Telescopic Robot Arm Structure for Wide Vertical Rotation

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Solution Overview

Problem

Current robot apparatuses with linear expansion mechanisms are complex, heavy, and limited in strength and size, with restricted vertical rotational movement due to the need for multiple piece trains and housing structures that increase overall height and size.

Innovation Solution

A robot apparatus with a simplified structure featuring a linear expansion mechanism comprising a block train housed in an arc-shaped trajectory within a housing part, supported by a strut unit with rotational joints, allowing for improved strength and reduced size while enabling wide vertical rotational movement.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If two types of piece trains are used to form the arm unit, then the linear expansion mechanism can be achieved, but the structure becomes complicated and heavy

Engineering Contradiction:
Improvelinear expansion capabilityVSAvoidstructure complexity
Core Design Contradiction:
Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The patent merges the two separate piece trains (first piece train with flat plates and second piece train with blocks) into a single integrated arm unit structure. The blocks are directly coupled to form the arm unit, eliminating the need for separate piece trains while maintaining the linear expansion capability through the rotating shaft coupling mechanism.

Inventive Principle:
Principle #5Merging (Combining)

2Adaptability or versatility

If two types of piece trains are used to form the arm unit, then the linear expansion mechanism can be achieved, but the weight increases

Engineering Contradiction:
Improvelinear expansion capabilityVSAvoidarm unit weight
Core Design Contradiction:
Adaptability or versatilityVSWeight of moving object

Solution Approach 1:

The patent merges the two separate piece trains (first piece train with flat plates and second piece train with blocks) into a single integrated arm unit structure. The blocks are directly coupled to form the arm unit, eliminating the need for separate piece trains while maintaining the linear expansion capability through the rotating shaft coupling mechanism.

Inventive Principle:
Principle #5Merging (Combining)

3Reliability

If the set of movable pieces are housed above the arm unit, then the linear expansion mechanism functions properly, but the overall height and size of the robot apparatus increase

Engineering Contradiction:
Improvemechanism functionalityVSAvoidoverall height
Core Design Contradiction:
ReliabilityVSLength of stationary object

Solution Approach 1:

The patent repositions the housing for the movable pieces from a vertical arrangement (above the arm unit) to a horizontal arrangement (alongside the arm unit). The housing is configured to extend in the horizontal direction rather than vertically, allowing the movable pieces to be housed in a different spatial dimension that does not increase the overall height of the robot apparatus.

Inventive Principle:
Principle #17Another dimension (Dimensionality change)

4Reliability

If a large housing is used to house the movable pieces, then the mechanism functions properly, but the range of vertical rotation of the arm unit is limited

Engineering Contradiction:
Improvemechanism functionalityVSAvoidvertical rotation range
Core Design Contradiction:
ReliabilityVSAdaptability or versatility

Solution Approach 1:

The patent repositions the housing for the movable pieces from a vertical arrangement (above the arm unit) to a horizontal arrangement (alongside the arm unit). The housing is configured to extend in the horizontal direction rather than vertically, allowing the movable pieces to be housed in a different spatial dimension that does not interfere with the vertical rotation range of the arm unit.

Inventive Principle:
Principle #17Another dimension (Dimensionality change)

5Device complexity

If the arm unit is formed by movable pieces coupled by rotating shafts, then the structure is simplified, but the strength of the arm unit is limited

Engineering Contradiction:
Improvestructure simplicityVSAvoidarm unit strength
Core Design Contradiction:
Device complexityVSStrength

Solution Approach 1:

The patent employs composite construction for the blocks that form the arm unit. The blocks are made of composite materials or have composite structures combining different materials to achieve both simplicity in the coupling mechanism (using rotating shafts) and high strength in the final arm unit structure.

Inventive Principle:
Principle #40Composite materials

Data Source

PatentUS11235476B2Robot apparatus
Publication Date: 2022.02.01 FANUC LTD
  • US11235476B2 patent drawing
  • US11235476B2 patent drawing
  • US11235476B2 patent drawing

AI summary

A robot apparatus includes a base, a strut unit, and a linear expansion mechanism 1 rotatably supported on the strut unit. The linear expansion mechanism includes: a plurality of cylindrical bodies assembled in series to each other; a block train including a plurality of blocks coupled to each other in a row, the block at the leading end being connected to the cylindrical body at the leading end; and a housing part that houses the block train along an arc-shaped trajectory, the housing part being arranged below the cylindrical body at the trailing end and above the strut unit.