Wrist-Mounted Sensor Arm Structure for Continuous End-Effector Imaging
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Solution Overview
Problem
In existing robots with a camera installed on a robot arm, the wrist part may rotate out of the camera's imaging field, causing the end effector and its gripped work to be out of the imaging field, leading to operational inaccuracies.
Innovation Solution
A robot design featuring a first arm with a hole along a first axis, a second arm rotating around a second axis crossing the first axis, and an attachment member supporting a sensor that extends along the second axis, ensuring the sensor remains aligned with the end effector regardless of the arm's posture, preventing the end effector from being out of the imaging field.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If the camera is fixed to the upper arm part, then the robot structure is simple, but the end effector may run off the imaging field when the wrist part rotates
Solution Approach 1:
The patent merges the camera support function into the attachment member that is already rotating with the wrist part. By fixing the camera to the attachment member instead of the stationary upper arm, the camera rotates synchronously with the wrist part, ensuring the end effector remains in the imaging field while maintaining structural simplicity.
Solution Approach 2:
The patent transitions from a static camera mounting (fixed to upper arm) to a dynamic mounting (fixed to rotating attachment member). This allows the camera to automatically adjust its orientation according to the wrist part's rotation, maintaining continuous imaging of the end effector without requiring additional active control mechanisms.
2Ease of manufacture
If the camera is fixed to the upper arm part, then the installation is simple, but the imaging accuracy deteriorates when the wrist posture changes
Solution Approach 1:
The patent combines the camera mounting with the rotating attachment member structure. This integration allows the camera to naturally follow the wrist part's rotation, maintaining accurate imaging of the end effector across all wrist postures while keeping the installation process straightforward through the existing attachment member interface.
3Volume of moving object
If the sensor is positioned on the first arm, then the structure is compact, but the sensor cannot continuously track the end effector during wrist rotation
Solution Approach 1:
The patent positions the sensor on the rotating attachment member rather than the stationary first arm. This dynamic positioning allows the sensor to rotate with the wrist part, continuously tracking the end effector throughout the full range of motion while maintaining a compact overall structure through the integrated attachment member design.
Data Source
AI summary
A robot includes a first arm having a hole and extending along a first axis, a second arm coupled to the first arm, and rotating around a second axis crossing the first axis, a sensor configured to detect a target, and an attachment member provided to the second arm, and configured to support the sensor, wherein the attachment member is inserted through the hole, and extending along the second axis. Further, the sensor may be located outside an outer surface of the first arm.