
Solution Approach 2:
The system transitions from a static, fixed loading weight design to a dynamic, adjustable configuration. The attachable/detachable actuator assemblies allow the robot to adapt its loading weight dynamically based on task requirements, enabling the same robot body to serve multiple applications with different force requirements without permanent modifications.
2Force
If a separate actuator is added to increase loading weight, then the loading weight is improved, but the device complexity and manufacturing cost increase
Solution Approach 1:
Multiple functional components are merged into integrated actuator assemblies: the motor, decelerator, and four-bar link mechanism are combined as a single attachable unit. This merging reduces the number of separate components that need to be managed, installed, and maintained, thereby reducing overall system complexity while achieving the goal of variable loading weight.
Solution Approach 2:
The robot body is designed as a universal platform that can accommodate multiple actuator assemblies with different specifications. The standardized interface and mounting structure allow the same robot body to perform multiple functions with different loading weights by simply changing the actuator assembly, reducing the need for multiple specialized robot designs.
3Force
If the decelerator capacity is increased to support higher loading weight, then the loading weight is improved, but the decelerator volume and weight increase
Solution Approach 1:
The decelerator capacity is segmented into multiple discrete levels corresponding to different actuator assemblies. Instead of using one large decelerator for maximum capacity, the system uses several smaller decelerators of different sizes that can be selected based on the specific task requirements, reducing the volume and weight of the decelerator for each individual application.
4Ease of manufacture
If the robot is designed with predesigned loading weight, then the manufacturing cost is reduced, but the adaptability to different applications decreases
Solution Approach 1:
The robot system transitions from a static, fixed loading weight design to a dynamic, adjustable configuration. The attachable/detachable actuator assemblies allow the robot to adapt its loading weight dynamically based on task requirements, enabling the same robot body to serve multiple applications with different force requirements without permanent modifications.
Solution Approach 2:
The robot body is designed as a universal platform that can accommodate multiple actuator assemblies with different specifications. The standardized interface and mounting structure allow the same robot body to perform multiple functions with different loading weights by simply changing the actuator assembly, reducing the need for multiple specialized robot designs.
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 solution enables the industrial robot to adapt to different loading weights without significant weight increase, reducing manufacturing costs and allowing the robot to be used as a common robot for various tasks, while maintaining the existing decelerator's functionality.
Implementation Method 1
a four-bar link installed between an output shaft of the decelerator and the column frame
Data Source
AI summary
The invention relates to an industrial robot having an apparatus for driving an attachable/detachable four-bar link mechanism, comprising: a base frame having a rotating joint for a robot body; a pivot frame which is coupled to the rotating joint and which has a rotating joint; a column frame which is coupled to the rotating joint of the pivot frame, and which has a straight-line joint; a motor arranged in the pivot frame to rotate the column frame; a decelerator attachably/detachably mounted on the rotating joint of the pivot frame or directly on the pivot frame to receive driving force from the motor; and a four-bar link installed between an output shaft of the decelerator and the column frame.