Linear-motion telescopic robot arm with segmented block members
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Robot arms with rotational joints pose a risk of catching objects between sections when folded, and existing linear-motion telescopic mechanisms are bulky due to thickness requirements for stiffness, making them unsuitable for use beside people or in production facilities.
Innovation Solution
A linear-motion telescopic mechanism using a block-member group with moving means that aligns block members linearly to form a rigid arm section, allowing for variable length and reducing the risk of object entrapment, while minimizing occupied space by housing unnecessary structural members beyond the arm length in a separate space.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a robot arm uses rotational joints with elbow sections, then it achieves flexible motion capability, but it increases the risk of objects being caught between arm sections when folded
Solution Approach 1:
The arm section is divided into multiple block members (first block member, second block member, third block member) that can be independently controlled. This segmentation allows the arm to achieve flexible motion while reducing the entrapment risk by enabling selective engagement and disengagement of individual blocks, preventing objects from being trapped between folded sections.
2Strength
If a linear-motion telescopic mechanism is designed thick to achieve sufficient stiffness, then it maintains structural rigidity, but it increases the volume and makes the base portion larger
Solution Approach 1:
The mechanism dynamically adjusts its structural properties by engaging or disengaging the moving block. When the moving block is engaged, the arm section achieves sufficient stiffness for load-bearing operations. When disengaged, the block members can be stored compactly, reducing the occupied volume. This dynamic adaptation allows the mechanism to maintain rigidity when needed while minimizing size during storage or non-operational states.
3Length of moving object
If a linear-motion telescopic mechanism is designed with sufficient arm length difference between elongate and contraction states, then it achieves adequate moving space for the end effector, but it increases the volume of unnecessary portions in the contraction state
Solution Approach 1:
The block members are designed to nest within each other when disengaged. The second block member can be positioned inside or alongside the first block member, and the third block member similarly accommodates the others. This nesting arrangement allows the mechanism to achieve sufficient arm length difference between elongate and contraction states while minimizing the volume occupied by unnecessary portions during contraction, as the blocks are compactly stored rather than extending outward.
Data Source
AI summary
A linear-motion telescopic mechanism according to the present invention includes a plurality of block members (22) by which an arbitrary arm length is achieved in such a manner that the plurality of block member (22) are rigidly connected to each other so as to elongate a linear-motion telescopic joint (J3). On the other hand, by separating the plurality of block members (22) one by one from a rigid alignment of the plurality of block members (22), the linear-motion telescopic joint (J3) is contracted. The block members (22) unfixed from the rigid alignment are still serially connected but not in a rigid manner. That is, the block members (22) thus unfixed can be flexed in any directions, and therefore can be housed inside a support member (1) in a compact manner. This arrangement can provide a linear-motion telescopic mechanism (i) which enhances safety by eliminating such a risk, inevitable for a typical robot arm having an elbow joint, that an object around the robot arm gets caught between arm sections when the elbow joint is closed, and (ii) which can reduce a space to be occupied by the robot arm.