Telescopic Robot Joint Mechanism for Wider Bending Range
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Solution Overview
Problem
Existing joint mechanisms for robots have a narrow bending range due to their three-axis perpendicular configuration, limiting controllability.
Innovation Solution
A joint mechanism with a rotatable first and second rotary shaft coupled by first and second coupling members, where the coupling members are relatively rotatable in series, and one shaft is extendable and contractible with a telescopic mechanism, ensuring the intersection of the shaft axes coincides with the pitch, yaw, and roll axes, and includes an offset shaft for additional flexibility.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a three-axis perpendicular configuration is used for the rotary shafts, then controllability is excellent, but the bending range becomes narrow
Solution Approach 1:
The joint part is segmented into multiple coupling members (first coupling member and second coupling member) that are relatively rotatably coupled in series. Each coupling member can rotate independently around different axes, allowing the system to achieve both excellent controllability through perpendicular axis configuration and widened bending range through sequential rotation of multiple segments.
2Device complexity
If one coupling member is used for the joint part, then the structure is simple, but the bending range is narrow
Solution Approach 1:
The patent transitions from a single coupling member to multiple coupling members arranged in series, adding a dimensional aspect to the rotation mechanism. The first coupling member rotates around a first axis while the second coupling member rotates around a second axis perpendicular to the first, creating multi-dimensional rotational capability that widens the bending range without excessive structural complexity.
3Adaptability or versatility
If multiple coupling members are added to widen bending range, then adaptability improves, but device complexity increases
Solution Approach 1:
The patent merges multiple coupling members into a unified joint part structure where the first and second coupling members are integrally connected. This integration allows the multiple components to work together as a cohesive unit, achieving widened bending range while maintaining relatively simple overall structure and avoiding the complexity that would arise from separate, independent coupling mechanisms.
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 mechanism widens the bending range while maintaining excellent controllability by allowing perpendicular rotation around the pitch, yaw, and roll axes, reducing the risk of breakage and enhancing operational flexibility.
Implementation Method 1
one of the first rotary shaft and the second rotary shaft is configured so as to be extendable and contractible with a telescopic mechanism
Implementation Method 2
a joint part that couples the first and second rotary shafts with first and second coupling members such as universal joints
Data Source
AI summary
A joint mechanism includes: a rotatable first rotary shaft arranged on a proximal side; a rotatable second rotary shaft arranged on a distal side; and a joint part coupling the first and second rotary shafts with first and second coupling members and transmitting rotation from the first rotary shaft to the second rotary shaft, rotating around a pitch axis, a yaw axis, and a roll axis perpendicular to one another. The first and second coupling members are relatively rotatably coupled in series. One of the first and second rotary shafts is configured to be extendable and contractible with a telescopic mechanism. The first and second coupling members are arranged such that an intersection of a center axis line of the first rotary shaft and a center axis line of the second rotary shaft coincides with an intersection of the pitch axis, the yaw axis, and the roll axis.