Robot Shoulder Joint Mechanism Nesting for Compact Design

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Solution Overview

Problem

Conventional robots require significant space for joint mechanisms, limiting their ability to perform tasks and move efficiently due to the external placement of these mechanisms, which affects their height, width, and operational range.

Innovation Solution

The robot design incorporates a joint mechanism where the fulcrum of rotation for movable links is located within the base body's vertical and horizontal dimensions, allowing for reduced height and width by integrating at least part of the joint mechanism within the base body, and enabling the movable link to move in various directions, thus minimizing space requirements.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If joint mechanisms are provided outside the base body, then the robot can perform various works with movable links, but the space required for work or movement increases

Engineering Contradiction:

Improvework capabilityVSAvoidspace required

Core Design Contradiction:

Adaptability or versatilityVSArea of stationary object

Solution Approach 1:

The patent applies nesting by placing the joint mechanism inside the base body rather than outside. The fulcrum of the movable link is positioned within the base body's width range, effectively nesting the joint mechanism within the existing structure. This reduces the overall space required while maintaining the robot's ability to perform various works with the movable link.

Inventive Principle:

Principle #7Nested doll (Nesting)

2Device complexity

If joint mechanisms are provided outside the base body, then the robot structure is simple, but the height and width of the robot increase

Engineering Contradiction:

Improvestructure simplicityVSAvoidheight and width

Core Design Contradiction:

Device complexityVSLength of stationary object

Solution Approach 1:

The patent repositions the joint mechanism from an external location to an internal location within the base body. By changing the spatial dimension where the joint mechanism is located (from outside to inside the base body width range), the patent reduces the overall height and width of the robot while keeping the structure relatively simple.

Inventive Principle:

Principle #17Another dimension (Dimensionality change)

3Length of moving object

If the fulcrum of rotation is located outside the base body, then the movable link can be extended, but the moment of inertia increases making control difficult

Engineering Contradiction:

Improvemovable link extensionVSAvoidcontrol ease

Core Design Contradiction:

Length of moving objectVSEase of operation

Solution Approach 1:

The patent extracts the fulcrum of rotation from the external position and relocates it to the base body's internal space. This extraction and repositioning reduces the moment of inertia by bringing the rotation axis closer to the base body's center of gravity, thereby improving control ease while still allowing the movable link to extend and perform its functions.

Inventive Principle:

Principle #2Taking out (Extraction)

Data Source

PatentUS10399238B2Robot having a base body, a shoulder joint mechanism assembly, and a movable link coupled to the base body through the shoulder joint mechanism assembly

Publication Date: 2019.09.03 HONDA MOTOR CO LTD

AI summary

An arm link (30) is rotatably coupled to an upper base body (10) around a yaw axis through a shoulder joint mechanism (31). A fulcrum P of rotation of the arm link (30) is located within a range of widths of the upper base body (10) in a vertical direction and a horizontal direction of the upper base body (10).