Industrial Robot Parallel Arm Biasing for Mass Handling
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Solution Overview
Problem
Conventional industrial robots with a parallel link arm structure have a limited range of portable mass, making it difficult to handle objects of different masses efficiently, as increasing motor capacity or reduction ratio either enlarges the motor or reduces conveyance speed.
Innovation Solution
The industrial robot employs a four-axle design with a lower arm mechanism featuring a first parallel link structure and an upper arm mechanism with a second parallel link structure, utilizing servo motors and gas springs as biasing units to maintain posture and balance, allowing for increased portable mass without enlarging the arm drive motor or reducing operation speed.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Weight of moving object
If the motor capacity is increased to raise the upper limit of portable mass, then the robot can handle heavier objects, but the motor is enlarged and costs are increased
Solution Approach 1:
The patent applies counterweight mechanisms through the parallel link structure where links are configured to balance each other's weight. The first and second links, along with the third and fourth links, create a balanced system where the weight of one component is offset by another, reducing the net load that the motor must overcome. This allows the robot to handle heavier objects without requiring a proportionally larger motor.
2Weight of moving object
If the reduction ratio is increased to raise the upper limit of portable mass, then the robot can handle heavier objects, but the conveyance speed is decreased and working efficiency is reduced
Solution Approach 1:
The parallel link structure creates a balanced mechanical system where the counterweight effect reduces the effective load on the motor. This balance mechanism allows the motor to operate at lower reduction ratios while still being able to lift heavier objects, thereby maintaining higher conveyance speeds and working efficiency without sacrificing load capacity.
Solution Approach 2:
The patent designs a multi-functional parallel link mechanism that can handle a wide range of object masses through its balanced structure. The system achieves both high load capacity and maintained speed performance through the synergistic arrangement of multiple links working together, making the robot adaptable to various operational requirements without requiring extreme reduction ratios.
3Adaptability or versatility
If the motor capacity is increased to handle objects with different mass, then the robot can expand its portable mass range, but the motor is enlarged
Solution Approach 1:
The balanced parallel link structure enables the robot to adapt to a wide range of object masses by mechanically balancing the system. The counterweight mechanism allows the same motor size to handle varying loads efficiently, as the balanced links reduce the net torque requirement across different mass ranges, thereby expanding adaptability without motor enlargement.
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 enables the robot to handle a wider range of object masses without enlarging the arm drive motor or decreasing operation speed, enhancing working efficiency and capacity.
Implementation Method 1
an upper arm mechanism (12) having a second parallel link structure, wherein a proximal end portion of the upper arm (14) is connected to the intermediate connection portion (11) so as to rotate about a horizontal axis line (J3A)
Data Source
Figure 1
Figure 2
Figure 3
AI summary
A robot (1) includes a lower arm mechanism (5) having a first parallel link structure, an upper arm mechanism (12) having a second parallel link structure, a base portion (3) forming a lower side part of the first parallel link structure, a wrist portion (15) forming a distal side part of the second parallel link structure, an intermediate connection portion (11) forming an upper side part of the first parallel link structure and a proximal side part of the second parallel link structure, and an upper arm biasing unit (19) for applying a biasing force against a rotating operation in a direction that the wrist portion (15) descends to an upper arm (14) configuring a lower side part of the second parallel link structure. According to the robot (1), the range of the portable mass of an object can be expanded without enlarging an arm drive motor and declining an arm operation speed.