Parallel Integrated Actuator with Nested Shafts and Convection Cooling
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Solution Overview
Problem
Existing parallel type actuators for robots face challenges in reducing the volume of their structure, minimizing joint interference, achieving low inertia, and providing intuitive joint movement while efficiently dissipating heat and maintaining a compact heat sink size.
Innovation Solution
A parallel type integrated actuator design featuring stacked motors with a heat sink housing and a blower fan for effective heat dissipation, along with a compact and efficient cooling system, allowing for four degrees of freedom motion by utilizing a combination of motors and link parts to achieve pitching, yawing, rolling, and additional independent rolling motions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple motors are stacked in the driving unit, then the four degrees of freedom are implemented, but the volume and weight of the actuator increase
Solution Approach 1:
The patent implements nested shafts where the second shaft is inserted through the first shaft, and the third shaft is inserted through the second shaft, forming a co-axial hollow structure. This nesting arrangement allows multiple rotational axes to share the same spatial envelope, significantly reducing the overall volume and weight of the actuator while maintaining four degrees of freedom capability.
2Adaptability or versatility
If multiple motors are stacked in the driving unit, then the four degrees of freedom are implemented, but the volume of the actuator increases
Solution Approach 1:
The patent implements nested shafts where the second shaft is inserted through the first shaft, and the third shaft is inserted through the second shaft, forming a co-axial hollow structure. This nesting arrangement allows multiple rotational axes to share the same spatial envelope, significantly reducing the overall volume and weight of the actuator while maintaining four degrees of freedom capability.
3Temperature
If a heat sink housing is added around the driving unit, then heat dissipation is improved, but the volume of the actuator increases
Solution Approach 1:
The patent merges the heat sink housing with the existing actuator structure by positioning it to surround the driving unit and integrate with the outer housing. The heat sink housing incorporates flow paths that utilize the blower fan's airflow, combining thermal management functionality with the actuator's existing aerodynamic structure. This integration adds cooling capability while minimizing volume increase compared to a separate heat sink system.
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 solution enables reduced volume and weight of the joint actuator, effective heat dissipation, and intuitive joint movement, allowing for precise and efficient four-degree-of-freedom motion while avoiding collisions and maintaining a compact size.
Implementation Method 1
a blower fan installed on one end side of the driving unit, provided with a wing part disposed to be adjacent to one end side of the heat sink housing, wherein rotation generates convection for heat exchange between air flowing through the flow paths of the heat sink housing and air outside the driving unit
Implementation Method 2
a heat sink housing having a cylindrical shape formed around an outer surface of the driving unit, having an inner circumferential surface thereof thermally connected with the plurality of stators
Data Source
AI summary
A parallel type integrated actuator is proposed. The actuator includes: a driving unit composed of a plurality of motors, each motor being stacked successively in a longitudinal direction of the driving unit, each motor having a stator fixed to a position outside the driving unit and a rotor positioned inside thereof, each motor rotating relative to each other; a plurality of shafts; a heat sink housing having a cylindrical shape formed around the outer surface of the driving unit, and having an inner circumferential surface thereof thermally connected with the plurality of stators and a plurality of flow paths formed on the outer circumferential surface thereof; and a blower fan installed on one end side of the driving unit, provided with a wing part disposed to be adjacent to one end side of the heat sink housing, wherein rotation generates convection for heat exchange.