Compact Robot Joint Actuator Assembly for Low-Loss Torque Transmission
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Solution Overview
Problem
Existing small actuators for robots face challenges in minimizing power loss during power transmission and achieving miniaturization and lightweight designs while providing the necessary torque for robot joints.
Innovation Solution
A compact actuator design incorporating a dual gear structure with a housing assembly using tapping screws instead of a flange structure, featuring a front, intermediate, and rear case configuration, where reduction gears are synchronized to reduce power loss and allow for various torque ratios within a narrow space.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Weight of moving object
If a small motor is used to miniaturize the actuator, then the size and weight are reduced, but the torque generation capability deteriorates
Solution Approach 1:
A dual gear structure is introduced as an intermediary mechanism between the small motor and the output shaft. The first gear is coupled to the motor shaft, and the second gear is coupled to the output shaft, with both gears engaged with each other. This gear mediation allows a small motor to generate sufficient torque at the output by providing mechanical advantage through the gear ratio, thus resolving the contradiction between miniaturization and torque generation.
2Force
If reduction gears are added to increase torque, then the torque generation capability is improved, but the device complexity increases
Solution Approach 1:
The patent combines the housing structure with the gear support function. The housing includes a first gear support portion and a second gear support portion that are integrated into the same component rather than being separate parts. This merging of functions reduces the number of components and assembly steps while maintaining the torque multiplication capability through the dual gear structure, thus resolving the contradiction between torque generation and device complexity.
3Strength
If a flange structure is used for housing assembly, then the assembly strength is improved, but the device size and weight increase
Solution Approach 1:
The patent extracts the flange structure from the housing assembly and replaces it with a more compact connection method. Instead of using extended flanges for assembly, the housing uses an integrated support structure with gear support portions that provide both structural strength and gear mounting functions. This extraction of the flange component reduces the overall size and weight while maintaining adequate assembly strength through the integrated design.
Data Source
AI summary
Disclosed is a small actuator for a robot, including an intermediate case including a driving motor and a plurality of reduction gears, a front case having a through-hole, a housing coupled to the intermediate case and including a rear case having at least one tapping hole, a rotation part that has a tapping hole, is connected to the protruding final reduction gear, and is rotated at a final reduction ratio, a first tapping screw that passes through the tapping hole of the rotation part and is fastened to a rotary shaft of the protruding reduction gear, and at least one second tapping screw that passes through one side of the front case and the intermediate case and is fastened to the tapping hole of the rear case.