Nested Coil Joint Structure for Stable Bending and Axial Rigidity
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Solution Overview
Problem
Existing bending structures for robot joint function parts are complex and difficult to stabilize, particularly due to the interlocking of multiple disc elements.
Innovation Solution
A simplified bending structure comprising an outer coiled part and an inner coiled part, where the inner coiled part fits between the coils of the outer coiled part, ensuring axial rigidity and smooth bending operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If multiple disc elements are engaged with each other to stabilize bending operation, then bending operation stability is improved, but device complexity increases
Solution Approach 1:
The patent combines multiple disc elements into a single integrated flexible member with a unified structure. The flexible member incorporates both the bending operation mechanism and compression resistance function within one component, eliminating the need for separate engaged disc elements while maintaining operational stability.
Solution Approach 2:
The flexible member is designed to perform multiple functions simultaneously: it enables bending operation through its flexible portion and provides compression resistance through its rigid portion. This multi-functional design replaces the need for multiple specialized components, simplifying the overall structure while maintaining reliability.
2Reliability
If a flexible member with engaged disc elements is used, then bending operation is stabilized, but manufacturing complexity increases
Solution Approach 1:
The flexible member is manufactured as a single integrated component rather than assembling multiple disc elements. This merging of functions into one manufacturable unit reduces manufacturing complexity while maintaining the stability of bending operation.
3Device complexity
If the structure is simplified, then device complexity is reduced, but axial rigidity may be compromised
Solution Approach 1:
The flexible member is designed with different structural properties in different regions: the flexible portion allows bending motion while the rigid portion provides axial compression resistance. This local differentiation of structural quality enables the simplified single-component design to maintain both flexibility and axial rigidity simultaneously.
Solution Approach 2:
The flexible member can be constructed using composite materials or composite structural design, combining flexible and rigid characteristics within the same component. This allows the simplified structure to achieve both bending flexibility and axial rigidity without requiring multiple separate elements.
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 proposed structure stabilizes bending operations while simplifying the structure, ensuring smooth operation without catching, and maintaining axial rigidity.
Implementation Method 1
the coils of the inner coiled part fit between the adjacent coils of the outer coiled part while being in contact with the adjacent coils of the outer coiled part
Implementation Method 2
the flexible member smoothly performs the bending operation and assures rigidity against compression in an axial direction
Data Source
Figure 1
Figure 2
Figure 3(A)~3(B)
AI summary
Provided are a bending structure and a joint function part, capable of stabilizing bending operation and simplifying a structure. In the bending structure, an inner coiled part 5 is located into an outer coiled part 3. The outer coiled part 3 has a plurality of gaps 3c distancing adjacent coils 3b in an axial direction, and coils 5b of the inner coiled part 5 are provided so as to correspond to the gaps 3c of the outer coiled part 3 and fit between the adjacent coils 3b of the outer coiled part 3 while being in contact with the adjacent coils 3b . A dimension P is set in a range meeting πR/4N≤P<d-πR/4N in which P is the dimension of the gap 3c of the outer coiled part 3 in the axial direction in a free state, N is the number of turns of the outer coiled part 3, R is a diameter of the outer coiled part 3, and d is a wire diameter of the wire 5a of the inner coiled part 5.