Adjustable Joint Structure for Industrial Robot Umbilical Member Routing
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Industrial robots with wide motion ranges for their forearms experience umbilical member slacking and stress issues due to the fixed length and position of the umbilical member between the upper arm and forearm, which is not optimized for varying motion ranges, particularly when the forearm's rotation center is positioned below the line connecting the upper arm and wrist element.
Innovation Solution
A joint structure with adjustable fixing members and a containing section within the upper arm or forearm base to manage the length of the umbilical member, allowing for optimization of the margin of length based on the forearm's motion range, including the use of physical stoppers to limit and switch between different motion ranges, and adjustable second fixing members to optimize the umbilical member's route and position.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the motion range of the forearm is expanded to achieve wide motion range at the rear side, then the robot's operational flexibility is improved, but the umbilical member becomes slack and experiences stress issues
Solution Approach 1:
The patent applies the dynamics principle by making the umbilical member adjustable in length and position. The fixing members can be repositioned along the upper arm and forearm base to dynamically adapt the umbilical member configuration to different motion ranges. This allows the system to optimize the umbilical member margin of length corresponding to changes in forearm motion range, preventing slack and stress issues while maintaining operational flexibility.
Solution Approach 2:
The patent implements parameter changes by allowing adjustment of the umbilical member's effective length and position parameters. The fixing members can be moved to different locations, changing the geometric parameters of the umbilical member routing. This enables optimization of the umbilical member margin of length to match the actual motion range being used, resolving the contradiction between wide motion range and umbilical member stress.
2Adaptability or versatility
If the umbilical member length is increased to accommodate wide motion range, then the motion flexibility is improved, but the umbilical member slacks outwardly in the lateral direction
Solution Approach 1:
The patent applies local quality by making the umbilical member routing adjustable at specific locations along the upper arm and forearm base. Rather than having a fixed uniform routing, the fixing members can be positioned at different locations to create locally optimized routing paths. This allows the umbilical member to maintain proper tension and shape in the lateral direction while accommodating the required motion range.
Solution Approach 2:
The adjustable fixing members enable dynamic reconfiguration of the umbilical member routing. When the motion range changes, the fixing members can be repositioned to optimize the umbilical member path, preventing outward slacking in the lateral direction while maintaining adequate length for the expanded motion range.
3Stability of the object's composition
If the umbilical member is fixed in position to maintain stable routing, then the routing stability is improved, but it cannot adapt to changes in forearm motion range
Solution Approach 1:
The patent resolves this contradiction by making the fixing members movable rather than fixed. The umbilical member routing maintains stability during operation once configured, but the fixing members can be repositioned to adapt to different motion range requirements. This dynamic adjustability allows the system to switch between different stable routing configurations depending on the operational needs.
Solution Approach 2:
The fixing members serve multiple functions: they provide stable anchoring of the umbilical member during operation while also enabling reconfiguration for different motion ranges. This multi-functionality allows a single fixing member design to maintain routing stability while adapting to various operational requirements, eliminating the need for separate fixed and adjustable systems.
Data Source
AI summary
A joint structure capable of optimizing a margin of length of an umbilical member corresponding to a motion range of a forearm, and an industrial robot having the joint structure. At an upper section (near the forearm) of an upper arm, a frame constituting the upper arm has an opening through which the umbilical member can be inserted, and the umbilical member 28 inserted from the opening into a space (or containing section) within the upper arm. By virtue of such a containing section, even when the motion range of the forearm is changed, an operator can adjust (optimize) the margin of length of the umbilical member required for the motion of the forearm.