Actuator with Internal Wave Gear Sensor Wiring
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Solution Overview
Problem
Existing actuators with wave reduction gears and magnetic encoders face challenges in making the actuator flatter due to coaxial arrangement, and the external wiring of magnetic sensors is prone to mechanical damage and electromagnetic noise.
Innovation Solution
The actuator design incorporates a wave reduction gear with an annular rigid internal gear and flexible external gear, where the magnetic encoder's angle detecting unit is inside the gear, and sensor signal converter is at the motor's rear end, connected via internal wiring holes, reducing external wiring and electromagnetic noise exposure.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Length of moving object
If the magnetic encoder is mounted inside the wave reduction gear to reduce actuator length, then the axial length is reduced, but wiring complexity and vulnerability increase
Solution Approach 1:
The angle detector is nested inside the wave reduction gear's flexible external gear, utilizing the internal space of the gear structure. This nesting arrangement allows the angle detector to be housed within the existing mechanical structure without increasing the overall axial length of the actuator, thereby achieving compact integration while maintaining organized wiring within the nested structure.
2Ease of operation
If wiring is brought out to the exterior of the actuator for connection, then connection is simplified, but mechanical damage and electromagnetic noise susceptibility increase
Solution Approach 1:
The motor casing serves as an intermediary pathway for the wiring between the angle detector inside the wave reduction gear and the circuit board at the motor rear end. By routing the wiring through the motor casing instead of bringing it out to the exterior, the wiring is protected from mechanical damage and electromagnetic noise while maintaining functional connection, effectively using the motor structure as a protective conduit.
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
This configuration allows for a more compact actuator design, reduces mechanical damage to wiring, and minimizes electromagnetic noise interference while maintaining efficient signal processing with reduced wiring complexity.
Implementation Method 1
a magnetic sensor facing the sensor magnet
Data Source
AI summary
In an actuator (1) in which an angle detector (13) of a magnetic encoder for detecting the rotational position of a motor (3) is incorporated inside a wave reduction gear (5), detection signals from Hall elements (11a, 11b) of the angle detector (13) are transmitted via sensor lead wires (17) that have been brought out through wiring holes (36a, 33a, 35a, 37a) formed inside the motor (3) to a sensor signal converter board (14) disposed on the rear end side of the motor. Since the wiring is not required to be brought out to the exterior, indirectly routed along the exterior of the motor (3), and brought out to the rear side thereof, the wiring is not mechanically damaged and can be brought out with the shortest possible wiring distance, and the effect of electromagnetic noise can be reduced.