Robot Wire Routing Structure for Rotation Without Excess Slack
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Solution Overview
Problem
Existing robots with hollow members and actuators face issues with wire routing and slack management, leading to potential contact with inner walls during rotation, which can cause wear and require larger member sizes.
Innovation Solution
A robot design with a wire body routed through a passage between hollow members, fixed at intermediate positions by metal plates on either side, allowing minimal slack for relative rotation, ensuring the wire remains taut and reducing the need for larger member sizes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the wire body is routed through the actuator center hole and fixed at intermediate positions, then the wire can be secured during rotation, but the member sizes must be larger to accommodate the wire routing space
Solution Approach 1:
The wire body routing is extracted from the actuator center hole and relocated to the outer peripheral region of the hollow member. This extraction allows the wire to be fixed without occupying the central actuator space, thereby maintaining fixation stability while reducing member size requirements.
Solution Approach 2:
The wire body is routed along the outer peripheral surface of the hollow member rather than through the central axis. This dimensional relocation from the center to the periphery creates space efficiency, allowing the wire to be secured without increasing the overall member volume.
2Ease of operation
If the wire body is routed through the actuator center hole, then the wire can be connected between members, but the wire may contact inner walls during rotation causing wear
Solution Approach 1:
The wire body is extracted from the central actuator passage and routed along the outer peripheral region. This relocation eliminates contact with inner walls during rotation, preventing wear while maintaining ease of wire routing and connection between members.
Solution Approach 2:
The outer peripheral surface of the hollow member serves as an intermediary routing path for the wire body. This intermediary path allows the wire to be connected between members while avoiding direct contact with rotating inner walls, thereby preventing wear and improving durability.
3Adaptability or versatility
If excessive slack is provided in the wire body for rotation, then the wire can accommodate movement, but the robot structure becomes larger
Solution Approach 1:
The wire body is routed along the outer peripheral region rather than through the center, allowing it to accommodate rotation with minimal slack. This dimensional change enables the wire to follow the rotational movement efficiently, reducing the space required while maintaining adaptability.
Solution Approach 2:
The routing configuration of the wire body is changed from a central linear path to an outer peripheral path that naturally accommodates rotational movement. This parameter change in the wire routing geometry allows the system to adapt to rotation without requiring excessive slack or larger member sizes.
Data Source
AI summary
A robot includes a first member that defines a first internal space accessible from the outside via an opening, a second member linked to the first member to rotate around a prescribed axis, a third member removably attached to the second member and defines a second internal space between the second and third members, a wire body routed through a passage that allows the first internal space and the second internal space to communicate at a position including the axis, and has one end fixed to the third member, a first fixing member that fixes a midway position of the wire body in the length direction to the third member on one side of the passage, and a second fixing member that fixes a midway position of the wire body in the length direction to the first member on the other side of the passage.