Modular Separable Actuator for Flexible Deceleration Ratios
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Solution Overview
Problem
Existing decelerators, such as cycloid decelerators, have increased size due to integrated deceleration gears, limiting user flexibility in setting deceleration ratios and requiring precise center distance, gear type, and gear ratio selection.
Innovation Solution
A modular actuator system comprising a primary deceleration module and a secondary deceleration module, allowing flexible selection and combination of deceleration ratios through interchangeable gear types, including gear-type, rolling ball-type, harmonic drive, and cycloid decelerators, with position detection using magnetic or optical encoders, and a housing design with bolt holes for easy assembly and expansion.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If deceleration gears are installed in one housing, then the decelerator provides integrated deceleration function, but the size of the decelerator is increased and user flexibility is reduced
Solution Approach 1:
The decelerator is divided into separate modular units: a primary deceleration module containing the driving motor and first deceleration gears, and a secondary deceleration module containing second deceleration gears. These modules can be independently selected and combined through meshed gear connections, allowing users to customize deceleration ratios without increasing overall system complexity.
2Device complexity
If deceleration gears are installed in one housing, then the decelerator structure is simplified, but the center distance and gear ratio selection becomes less flexible
Solution Approach 1:
The system employs adjustable and interchangeable gear components that can be dynamically reconfigured. The primary and secondary deceleration modules feature standardized mounting interfaces and meshed gear connections that allow for flexible adjustment of center distances and gear ratios while maintaining a relatively simple overall structure.
3Reliability
If fixed deceleration gears are used, then the decelerator provides stable performance, but the user cannot easily set different deceleration ratios
Solution Approach 1:
The deceleration system is segmented into interchangeable modular units with standardized interfaces. Users can easily change deceleration ratios by selecting different combinations of primary and secondary deceleration modules, which maintain stable performance through precise gear meshing while enabling straightforward reconfiguration.
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
Enables flexible and precise control of articulated motion with increased deceleration efficiency and expandability, allowing users to customize deceleration ratios and module size according to needs, enhancing usability and precision in robotics applications.
Implementation Method 1
position detection using magnetic or optical encoders
Implementation Method 2
a magnetic encoder configured to detect the position of the rotary rod
Implementation Method 3
position detection using magnetic or optical encoders
Data Source
AI summary
An actuator for controlling joint movement of a robot includes a first deceleration module and a second deceleration module, which receives and outputs driving force by being in gear with the first deceleration module. The first deceleration module includes a driving motor, a first print circuit board for controlling the driving motor by feeding back the output of the second deceleration module, at least one first reduction gear which is rotated by a driving motor, and a housing on which the driving motor, the first print circuit board, and the first reduction gear are mounted. The second deceleration module includes at least one other reduction gear, which rotates by being in gear with the first reduction gear, and a case on which the second reduction gear is mounted and which is connected to the housing.