Robot Joint Unit Layout for Compact Dual Angle Detection
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Solution Overview
Problem
Existing joint units for robot arms face challenges in reducing size while maintaining multiple angle detection mechanisms, as simple arrangements of these mechanisms lead to increased thickness and hinder size reduction.
Innovation Solution
A joint unit configuration that shares an associated rotating body for two angle detection mechanisms, allowing for size reduction while maintaining accurate angle detection, with options for magnetic or optical patterns and detection mechanisms, and incorporating a decelerator and strain generating portion to optimize space usage.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If multiple angle detection mechanisms are simply continuously arranged, then angle detection capability is improved, but thickness in axial direction increases
Solution Approach 1:
The patent places one angle detection mechanism inside another by utilizing the hollow structure of the input shaft. The first angle detection mechanism is arranged in the hollow portion of the input shaft, while the second angle detection mechanism is arranged outside the input shaft. This nested arrangement allows both mechanisms to coexist in the same axial space, reducing the overall thickness while maintaining multiple angle detection capabilities.
Solution Approach 2:
The patent transitions from a one-dimensional linear arrangement of angle detection mechanisms to a two-dimensional spatial distribution. By placing mechanisms both inside and outside the hollow input shaft, the design utilizes radial and axial dimensions simultaneously, allowing multiple detection mechanisms to occupy the same axial thickness while maintaining their functional independence.
2Measurement precision
If multiple angle detection mechanisms are provided, then control accuracy is improved, but device size increases
Solution Approach 1:
The first angle detection mechanism is nested within the hollow input shaft, utilizing the existing internal space. This eliminates the need for additional external space that would normally be required for separate detection mechanisms, thereby maintaining compact device volume while providing multiple angle detection capabilities for enhanced control accuracy.
Solution Approach 2:
The hollow input shaft serves multiple functions: it transmits rotational motion from the motor to the decelerator, provides structural support, and simultaneously houses the first angle detection mechanism. This multi-functionality reduces the overall device volume by eliminating the need for separate dedicated spaces for each function.
3Measurement precision
If angle detection mechanisms are added to existing structure, then detection capability is improved, but structural complexity increases
Solution Approach 1:
The patent integrates the first angle detection mechanism within the hollow input shaft structure, utilizing the existing shaft as a housing. This nested integration reduces structural complexity by eliminating the need for separate external housings or mounting structures, while still providing enhanced detection capability through the presence of multiple angle detection mechanisms.
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 joint unit achieves size reduction while maintaining multiple angle detection mechanisms, enhancing detection accuracy and operational efficiency in constrained spaces.
Implementation Method 1
an output rotating body (44) that is coupled to the deceleration output shaft, and includes a strain generating portion (441) that generates strain due to rotation transmitted by the deceleration output shaft
Implementation Method 2
Each of the first angle detection mechanism and the second angle detection mechanism may be a mechanism for detecting an angle in which one is attached with a code wheel on which a predetermined magnetic pattern is formed, and the other is attached with a magnetic reading element that reads the magnetic pattern
Data Source
AI summary
A joint unit that is reduced in size including a plurality of angle detection mechanisms. A joint unit including an input-side support member for a rotationally driven input shaft, a decelerator that decelerates the input shaft to provide a deceleration output shaft, an output rotating body coupled to the deceleration output shaft including a strain generating portion that generates strain due to rotation transmitted by the deceleration output shaft, and an associated rotating body that is coupled to a output-side portion of the strain generating portion of the output rotating body to rotate together with the output rotating body disposed in a space between the input-side support member and an input-side portion of the strain generating portion of the output rotating body.