Robot Joint Arrangement with Offset Axes
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Solution Overview
Problem
Conventional joint arrangements in robots, such as pan-tilt units and linear axes, face limitations in performing natural circular movements and are prone to center of gravity shift during inclination, restricting their use in manipulations on uneven surfaces.
Innovation Solution
A joint arrangement with a first base element incorporating a first rotation axis, a second rotation element mounted for swiveling on the first rotation axis, and a third rotation axis with an axial offset and inclination, creating an intersection point outside the joint, which minimizes center of gravity shift during inclining or bending movements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If conventional linear axes or pan-tilt units are used in robot joints, then the structure is simple and easy to manufacture, but the center of gravity shifts significantly during inclination movements, limiting the robot's ability to perform manipulations on uneven surfaces
Solution Approach 1:
The joint arrangement is divided into multiple rotation elements (first rotation element with first rotation axis, second rotation element with second rotation axis, third rotation element with third rotation axis) that can independently rotate relative to each other. This segmentation allows the system to achieve complex motion patterns including circular movements and inclination adjustments while maintaining center of gravity stability through coordinated rotation of the separate elements.
Solution Approach 2:
The patent introduces axial offsets between rotation axes and inclines the second rotation axis relative to the first, creating a three-dimensional configuration where rotation axes intersect at points outside the joint arrangement. This dimensional arrangement enables the system to perform natural circular movements and maintain stability during inclination by distributing rotational motion across multiple axes in different orientations.
2Adaptability or versatility
If spherical joints are used to fix the upper section bending forward relative to the plinth, then the joint can accommodate inclination movements, but the center of gravity shift problem is not resolved and the structure becomes more complex
Solution Approach 1:
The joint arrangement employs multiple rotation elements that can dynamically adjust their positions through independent rotation about their respective axes. The first rotation element rotates about the first rotation axis, the second rotation element rotates about the second rotation axis, and the third rotation element rotates about the third rotation axis. This dynamic configuration allows the system to accommodate inclination movements while maintaining center of gravity stability through coordinated rotation, avoiding the center of gravity shift problems associated with fixed spherical joints.
3Stability of the object's composition
If the second rotation axis is inclined relative to the first rotation axis with an axial offset, then the rotation axes create an intersection point outside the joint arrangement enabling stable center of gravity, but the device complexity increases
Solution Approach 1:
The patent combines multiple rotation elements and axes into a single integrated joint arrangement. The first rotation element, second rotation element, and third rotation element are merged into one cohesive structure where the rotation axes are configured with specific axial offsets and inclinations. This merging allows the complex stable configuration to be achieved within a compact joint assembly, reducing overall system complexity while maintaining center of gravity stability.
Data Source
AI summary
A joint arrangement includes at least one driven axis for activating a movement of a component of a robot, wherein a first base element (15) receives a first rotary element (16) rotatable about a first axis of rotation (14). The first rotary element (16) receives a second axis of rotation (18) separate from the first axis of rotation (14) and about which a second rotary element (22) is pivotably mounted on the first rotary element (16). The second rotary element (22) has a third axis of rotation (25) separate from the second axis of rotation (18) and about which a second base element (26) is rotatable relative to the second rotary element (22). The first and second axes of rotation (14, 18) have a point of intersection (29) lying outside the joint arrangement (11) and have an axial offset (19) relative to one another.