Through-Bore Cycloid Actuator for Torque and Cable Routing
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Solution Overview
Problem
Existing robot designs face challenges in managing torque, shock-load, and internal communication and connectivity within kinematic chains, particularly due to external wiring and cables that are vulnerable to wear and impact.
Innovation Solution
A cycloid drive assembly with a through-bore tube is introduced, which allows for the passage of cables and wiring through robot joints while absorbing high torques and shock-loads. The assembly includes a hollow input-shaft, a through-bore tube, a roller bearing, a mid-ring, cycloid-discs, and an outer-roller-ring, providing a robust and efficient means of connecting links in a kinematic serial chain.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If a compact cycloid drive architecture is used to handle high torque and shock-load, then the actuator can absorb large forces, but it restricts the use of threadable designs that allow pass-through of cables and wiring
Solution Approach 1:
The through-bore tube is nested concentrically within the hollow input-shaft of the cycloid drive. This nested configuration allows the tube to pass through the center of the compact cycloid drive mechanism, enabling cable routing without increasing the overall footprint of the actuator while maintaining high torque absorption capability.
Solution Approach 2:
The cycloid drive is segmented into distinct functional components: the hollow input-shaft for torque transmission, the concentric through-bore tube for cable passage, the cycloid mechanism for gear reduction, and the output shaft. This segmentation allows each component to be optimized for its specific function while working together in a compact integrated assembly.
2Ease of manufacture
If external wiring and cables are used to connect links in the kinematic chain, then installation is simpler, but the wiring is vulnerable to wear, entanglement, and impact
Solution Approach 1:
The through-bore tube acts as an intermediary structure that provides a protected internal pathway for cables and wiring to pass through the actuator. This intermediary channel shields the wiring from external environmental hazards such as wear, entanglement, and impact, while still allowing electrical connectivity between kinematic links.
Solution Approach 2:
The wiring is extracted from the external environment and relocated into the protected internal pathway of the through-bore tube. This extraction removes the vulnerable external cables from harmful environmental conditions while maintaining their functional connectivity purpose.
3Adaptability or versatility
If a through-bore tube is added to allow cable passage, then cable routing is enabled, but the actuator architecture becomes more complex
Solution Approach 1:
The through-bore tube serves multiple functions: it provides structural support as part of the actuator housing, creates a sealed pathway for cable protection, and enables routing for multiple cables simultaneously. This multi-functionality reduces the need for additional separate components, thereby limiting the increase in overall architectural complexity.
Solution Approach 2:
The concentric nesting of the through-bore tube within the hollow input-shaft creates an efficient space utilization where the tube is housed within the existing structural footprint of the actuator. This nested arrangement minimizes the increase in external dimensions and overall complexity while enabling cable passage functionality.
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 cycloid drive assembly effectively manages high torque and shock-load while providing an internal pathway for communication and connectivity, enhancing the reliability and lifespan of robot joints by protecting internal wiring from environmental hazards.
Implementation Method 1
a roller bearing, wherein the roller bearing is eccentrically mounted to the input-shaft meaning the bearing is mounted off center to the axis of rotation of the input-shaft
Implementation Method 2
a cycloid-disc, comprising N external lobes, wherein the cycloid-disc is positioned onto the set of mid-ring rollers
Implementation Method 3
an outer-roller-ring, wherein the outer-roller-ring comprises N+1 outer-rollers, and wherein the outer-roller-ring of the drive has a reduced speed and an increased torque relative to the hollow input-shaft
Implementation Method 4
a roller bearing, wherein the roller bearing is eccentrically mounted to the input-shaft
Data Source
AI summary
Disclosed is a threadable cycloid actuator having a cycloid drive with a through-bore tube, designed for the purpose of operatively connecting links in a kinematic chain and absorbing high torque and shock-load. The cycloid drive has a hollow input-shaft that receives a connective element at a joint in the kinematic chain, where the element traverses the through-bore tube and operatively connects to a further joint in the kinematic chain.