Robot Module Spacer Rod and Control Arm Design
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Solution Overview
Problem
Modern production and packaging systems require shorter cycle times with complex travel paths, necessitating robot structures that can be flexibly adapted to kinematic tasks while maintaining low moving masses for high acceleration and speed.
Innovation Solution
A robot module design featuring a spacer bar, robot head, and control arm configuration with a transmission gear and additional cable pulls, allowing for torsionally stiff joints and telescopic spacer bars to enhance movement range and speed, and a modular structure for adaptable kinematic tasks.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If the robot structure uses traditional rigid connections, then structural stability is improved, but the angle of rotation is limited and adaptability to complex kinematic tasks deteriorates
Solution Approach 1:
The robot structure is divided into modular components (drive platform, worktop, spacer rod, control arms) that can be independently positioned and oriented. This segmentation allows each module to maintain structural stability while the overall system achieves high adaptability through modular reconfiguration for complex kinematic tasks.
Solution Approach 2:
The robot structure transitions from static rigid connections to dynamic cable-actuated connections. The control arms and cable pulls enable continuous adjustment of the worktop position and orientation, allowing the structure to adapt dynamically to complex kinematic paths while maintaining stability through active control.
2Weight of moving object
If the robot structure is made lightweight to reduce moving mass, then acceleration and speed are improved, but structural strength and stability deteriorate
Solution Approach 1:
Traditional heavy mechanical drive systems are replaced with cable-actuated mechanisms. The drives remain stationary on the drive platform while cables transmit force to move the worktop, significantly reducing moving mass. The cable system maintains structural strength through high-tensile materials and optimized routing.
Solution Approach 2:
The spacer rod serves multiple functions: it provides structural support, defines the geometric relationship between drive platform and worktop, and acts as a mounting structure for control arms and cable pulls. This multi-functionality reduces the need for additional structural components, maintaining strength while minimizing weight.
3Weight of moving object
If the robot structure uses cable pulls to reduce moving mass, then acceleration is improved, but the angle of rotation becomes limited
Solution Approach 1:
The robot system adds rotational degrees of freedom by mounting control arms on the worktop that can rotate independently. This dimensional addition allows the end effector to achieve complex orientations beyond what linear cable pulls alone can provide, expanding the usable rotation angle while maintaining the lightweight cable-actuated architecture.
Solution Approach 2:
Control arms serve as intermediary elements between the cable pulls and the end effector. These arms translate the linear motion from cable pulls into rotational motion, enabling the system to achieve larger effective rotation angles while maintaining the benefits of lightweight cable-actuated design.
4Productivity
If the robot module accelerates quickly to reduce cycle times, then productivity is improved, but energy consumption increases
Solution Approach 1:
The robot system uses periodic cable pulling actions to accelerate and decelerate the worktop. By applying force only when acceleration is needed and using cable elasticity to assist deceleration, the system achieves high productivity with reduced energy consumption compared to continuous motor drive.
Solution Approach 2:
The stationary drive platform acts as a counterweight anchor, allowing the lightweight worktop to be accelerated efficiently. The cable system stores and releases energy during motion cycles, reducing the peak power requirements and overall energy consumption while maintaining high acceleration capability.
Data Source
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AI summary
The invention relates to a robot module and to a robot formed thereby. The robot module has a robot drive (6) and a robot body (5), which comprises a spacer rod (60), a robot head (40) and at least one control arm (31 - 36). A drive platform (20) of the robot drive (6) and an attachment group (70) of the robot head (40) are connected to each other via the spacer rod (60) and the control arm (31 - 36), wherein the robot drive (6) is designed to rotate the robot head (40) by means of the spacer rod (60) and the control arm (31 - 36). An attachment surface (29) of the attachment group (70) has a first center of gravity (24) and an attachment surface (28) of the drive platform (20) has a second center of gravity (27), wherein the spacer rod (60) is arranged in the first and second centers of gravity (24, 27).