Robot Linear-Object Routing via Rotational Drum Curvature

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Solution Overview

Problem

Conventional robot linear-object handling structures lack flexibility in the twist direction, leading to installation limitations and path length changes during robot motion, which can cause interference with peripheral devices and require pre-operation adjustments.

Innovation Solution

A robot linear-object handling structure featuring a rotational drum with linear objects guided through a through-hole, curved in opposite circumferential directions, and then routed along the arm, allowing for flexibility in curvature to absorb path length changes and secure sufficient path lengths, while minimizing interference with peripheral devices.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If linear objects are wired outside the arm, then installation flexibility is improved, but path length changes during robot motion cause interference with peripheral devices

Engineering Contradiction:

Improveinstallation flexibilityVSAvoidinterference with peripheral devices

Core Design Contradiction:

Adaptability or versatilityVSObject-affected harmful factors

Solution Approach 1:

The linear objects are routed through a curved path using a guide groove with a predetermined curvature radius. The groove guides the linear objects from the base part, around the rotational drum, and to the arm while maintaining adequate path length even during robot motion, preventing interference with peripheral devices

Inventive Principle:

Principle #14Spheroidality (Curvature)

Solution Approach 2:

A guide groove structure acts as an intermediary between the base part and the arm, mediating the path of the linear objects. This intermediary component ensures that the linear objects maintain sufficient length and proper routing throughout the robot's range of motion

Inventive Principle:

Principle #24Intermediary (Mediator)

2Ease of operation

If linear objects are routed with sufficient path length, then motion flexibility is improved, but the structure becomes more complex

Engineering Contradiction:

Improvemotion flexibilityVSAvoidrouting structure complexity

Core Design Contradiction:

Ease of operationVSDevice complexity

Solution Approach 1:

The guide groove is integrated into the rotational drum structure, merging the routing function with the existing rotational component. This combination provides the necessary path length and motion flexibility without adding separate complex routing structures

Inventive Principle:

Principle #5Merging (Combining)

Solution Approach 2:

The guide groove structure serves multiple functions: it guides the linear objects, provides adequate path length for motion, and is integrated into the rotational drum assembly. This multi-functionality reduces overall system complexity while maintaining motion flexibility

Inventive Principle:

Principle #6Universality (Multi-functionality)

Data Source

PatentUS10093024B2Robot linear-object handling structure

Publication Date: 2018.10.09 FANUC LTD

AI summary

Provided is a linear-object handling structure of a robot, in which a linear object for a motor that drives a second arm and a wrist and a linear object for a work tool that is attached to the wrist pass from a base part to the inside of a rotational drum in the vicinity of a first axis, are guided upward to the outside through a through-hole provided in the rotational drum, are respectively curved toward opposite lateral sides of the rotational drum in the substantially circumferential directions while each given a margin of length required for the motion of the rotational drum, are guided from the lateral sides of the rotational drum to the second arm in the longitudinal direction of the first arm while each being given a margin of length required for the motions of the first arm and the second arm.