Robot Wrist Gear Transmission Isolation
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Solution Overview
Problem
In wrist devices coupled to robot arms, the rotation of the first element can unintentionally induce rotation of the second element due to shared transmission components, leading to unwanted movement.
Innovation Solution
The wrist device design includes a first element and a second element, each rotatable about a specific axis, with dedicated drivers and transmissions in the arm and first element to minimize induced rotation of the second element. The second transmission mechanism, which includes a first driving gear and a first driven gear, reduces the rotation speed of the driving force, thereby minimizing the impact of the first element's rotation on the second element.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the second transmission is provided in the arm and the first element, then the driving force can be transmitted to the second element, but the rotation of the first element induces unwanted rotation of the second element
Solution Approach 1:
The first driving gear is extracted from the first element and rotatably supported by the arm instead. This separates the gear that causes induced rotation from the rotating first element, allowing the first element to rotate without forcing the gear and subsequently the second element to rotate unintentionally.
Solution Approach 2:
The first driving gear acts as an intermediary component that is not rigidly attached to the first element. It is rotatably supported by the arm, serving as a mediator that transmits driving force while being isolated from the rotational motion of the first element, thus preventing induced rotation.
2Volume of moving object
If the transmission components are disposed in the first element, then the structure is compact, but the first element's rotation causes the transmission components to rotate unintentionally
Solution Approach 1:
The transmission system is segmented into components supported by different structures. The first driving gear is supported by the arm (stationary relative to first element rotation), while the first driven gear is supported by the first element. This segmentation allows the transmission to remain compact while isolating the gear causing rotation from the rotating element.
Solution Approach 2:
The first driving gear is taken out from the first element's structure and rotatably supported by the arm. This extraction removes the source of unintentional rotation from the rotating first element while maintaining the compact transmission arrangement through strategic placement of remaining components.
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
This configuration effectively reduces the induced rotation of the second element, enhancing the precision and control of the wrist device and the associated robot arm.
Implementation Method 1
The second transmission includes a first driving gear and a first driven gear, the first driving gear being rotatably supported by the arm, the first driven gear being rotatably supported by the first element and configured to mesh with the first driving gear
Data Source
AI summary
A wrist device includes a first element coupled to an arm to be rotatable about a fifth axis, and a second element coupled to the first element to be rotatable about a sixth axis. There is a fifth motor to rotationally drive the first element, and a sixth motor to rotationally drive the second element. A fifth transmission mechanism transmits a driving force of the fifth motor to the first element and a sixth transmission mechanism transmits a driving force of the sixth motor to the second element. The sixth transmission mechanism includes a first gear rotatably supported by the arm and a second gear rotatably supported by the first element and to mesh with the first gear, and reduces a rotation speed of a driving force in a component group including the first driving gear and components after the first driving gear.