Horizontal Articulated Robot Ring Member Stabilization
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Solution Overview
Problem
Conventional horizontal articulated robots experience reduced operating accuracy due to bending of arms, which varies with posture, complicating teaching work and displacing taught position coordinates.
Innovation Solution
A horizontal articulated robot design featuring a ring member between connecting parts, with varying height dimensions to stabilize arm bending, ensuring constant displacement and improved accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If the rigidity of the second reinforcement part is increased, then the rigidity of the second connecting part is improved, but the first arm tends to be bent due to increased weight
Solution Approach 1:
The ring member is designed with non-uniform thickness, being thicker at the second end than at the first end. This local variation in quality allows the reinforcement to be concentrated where most needed (at the second connecting part) while minimizing additional weight in other areas, thus resolving the contradiction between rigidity and weight.
Solution Approach 2:
The ring member exhibits asymmetric structure with different thicknesses at different locations. The thicker portion is positioned at the second end to provide maximum reinforcement at the second connecting part, while the thinner first end reduces overall weight. This asymmetric design optimizes the strength-to-weight ratio.
2Strength
If the rigidity of the second reinforcement part is increased, then the rigidity of the second connecting part is improved, but the operating accuracy of the robot is reduced due to bending deviation
Solution Approach 1:
By concentrating the reinforcement material where most needed (thicker at the second end), the design achieves maximum rigidity improvement at the critical second connecting part while minimizing overall weight increase. This prevents excessive bending of the first arm and maintains operating accuracy.
Solution Approach 2:
The ring member's thickness parameter is varied along its circumference, creating a gradient structure. This parameter change optimizes the distribution of structural strength, providing sufficient rigidity at the second connecting part while controlling the overall weight to maintain acceptable bending characteristics and operating accuracy.
3Strength
If the rigidity of the second reinforcement part is increased, then the rigidity of the second connecting part is improved, but the teaching work becomes complicated due to varying displacement
Solution Approach 1:
The localized reinforcement strategy provides consistent structural support that reduces posture-dependent bending variations. By placing the thicker section at the critical second end, the design achieves uniform performance across different operating positions, simplifying the teaching process.
Data Source
AI summary
A horizontal articulated robot is provided, which includes a first connecting part disposed between two of the arms and rotatably connecting the other arm to one arm, a second connecting part disposed between a pedestal and the arm and rotatably connecting the arm to the pedestal, and a ring member disposed between the first connecting part and the arm and formed so that, as compared with one of end part sides in an extending direction of the arms, a height dimension thereof becomes larger at the other end part side.