Elastically Actuating Device with Nested Elastic Member

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Solution Overview

Problem

Existing miniaturized actuating devices face challenges in achieving a high reduction ratio with minimal backlash and accurate control of rotary forces, while also being adaptable to various devices in a modular form.

Innovation Solution

An elastically actuating device comprising an actuator, a gear part, and an elastic member that transfers rotary force, with a sensing portion and controller to accurately measure and control deformation, allowing for modular miniaturization and efficient force transfer.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Volume of moving object

If the actuating device is miniaturized, then the device size is reduced, but the reduction ratio and backlash performance deteriorate

Engineering Contradiction:

Improvedevice sizeVSAvoidreduction ratio and backlash

Core Design Contradiction:

Volume of moving objectVSReliability

Solution Approach 1:

The elastic member is disposed inside the actuator, with one end connected to the input shaft and the other end connected to the gear part. This nested configuration allows the elastic member to be integrated within the compact actuator structure, achieving miniaturization while maintaining the torsional spring function necessary for high reduction ratio and low backlash performance.

Inventive Principle:

Principle #7Nested doll (Nesting)

Solution Approach 2:

The elastic member functions as a torsional spring with flexible properties, enabling it to store and release rotational energy while maintaining precise mechanical coupling between the input shaft and gear part. This flexibility allows the miniaturized device to achieve high reduction ratio without compromising backlash performance.

Inventive Principle:

Principle #30Flexible shells and thin films

2Volume of moving object

If the elastic member is disposed inside the actuator, then the device is miniaturized, but the heat dissipation and accessibility deteriorate

Engineering Contradiction:

Improvedevice sizeVSAvoidheat dissipation

Core Design Contradiction:

Volume of moving objectVSObject-affected harmful factors

Solution Approach 1:

The elastic member is nested inside the actuator, allowing compact integration. The actuator structure itself serves as the housing for the elastic member, eliminating the need for additional external space while maintaining functional performance.

Inventive Principle:

Principle #7Nested doll (Nesting)

Solution Approach 2:

The actuator structure serves multiple functions: it houses the elastic member, provides mounting surfaces for the input and output shafts, and facilitates heat dissipation through its own structural design. This self-service approach eliminates the need for separate heat dissipation components.

Inventive Principle:

Principle #25Self-service

3Object-affected harmful factors

If the elastic member is disposed outside the actuator, then the heat dissipation is improved, but the device size increases

Engineering Contradiction:

Improveheat dissipationVSAvoiddevice size

Core Design Contradiction:

Object-affected harmful factorsVSVolume of moving object

Solution Approach 1:

Inventive Principle:

Principle #7Nested doll (Nesting)

4Measurement precision

If the sensing portion is added to sense the deformation value, then the control precision is improved, but the device complexity increases

Engineering Contradiction:

Improvedeformation sensing precisionVSAvoiddevice structure

Core Design Contradiction:

Measurement precisionVSDevice complexity

Solution Approach 1:

The sensing portion uses a non-contact optical or magnetic sensing method to detect the deformation value of the elastic member, replacing complex mechanical contact sensors. This approach achieves high measurement precision while minimizing additional device complexity.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Solution Approach 2:

The sensing portion acts as an intermediary that indirectly measures the deformation value through detecting changes in the magnetic field or optical path caused by the elastic member's deformation, rather than directly contacting the elastic member. This reduces complexity while maintaining precision.

Inventive Principle:

Principle #24Intermediary (Mediator)

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 device achieves a high reduction ratio with minimal backlash, enabling accurate force transfer and control, and is applicable to various devices in a compact modular form.

Implementation Method 1

an elastic member including one end fastened to a ground and the other end connected to the gear part, disposed outside the actuator to cover the actuator from the one end to the other end, and deformed in response to the gear part rotating relative to the actuator

Methodology Applied

Scientific EffectElasticity: Elasticity

Data Source

PatentUS10533904B2Elastically actuating device

Publication Date: 2020.01.14 DAEGU GYEONGBUK INSTITUTE OF SCIENCE AND TECHNOLOGY

AI summary

Provided is an elastically actuating device including an actuator configured to generate a rotary force, a gear part connected to the actuator and configured to transfer the rotary force from the actuator to an outside, and an elastic member including one end fastened to a ground and the other end connected to the gear part, and an elastic member including one end fastened to a ground and another end connected to the gear part, disposed outside the actuator to cover the actuator from the one end to the other end, and deformed in response to the gear part rotating relative to the actuator.