Multi-Axis Robot Wrist Hose Drive for Torsional Load Management
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Solution Overview
Problem
The deformation of paint hoses within multi-axis painting robots due to torsional loads from robot wrist movement hampers effective cleaning, especially when using a go-devil device, leading to paint losses during color changes.
Innovation Solution
A robot wrist design with three rotatable sections and a hose drive mechanism that minimizes torsional loads by positively rotating hoses within the internal conduit, using a protective sleeve to prevent damage and wear, and guide plates to maintain hose position and orientation, allowing for independent rotation relative to wrist sections.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If the paint hose is routed through the robot wrist, then the hose can be protected from external damage, but the hose becomes deformed due to torsional loads from robot wrist movement, preventing effective cleaning
Solution Approach 1:
A guide plate is introduced as an intermediary component between the hose and the robot wrist structure. The guide plate rotates with the wrist sections while maintaining a fixed relationship with the hose, allowing the hose to be protected from external damage while preventing torsional deformation. The guide plate acts as a mediator that transmits rotational movement without imposing harmful torsional loads on the hose.
Solution Approach 2:
The system transitions from a static hose routing to a dynamic configuration where the guide plate rotates synchronously with the wrist sections. This dynamic adaptation allows the hose to accommodate the movement of the robot wrist without suffering torsional deformation, as the guide plate continuously adjusts its orientation to match the wrist's rotational state.
2Stability of the object's composition
If the hose is securely fixed in the robot wrist, then hose position is maintained, but cleaning access is blocked due to hose deformation from robot movement
Solution Approach 1:
The guide plate serves as a mediator that maintains stable hose positioning while preserving cleaning accessibility. By rotating with the wrist sections, the guide plate keeps the hose in a consistent, accessible position relative to the robot wrist structure, allowing cleaning devices to reach along the hose without interference from robot movement.
Solution Approach 2:
The dynamic rotation of the guide plate synchronously with the wrist sections maintains hose position stability in the robot's moving frame of reference. This dynamic adaptation ensures that the hose remains in a consistent, accessible position for cleaning operations regardless of the robot's current configuration or movement state.
3Adaptability or versatility
If the robot wrist moves freely, then painting operation flexibility is maintained, but torsional loads deform the paint hose
Solution Approach 1:
The guide plate is designed to rotate freely and synchronously with the wrist sections, allowing the robot wrist to move and reconfigure without imposing torsional loads on the hose. This dynamic coupling between the guide plate and wrist sections enables full robot movement flexibility while the guide plate absorbs and accommodates the rotational movements, protecting the hose from deformation.
4Strength
If a protective sleeve is added to the internal conduit, then hose wear is reduced, but device complexity increases
Solution Approach 1:
A protective sleeve made of flexible material is added as a thin film layer inside the internal conduit. This flexible sleeve protects the hose from wear and damage while maintaining the simplicity of the overall conduit structure. The flexible nature of the sleeve allows it to accommodate the rotational movement of the guide plate and wrist sections without adding significant structural complexity.
Data Source
AI summary
A robot wrist for a painting robot has several wrist sections that can be rotated relative to one another, an internal conduit that passes through the wrist sections, a flexible hose carried in the internal conduit and having a hose drive operating on the hose to achieve positive rotation of the hose in the internal conduit corresponding to the rotation of the wrist sections.