Articulated Robot Wrist Orthogonal Axis Alignment
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Solution Overview
Problem
Existing articulated robot wrists are not compact or simple enough, leading to inefficiencies in design and potential interference from cables and tubes used for supply and control.
Innovation Solution
A compact and simplified articulated robot wrist design featuring a first body with a rotatable elbow-shaped portion, a second body with a cantilever portion, and a third body, where the first and third axes are orthogonal, allowing for efficient alignment and reduced stress on cables and tubes, with motors and gear mechanisms for rotation transmission directly integrated into the structure.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If non-orthogonal axis alignment is used in existing robot wrist designs, then the structure can be more flexible in certain configurations, but the cables and tubes experience increased torsional and bending stresses
Solution Approach 1:
The patent changes the geometric parameter of axis alignment from non-orthogonal to orthogonal relationships between the first, second, and third axes. This parameter change fundamentally alters the stress distribution pattern, transforming the harmful torsional and bending stresses into more manageable configurations where cables and tubes follow cleaner, more direct pathways through the wrist structure.
Solution Approach 2:
The patent introduces a new dimensional relationship by establishing that the first and third axes are both orthogonal to the second axis and substantially aligned with each other. This creates a three-dimensional orthogonal framework that reorganizes the spatial arrangement of cables and tubes, allowing them to be routed through a structured passage system that minimizes mechanical stress.
2Ease of operation
If complex motor transmission systems are used to drive rotation of bodies, then the robot wrist can achieve precise control, but the overall device complexity increases
Solution Approach 1:
The patent segments the motor transmission system into distinct, modular components: a first motor for driving the second body, a second motor for driving the third body, and dedicated gear means for each motor. This segmentation allows each component to be optimized independently and simplifies the overall system architecture compared to integrated transmission mechanisms.
Solution Approach 2:
The patent introduces gear means as intermediary elements between the motors and the bodies they drive. These gear mechanisms serve as mediators that transmit rotational motion efficiently while providing mechanical advantage and precision control, replacing more complex direct-drive or belt-driven systems.
3Volume of moving object
If the robot wrist structure is made more compact, then the overall size is reduced, but the alignment precision of axes becomes more difficult to maintain
Solution Approach 1:
The patent employs asymmetric positioning of the motors and gear means within the compact wrist structure. The first motor is positioned on the first body with gear means connecting to the second body, while the second motor is positioned on the second body with gear means connecting to the third body. This asymmetric arrangement optimizes space utilization while maintaining orthogonal axis alignment through deliberate geometric design.
Solution Approach 2:
The patent implements a nested arrangement where the second body is positioned within the spatial envelope of the first body, and the third body is positioned within the spatial envelope of the second body. The passages for cables and tubes are nested within the structural framework, allowing compact packaging while maintaining precise axis alignment through the orthogonal relationship between the three axes.
Data Source
AI summary
Disclosed herein are embodiments of an articulated robot wrist which can comprise a first body comprising a first and a second end, said first end being intended to be mounted on a robot component that is rotatable around a first axis; a second body comprising a first and a second end, said first end being rotatably mounted on said second end of said first body, around a second axis inclined with respect to said first axis; and a third body comprising a first and a second end, said first end being rotatably mounted on said second end of said second body, around a third axis inclined with respect to said second axis, wherein said first and third axes are both substantially orthogonal to said second axis, and wherein in at least one position of said robot wrist said first and third axes are substantially aligned with each other.