Rotation Restricting Device for Robot Joints
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Solution Overview
Problem
Existing rotation restricting mechanisms for robot joints, such as those in walking assistance devices, require manual adjustment of stopper positions to change the restricted rotation range, which is inconvenient and time-consuming.
Innovation Solution
A rotation restricting device with a stopper supported to rotate around a base part axis, a lock mechanism, a first block, and a second block that can move between interfering and non-interfering positions with the stopper's rotation path, allowing the stopper to be fixed in a desired position for precise rotation range adjustment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If retractable stoppers are used to restrict rotation range, then rotation restriction is achieved, but adjustment requires part replacement which is inconvenient
Solution Approach 1:
The stopper is designed to be movable along the rotation path rather than fixed or retractable. By applying a locking force to the movable stopper, the rotation range can be adjusted to any desired position without replacing parts. The stopper can be positioned anywhere along the arc and locked in place, providing continuous adjustability.
Solution Approach 2:
The rotation range is adjusted by changing the position parameter of the stopper along the rotation path. Instead of using discrete retractable stoppers at fixed positions, the stopper can be moved to any position and locked, allowing continuous variation of the rotation restriction parameter.
2Adaptability or versatility
If multiple retractable stoppers are provided for different rotation ranges, then various rotation restrictions are achievable, but device complexity increases
Solution Approach 1:
A single movable stopper serves multiple functions by being positionable at different locations along the rotation path. This one-stopper design replaces the need for multiple retractable stoppers, providing the same versatility with reduced complexity. The stopper can be locked at any position to achieve different rotation ranges.
Solution Approach 2:
The stopper transitions from a static or retractable design to a dynamically movable design along the rotation path. This single dynamic stopper replaces multiple static stoppers, reducing the number of components while maintaining the ability to provide various rotation restriction options.
3Reliability
If retractable stoppers are used, then rotation range can be restricted, but adjustment requires manual re-positioning which is time-consuming
Solution Approach 1:
The stopper can be preliminarily positioned at the desired location along the rotation path before locking. This preliminary positioning action allows quick adjustment without the need to manually retract and reposition multiple stoppers, reducing the time required for adjustment while maintaining reliable rotation restriction.
Data Source
AI summary
A rotation restricting device for restricting the rotation of a rotating part with respect to a base part, comprising a stopper supported so as to be capable of rotating around an axis of rotation of the base part, a lock mechanism capable of switching between a state preventing and a state allowing the rotation of the stopper with respect to the base part, a first block provided on the rotating part and capable of moving between a position interfering with and a position not interfering with a rotation path of the stopper, and a second block provided on the rotating part and capable of moving between a position interfering with and a position not interfering with the rotation path of the stopper. In a state where the rotation of the rotating part with respect to the base part is not restricted, both the first block and the second block are in the position interfering with the rotation path of the stopper, and the stopper is positioned between the first block and the second block.