Articulated Robot Rotating Joint Hydraulic Duct Design
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Solution Overview
Problem
Existing machines and robots for mechanical processing are costly, complex, and poorly adaptable to pieces of different sizes, leading to limited precision and safety concerns, especially when handling heavy pieces or requiring quick adjustments.
Innovation Solution
An articulated robot with a compact, easy-to-maintain design, featuring a terminal arm with a rotating joint and hydraulic actuation, allowing for precise manipulation and processing of pieces up to 100 kg or more, with adjustable grip force and rotation capabilities.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If pneumatic actuation with lateral duct mounting is used for grip element actuation, then the robot can grasp and release pieces, but the duct gets twisted after complete rotation of the articulated arm
Solution Approach 1:
The patent transitions from a static lateral duct mounting to a dynamic solution where the duct can rotate with the articulated arm. The duct is mounted to rotate along with the arm, allowing complete rotation without twisting, thus resolving the contradiction between operational flexibility and structural integrity
Solution Approach 2:
The duct is positioned within the articulated arm structure in a nested configuration, allowing it to rotate freely with the arm while being protected and guided by the arm's structure. This nesting enables the duct to accommodate complete rotations without external interference or twisting
2Adaptability or versatility
If numerous mechanical joints are used for tool actuation and movement, then the machine can perform complex processing operations, but the machine becomes extremely costly and complicated
Solution Approach 1:
The articulated arm with rotating grip element serves multiple functions: it positions the grip element, enables complete rotation for accessing all piece surfaces, and integrates the duct system. This multi-functionality reduces the need for separate specialized joints and mechanisms, thereby reducing overall complexity while maintaining versatility
Solution Approach 2:
The patent extracts the rotation function from complex multi-axis mechanical joints and consolidates it into a single articulated arm rotation mechanism. By taking out the essential positioning and rotation functions and combining them into fewer mechanisms, the system achieves the same versatility with reduced complexity
3Manufacturing precision
If the machine is designed for precise processing, then processing quality improves, but the machine requires operator presence for loading, unloading and position modification
Solution Approach 1:
The articulated robot system enables self-loading and self-unloading through automated piece handling. The rotating grip element allows the robot to autonomously reposition pieces for complete processing without operator intervention, while maintaining precision through controlled rotation and positioning mechanisms
4Ease of operation
If the duct is mounted laterally on the articulated arm, then grip element actuation is enabled, but complete rotation of the arm is prevented
Solution Approach 1:
The duct mounting transitions from a fixed lateral position to a dynamic rotating mounting that moves with the articulated arm. This dynamic configuration allows the duct to maintain its functional connection to the grip element while accommodating complete arm rotations, thus resolving the contradiction between control capability and rotation freedom
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
The articulated robot enhances precision and versatility in mechanical processing, safely handling heavy pieces and allowing quick adjustments, while reducing operational complexity and costs.
Implementation Method 1
a grip device (3), with hydraulic actuation, mounted on the second end (10'') of the terminal arm (10)
Data Source
Figure 1
Figure 2~3
Figure 4
AI summary
Articulated robot for moving pieces (100) to be machined, comprising a support structure (2) on which a terminal arm (10) is mounted, a grip device (3) mounted on the terminal arm (10), and hydraulic actuation means (4), connected to the grip device (3) in order to actuate it, by means of a pressurized liquid, to pass between a clamping configuration and a release configuration. The terminal arm (10) comprises a support portion (11) and a rotatable portion (12), rotatably constrained to the support portion (11) and carrying the grip device (3) mounted thereon, and an actuation motor in order to rotate the rotatable portion (12) around the rotation axis (Z). The terminal arm (10) comprises a rotating joint (40), interposed between the support portion (11) and the rotatable portion (12) and comprising a central shaft (41) actuatable by the actuation motor in order to rotate around the rotation axis (Z), and an external jacket (42) fixed to the support portion (11) and placed around the central shaft (41) coaxial with the rotation axis (Z), and the central shaft (41) is rotatably inserted in the external jacket (42) in order to be able to rotate around the rotation axis (Z). The rotating joint (40) comprises an internal distribution circuit (5) traversed by the operative liquid and extended through the external jacket (42) and the central shaft (41) between an inlet opening (50), made on the external jacket (42) and hydraulically connected to the actuation means (4), and an outlet opening (51), made on the central shaft (41) and hydraulically connected to the grip device (3). The external jacket (42) comprises multiple rings (420) coaxial with the rotation axis (Z), aligned one after the other along the rotation axis (Z) and sealingly packed with each other.