Integrated Robot Joint Assembly for Precise Alignment
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Solution Overview
Problem
Existing robotic arms face challenges in achieving flexibility, compactness, and reliability while maintaining ease of production and reducing the risk of misalignment, particularly in lightweight collaborative robots.
Innovation Solution
A robotic arm design featuring a plurality of joints with integrated joint assemblies, including a housing, output bearing, strain wave gearing, and rotor systems, along with a coupling element and locking mechanism to ensure precise alignment and efficient movement, facilitated by a compact and reliable joint assembly.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If traditional separate joint assemblies are used, then alignment precision can be maintained, but device complexity and production cost increase
Solution Approach 1:
The patent combines multiple separate joint assemblies (first joint assembly and second joint assembly) into a single integrated joint assembly. The housing contains both the first joint with its motor and strain wave gearing, and the second joint with its motor and strain wave gearing, eliminating the need for separate assemblies and reducing alignment issues between separate components.
Solution Approach 2:
The integrated joint assembly serves multiple functions within a single structure. It provides both the first joint rotation and the second joint rotation, along with their respective motor drives and strain wave gearing systems, all within one housing unit that can be mounted as a single component.
2Volume of moving object
If compact joint assembly is implemented, then robot flexibility and compactness improve, but manufacturing precision may deteriorate
Solution Approach 1:
By merging multiple joint assemblies into one integrated unit, the patent reduces the overall volume and number of components. The housing contains all necessary elements (motors, strain wave gearing, output shafts) in a compact arrangement, improving robot flexibility while maintaining precision through integrated manufacturing.
Solution Approach 2:
The patent employs a nested arrangement where the second joint assembly is positioned within or alongside the first joint assembly within the same housing. The strain wave gearing systems are nested within the housing space, and output shafts are arranged concentrically or adjacently, maximizing space utilization while maintaining alignment precision.
3Ease of manufacture
If integrated joint assembly is used, then production cost and ease of manufacture improve, but device complexity increases
Solution Approach 1:
The integration of multiple joint assemblies into a single unit simplifies the manufacturing process by reducing the number of separate components that need to be produced, shipped, and assembled. The housing can be manufactured as a single piece or pre-assembled unit, and the entire joint assembly can be installed as one component, reducing labor and assembly time.
Solution Approach 2:
While the overall assembly is integrated, the patent maintains internal segmentation with distinct first and second joint assemblies, each with their own motors and strain wave gearing. This segmentation allows for modular manufacturing of internal components while achieving integration at the system level, balancing ease of manufacture with functional complexity.
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 the flexibility and reliability of robotic arms, simplifies production, reduces misalignment risks, and lowers production costs, resulting in a more efficient and robust robotic joint assembly.
Implementation Method 1
a strain wave gearing system comprising: a flexspline extending along the joint axis between an open flexspline end and a flexspline base with a flexspline centre aperture, the flexspline is forming a flexspline cavity, a circular spline fastened to the housing, and being arranged to encircle the flexspline at the open flexspline end, and a wave generator fastened to the rotor shaft and being arranged inside the flexspline cavity at the open flexspline end
Implementation Method 2
an output bearing assembly coupling the output part and the housing and allowing rotational movement around the joint axis between the output part and the housing
Implementation Method 3
a first rotor bearing assembly arranged inside the primary element part of the coupling element and coupling the coupling element and the rotor shaft allowing rotational movement around the rotor axis between the coupling element and the rotor shaft
Implementation Method 4
a motor comprising a rotor and a stator, the rotor turning a rotor shaft extending along a rotor axis from a primary rotor end to a secondary rotor end
Data Source
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AI summary
A robot with a robotic arm, and a robot joint assembly for forming a joint of a robotic arm are disclosed. Further, a method for assembling a robot joint assembly is disclosed. The robot joint assembly comprises a housing, an output part, a motor comprising a rotor and a stator, the rotor turning a rotor shaft, a first rotor bearing assembly allowing rotational movement around the rotor axis between of rotor shaft. The disclosure further disclose means and elements for ensuring correct alignment between elements of the joint assembly and for facilitating ease of assembly.