Robot Wrist Wiring Bypass via Curved Conduit
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Solution Overview
Problem
Existing robot wrist structures face challenges in efficiently routing wiring through the internal space while accommodating driving motors, leading to potential interference and maintenance complexities due to the wiring's proximity to motors and the need for large openings for motor installation and removal.
Innovation Solution
A robot wrist structure with a hollow casing that positions driving motors displaced towards one side, allowing a conduit member to route wiring in a curved path that bypasses the motors, with openings on either side for easy motor installation and maintenance, and attachment surfaces for secure motor positioning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If the conduit member is disposed straight along the rotation axis with driving motors positioned on either side, then the wiring route is simple, but the wiring interferes with the driving motors and creates maintenance complexity
Solution Approach 1:
The patent transitions from a straight linear wiring route (one dimension) to a curved three-dimensional route that bypasses the driving motors. The conduit member is positioned at specific locations (first and second locations) rather than centrally, allowing wiring to route around the motors in three-dimensional space, eliminating interference while maintaining route simplicity.
Solution Approach 2:
The conduit member acts as an intermediary structure that guides the wiring around the driving motors. By positioning the conduit member at specific locations and shaping it to follow a curved path, the wiring is mediated through a route that avoids direct contact with the motors, solving both the interference and maintenance accessibility problems.
2Ease of repair
If large openings are provided in the casing for motor installation and removal, then maintenance accessibility is improved, but structural rigidity and protection are reduced
Solution Approach 1:
The casing is divided into multiple sections with strategically positioned openings (first and second openings at first and second locations). This segmentation allows motors to be accessed through specific openings while the rest of the casing remains intact and structurally sound, maintaining overall rigidity while providing maintenance access.
Solution Approach 2:
Instead of providing large openings throughout the casing, the patent applies local quality by creating specific localized openings (first and second openings) at specific locations where motor access is needed. The casing maintains its full structural integrity in all other areas, preserving overall rigidity while enabling targeted maintenance access.
3Device complexity
If the conduit member is positioned centrally along the rotation axis, then the wiring route is straightforward, but the wiring cannot avoid the driving motors causing interference
Solution Approach 1:
The patent employs asymmetry by positioning the conduit member at first and second locations that are offset from the central rotation axis. This asymmetric positioning creates a wiring route that naturally bypasses the driving motors, eliminating interference while keeping the route simple and straightforward.
Solution Approach 2:
The conduit member is configured to follow a curved path rather than a straight line, allowing the wiring to smoothly bypass the driving motors. This curved routing through three-dimensional space achieves both route simplicity and interference avoidance simultaneously.
Data Source
AI summary
Provided is a robot wrist structure provided with a first wrist element, a second wrist element, and a third wrist element. The first wrist element is provided with a casing having a hollow structure, two driving motors that drive the second wrist element and the third wrist element, and a conduit member that allows wiring to pass therethrough from an arm-side to a second-wrist-element-side in a direction along a first axis. A first opening and a second opening are provided in a first side wall and a second side wall that are positioned on either side of a reference plane. The first opening is large enough to allow the driving motors to pass therethrough. Centers of rotation shafts of the two driving motors are disposed between the first side wall and the reference plane. The conduit member is disposed between the second side wall. The wiring bypasses the driving motors.