Vacuum Robot Distributed Actuators for Sealing and Heat Management
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Solution Overview
Problem
Conventional vacuum-environment robots with centralized actuators are mechanically complex, limiting performance and scalability, particularly in configurations with multiple axes of motion, and face challenges in sealing, power delivery, communication, and heat removal.
Innovation Solution
Distribute actuators within the robot arm, incorporating distributed actuators with integrated thermal management, power distribution, and communication systems, utilizing rotary couplings and service loops to maintain vacuum integrity and facilitate motion.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If actuators are centralized in the drive unit, then the robot structure is simpler to manufacture, but the mechanical complexity increases and performance is limited
Solution Approach 1:
The patent segments the actuator system by distributing multiple actuators (including a first actuator for the upper arm, second actuator for the forearm, and third actuator for the wrist) across different robot components rather than centralizing them in one drive unit. This segmentation reduces mechanical complexity by eliminating the need for complex transmission mechanisms while maintaining ease of manufacture through modular actuator designs.
2Device complexity
If actuators are distributed within the robot arm, then mechanical complexity is reduced and performance is enhanced, but sealing and power delivery challenges increase
Solution Approach 1:
The patent introduces a vacuum bellows as an intermediary component that provides flexible sealing between the vacuum environment and the actuator housing. The bellows accommodates the motion of the upper arm while maintaining vacuum integrity, thus enabling distributed actuator placement without compromising sealing reliability.
3Adaptability or versatility
If actuators are distributed within the robot arm, then scalability is improved for multiple axes of motion, but heat removal challenges increase
Solution Approach 1:
The patent extracts the heat generation problem from the vacuum environment by placing actuators in atmospheric pressure housings that are thermally coupled to the vacuum chamber but thermally isolated where needed. This allows efficient heat removal from actuators through the housing walls while maintaining the vacuum seal, enabling scalable multi-axis configurations without heat accumulation issues.
Data Source
AI summary
An apparatus includes a drive; a movable arm connected to the drive, the movable arm comprising a first link connected to the drive at a shoulder, a second link connected to the first link at an elbow, a third link connected to the second link at a wrist, and a fourth link connected to the second link at the wrist; at least one first actuator located in the second link configured to cause a rotation of the third link about the wrist; and at least one second actuator located in the second link configured to cause a rotation of the fourth link about the wrist. One or more of a thermal management, a power distribution, or a communication is effected through the second link.