Robot Joint Structure With Load-Triggered Disengagement
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Designing a joint structure for robots that can handle unpredictable loads, as autonomous robots like humanoid or pet robots may encounter obstacles or lift objects, making it difficult to anticipate and manage the range of loads exerted on their joints during autonomous learning and interaction.
Innovation Solution
A joint structure that includes a coupling mechanism allowing full utilization of the coupling force between two members, which engages and disengages when a predetermined relative displacement is exceeded, incorporating a first and second member with a through path for wiring and a pivoting shaft configuration to maintain engagement and prevent damage from excessive loads.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If a joint structure is designed to be strong and rigid to handle unexpected loads, then the robot can withstand higher forces, but the joint becomes more complex and heavier
Solution Approach 1:
The joint structure is divided into separate members (first member, second member) with distinct engagement faces, allowing each component to be optimized independently while maintaining overall strength through controlled engagement and disengagement mechanisms
Solution Approach 2:
The joint structure changes its engagement state dynamically based on load conditions. Under normal conditions, members remain engaged to provide strength. When unexpected loads are detected through relative displacement exceeding a predetermined amount, the coupling mechanism breaks the engaged state, allowing the joint to withstand forces without requiring permanently complex reinforcement
2Reliability
If the joint structure maintains a fixed engaged state to ensure stability, then connection reliability is improved, but the robot cannot adapt to unexpected loads or obstacles
Solution Approach 1:
The joint structure transitions from a static engaged state to a dynamic system that can break engagement when relative displacement exceeds a predetermined amount. This allows the joint to maintain reliability under normal conditions while adapting to unexpected loads by disengaging, preventing damage from obstacles or unintended forces
Solution Approach 2:
The coupling mechanism incorporates a feedback mechanism through the relative displacement detection. When the displacement between first and second members exceeds the predetermined threshold, the system responds by breaking the engaged state, providing adaptive protection without requiring external control systems
3Adaptability or versatility
If the joint structure allows easy disengagement to handle unexpected loads, then adaptability to obstacles is improved, but the coupling force cannot be fully utilized during normal operation
Solution Approach 1:
The joint structure is designed with engagement faces and coupling mechanisms that pre-establish the conditions for full coupling force utilization during normal operation. The structure is configured to maintain engaged state under expected loads, ensuring maximum strength utilization before any disengagement is triggered by unexpected conditions
Data Source
AI summary
A joint structure is used in connecting a first region and a second region of a robot. The joint structure includes a first member provided in the first region, a second member provided in the second region and having an engagement face that engages with the first member, and a coupling mechanism that causes a coupling force of the first member and the second member to be utilized to the full so that an engaged state of the first member and the second member is maintained. The coupling mechanism breaks the engaged state when a relative displacement of the first member and the second member from the engaged state exceeds a predetermined amount.