Robot Joint Driving Apparatus with Idle Pulley for Wire Tension Control
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Solution Overview
Problem
Existing robot joint driving systems using reduction units suffer from noise and low efficiency, and those using wires face challenges in reverse-drivability and effective human-robot interaction.
Innovation Solution
A robot joint driving apparatus featuring a reversible drive motor, ball screw parts, an idle pulley, and an adjustment unit to manage wire tension, allowing for efficient and controlled movement of joints using a wire-based power transmission structure.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Force
If a reduction unit is used to drive the joint, then the driving force is amplified, but noise increases and driving efficiency decreases
Solution Approach 1:
The patent replaces the traditional reduction unit (mechanical gear system) with a wire-based transmission system. The motor directly drives the wire to move the movable member, eliminating the mechanical gears that generate noise. This substitution maintains force transmission capability while significantly reducing operational noise and improving efficiency.
2Force
If a reduction unit is used to drive the joint, then the driving force is amplified, but driving efficiency decreases
Solution Approach 1:
The patent replaces the traditional reduction unit (mechanical gear system) with a wire-based transmission system. The motor directly drives the wire to move the movable member, eliminating the mechanical gears that generate noise. This substitution maintains force transmission capability while significantly reducing operational noise and improving efficiency.
3Object-generated harmful factors
If a wire-based joint driving scheme is used, then noise is reduced and driving efficiency is improved, but reverse-drivability is poor
Solution Approach 1:
The patent employs a reversible drive motor that can dynamically change rotation direction. The motor controller enables the motor to rotate in both forward and reverse directions, allowing the movable member to move bidirectionally along the wire. This dynamic control capability provides excellent reverse-drivability while maintaining the noise reduction benefits of the wire-based system.
4Force
If wire tension is increased to improve power transmission, then driving force is enhanced, but tension on the movable member increases
Solution Approach 1:
The patent introduces an idle pulley as an intermediary element in the wire transmission path. The idle pulley redirects the wire and provides mechanical advantage, allowing the system to transmit sufficient driving force to the movable member while reducing the tension load on the wire and movable member connection points. This mediator enables effective power transmission with reduced stress.
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
The solution enhances joint driving efficiency, minimizes wire tension, and enables effective robot-human interaction by providing a stable and controlled mechanism for joint movement, improving the overall performance of robot joints.
Implementation Method 1
a pair of ball screw parts to which the movable members are screwed, respectively
Implementation Method 2
an idle pulley rotatably installed at a first side of the wire
Data Source
AI summary
Disclosed are a robot joint driving apparatus and a robot having the same, capable of minimizing tension of a wire applied to a movable member by installing an idle pulley in a power transmission structure using a ball screw apparatus and the wire. The robot joint driving apparatus includes a reversible drive motor, a pair of movable members performing a linear movement according to rotation of the reversible drive motor, a wire connected to the movable members from both directions of the movable members, an idle pulley rotatably installed at one side of the wire, a joint part rotatably installed at an opposite side of the wire, and an adjustment unit to adjust tension of the wire.