Robot Link Gear Nesting for Compact Wrist Design
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Solution Overview
Problem
Conventional industrial robots face interference issues due to large connection parts between actuators and links, which enlarge the robot's size and can obstruct workpieces during operations.
Innovation Solution
The robot design incorporates an internal gear within the second link that engages with an external gear connected to the actuator, reducing the radial width of the connection part and minimizing the size of the connection between the motor and the third wrist, allowing for a more compact structure.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Power
If two external gears are engaged to transfer drive force from actuator to link, then the drive force transmission is achieved, but the connection part size in radial direction is enlarged
Solution Approach 1:
The patent applies nesting by placing the first external gear inside the second link, and the second external gear inside the first link. This nested configuration allows the gears to be contained within the links rather than requiring external space, thereby reducing the radial width of the connection part while maintaining the drive force transmission function.
Solution Approach 2:
The patent changes the spatial arrangement from a conventional external gear engagement to a nested configuration where gears are positioned within the links. This dimensional reorganization reduces the radial footprint of the connection part by utilizing the internal space of the links rather than occupying external radial space.
2Reliability
If the connection part between actuator and link is enlarged, then the drive force transmission is stable, but the robot body size increases causing interference with workpiece
Solution Approach 1:
By nesting the external gears within the links, the patent reduces the overall robot body size while maintaining stable drive force transmission. The nested configuration ensures that the gears remain properly engaged for reliable power transmission while occupying minimal external space, thereby preventing interference with the workpiece.
Solution Approach 2:
The patent changes the spatial parameters of the gear arrangement by transitioning from an external engagement configuration to a nested configuration. This parameter change reduces the radial dimension of the connection part, allowing the robot to operate in narrower spaces without interfering with the workpiece while maintaining transmission stability through proper gear meshing.
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
This configuration reduces the size of the connection part between the motor and the link, enabling the robot to access narrower spaces and improve its operational capability without interfering with workpieces.
Implementation Method 1
The robot includes an external gear connected to an actuator and an external gear connected to a link and is configured to engage the two external gears with each other to transfer the drive force of the actuator to the link
Data Source
AI summary
A robot according to an embodiment includes a first link, a second link, an actuator, and an external gear. The second link is rotatably connected to the first link. The actuator rotationally drives the second link. The external gear is connected to the actuator. The second link includes an internal gear engaged with the external gear.