Rotary Joint Clamping Lock for Direct-Drive Manipulators
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Solution Overview
Problem
Existing securing devices for manipulators, such as industrial robots, face challenges in effectively fixing components relative to each other, especially when using direct drive systems, as they lack a reliable mechanism to secure the components against rotation without gearboxes or additional brakes.
Innovation Solution
A securing device with a receiving unit and a clamping unit that can be manually or mechanically moved via a rotary drive to engage frictionally or non-positively, utilizing a drive unit with spring means and a locking mechanism to transfer between release and clamping positions, ensuring secure fixation of components relative to each other about a rotational or swivel axis.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If direct drive systems are used in manipulators, then the device complexity is reduced by eliminating gearboxes, but the ability to fix components against rotation is worsened due to lack of mechanical transmission
Solution Approach 1:
The patent introduces a securing device as an intermediary mechanism between the direct drive motor and the manipulator arm. This securing device includes a clamping unit with clamping elements that can engage with a receiving unit on the manipulator arm, providing the necessary mechanical locking capability that would otherwise be absent in direct drive systems. The intermediary securing device resolves the contradiction by adding only the minimal necessary components to achieve reliable fixing without the complexity of full mechanical transmission systems.
Solution Approach 2:
The securing device is segmented into distinct functional units: a securing unit fixed to the manipulator base, a clamping unit with movable clamping elements, and a drive unit for actuating the clamping elements. This segmentation allows each component to perform its specific function efficiently - the clamping elements can independently engage with the receiving unit to provide reliable rotational fixation, while the drive unit independently controls the clamping action, resolving the contradiction between simplicity and reliability.
2Reliability
If additional brakes are provided to fix components, then the fixing capability is improved, but the device complexity increases due to additional components
Solution Approach 1:
The patent merges the braking function with the clamping mechanism. The clamping elements, when engaged with the receiving unit, simultaneously perform both the mechanical clamping action and the braking function by preventing rotational movement. This integration eliminates the need for separate brake components, achieving reliable fixing capability while avoiding the device complexity increase that would result from adding independent brakes to the direct drive system.
Solution Approach 2:
The clamping unit is designed with multi-functionality: it serves as both the primary clamping mechanism for securing the manipulator arm and as a brake system that prevents unwanted rotation. The clamping elements can engage with the receiving unit to provide both positional securing and rotational restraint, making the single component perform multiple functions that would traditionally require separate brakes, thus resolving the contradiction between fixing capability and device complexity.
3Reliability
If gearboxes are used to fix robot arms, then the fixing capability is improved through mechanical transmission, but the device complexity increases and the manipulator loses direct drive advantages
Solution Approach 1:
The patent extracts only the essential fixing function from traditional gearbox systems. Instead of incorporating an entire mechanical transmission system, the invention extracts and implements just the necessary clamping and locking capability through the securing device with clamping elements that engage the receiving unit. This extraction approach provides reliable fixing capability while avoiding the device complexity and loss of direct drive advantages that would result from full gearbox integration.
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
The solution provides a compact and effective method to securely fix components relative to each other, enhancing safety by reducing the risk of injury and allowing for continuous operation, even in emergency conditions, through a combination of frictional and positive engagement mechanisms.
Implementation Method 1
the clamping unit frictionally and/or non-positively engages in the receiving unit, and the first component and the second component are fixed relative to each other against rotation
Data Source
AI summary
A securing device for a rotatably mounted object with at least one receiving unit, which is fixed against rotation on a first component of the object with at least one clamping unit which is fixed against rotation to a second component of the object, which manually or by means of a rotary drive is moveable relative to the first component via a rotatably mounted joint about a rotational and/or swivel axis, and with at least one drive unit through which the clamping unit can be transferred from a release position, in which the first component and the second component are released for rotation relative to each other to a clamping position, in which the clamping unit frictionally and/or non-positively engages in the receiving unit, and the first component and the second component are fixed relative to each other against rotation about the rotary and/or swivel axis.