Three-Axis Robot Joint Assembly With Integrated Composite Drive
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Solution Overview
Problem
Traditional multi-degree-of-freedom joints in robots are complex, bulky, costly, and prone to accumulative errors, affecting operation accuracy and efficiency due to their reliance on multiple independent joints and cumbersome control systems.
Innovation Solution
A joint apparatus for robots that enables three-degree-of-freedom motion through a compact design with a base, a motor, a transmission assembly, and a composite drive assembly, simplifying the transmission path and reducing complexity while improving energy efficiency and control accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple independent joints are used to achieve multi-degree-of-freedom motion, then the basic operation requirements are met, but the integration, weight, size and cost increase
Solution Approach 1:
The patent combines multiple independent joints into a single integrated multi-degree-of-freedom joint apparatus. The first and second transmission assemblies, along with the composite drive assembly, are merged into one compact structure that achieves three-degree-of-freedom motion through coordinated rotation about mutually perpendicular axes, eliminating the need for separate independent joints
Solution Approach 2:
The joint apparatus is designed as a universal multi-functional component that can provide three-degree-of-freedom motion capabilities (rotation about x-axis, y-axis, and z-axis) simultaneously. The output component can rotate about multiple axes through the coordinated action of the transmission assemblies, making it a versatile replacement for multiple specialized joints
2Adaptability or versatility
If multiple independent joints are used to achieve multi-degree-of-freedom motion, then the basic operation requirements are met, but the weight and size increase
Solution Approach 1:
By merging multiple joint functions into a single integrated apparatus with shared components (base, output component, and coordinated transmission assemblies), the total weight is reduced compared to using multiple separate independent joints, each with their own motors and transmission mechanisms
Solution Approach 2:
The transmission assemblies are arranged in a nested or compact configuration where the first and second transmission assemblies share space and components within the joint apparatus structure. The composite drive assembly integrates multiple drive functions in a compact arrangement, reducing overall volume and weight
3Adaptability or versatility
If multiple independent joints are used to achieve multi-degree-of-freedom motion, then the basic operation requirements are met, but the cost increases
Solution Approach 1:
The control system is simplified by merging the control of multiple independent joints into a unified control architecture for the single joint apparatus. The coordinated rotation of the output component about three perpendicular axes is achieved through integrated control of the first and second transmission assemblies and composite drive assembly, reducing the complexity of control algorithms and system integration
Solution Approach 2:
A universal control interface is provided that can manage all three degrees of freedom through a single joint apparatus, replacing the need for separate control systems for multiple independent joints. This multi-functional control approach reduces overall system cost and complexity
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 joint apparatus achieves precise, compact, and reliable multi-degree-of-freedom motion with reduced energy loss, enhancing the robot's adaptability and reliability in complex environments.
Implementation Method 1
a first motor arranged on the base and comprising a first output shaft that rotates about a first axis of the three axes
Implementation Method 2
a second motor arranged in the first receiving cavity and comprising a second output shaft, an extending direction of the second output shaft being parallel to or coinciding with the first axis
Implementation Method 3
a third motor arranged in the second receiving cavity and comprising a third output shaft, an extending direction of the third output shaft being parallel to or coinciding with the first axis
Implementation Method 4
a first transmission assembly having a first input end fixedly coupled to the first output shaft, a first output end rotatably coupled to the outer peripheral portion... comprising a first connecting member, a first link, and a first output link
Implementation Method 5
a second transmission assembly having a second input end fixedly coupled to the second output shaft and the other end rotatably coupled to a second pivot point of the outer peripheral portion... comprising a second connecting member, a second link, and a second output link
Implementation Method 6
a third transmission assembly having a third input end fixedly coupled to the third output shaft and the other end rotatably coupled to a third pivot point of the outer peripheral portion... comprising a third connecting member, a third link, and a third output link
Data Source
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AI summary
Embodiments of the disclosure provide a joint apparatus for a robot and a robot. The joint apparatus includes a base; an output component arranged to be rotatable about mutually perpendicular three axes for three-degree-of-freedom motion, the output component comprising an outer peripheral portion; a first motor arranged on the base and comprising a first output shaft that rotates about a first axis of the three axes; a first transmission assembly having a first input end fixedly coupled to the first output shaft, a first output end rotatably coupled to the outer peripheral portion; and a composite drive assembly fixedly coupled to the first transmission assembly and comprising a second output end and a third output end rotatably coupled to the outer peripheral portion to drive the output component to rotate about a second axis and a third axis of the three axes.