Self-Contained Robot Actuator with Central Cable Channel
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Solution Overview
Problem
Current industrial robot manipulators have bulky and redundant cabling, which increases weight, bulkiness, and poses hygiene risks, while self-contained actuators with integrated components are not yet commercially viable.
Innovation Solution
A self-contained actuator with a housing that includes a motor and motor drive in axial sequence, utilizing wide-bandgap electronics for efficient cooling and reduced thermal stress, and a central channel for cable routing, allowing for a common bus to serve multiple actuators, thus reducing cabling and enhancing space efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If self-contained actuators with integrated motor and motor drive are implemented, then cabling complexity is reduced and space efficiency is improved, but thermal management becomes more challenging due to limited cooling space
Solution Approach 1:
The motor and motor drive are merged into a single integrated actuator unit, eliminating the need for separate cable connections between these components. This consolidation reduces cabling complexity while the integrated design incorporates thermal management features to handle the combined heat generation of both components.
Solution Approach 2:
A heat sink is introduced as an intermediary component between the motor drive and the external environment. This heat sink acts as a thermal mediator, capturing heat from the motor drive and dissipating it to the surrounding air, thereby solving the thermal management challenge in the compact integrated design.
2Temperature
If motor drive is positioned axially closer to the free end for heat dissipation, then cooling efficiency is improved, but space for other components is reduced
Solution Approach 1:
The actuator components are arranged in an axial sequence along the length of the housing, utilizing the longitudinal dimension for thermal management. The motor drive is positioned axially closer to the free end where heat dissipation to the external environment is most effective, while the hollow shaft provides an alternative spatial dimension for cable routing that does not interfere with this thermal optimization.
3Weight of moving object
If a common bus is used to serve multiple actuators, then cabling is simplified and weight is reduced, but cable routing becomes more complex
Solution Approach 1:
The cable is nested within the hollow shaft of the actuator, utilizing the internal cavity of the shaft for cable routing. This nesting approach allows the cable to pass through the actuator internally rather than externally, simplifying the overall cable routing architecture while supporting the common bus configuration that reduces total cable weight.
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 provides a compact, lightweight, and efficient actuator that can be easily integrated into robot manipulators, reducing cabling complexity and facilitating easier installation, while maintaining effective cooling and power delivery.
Implementation Method 1
the motor drive may be in heat-dissipating relationship with the free end
Data Source
AI summary
A self-contained actuator for use in a robot manipulator includes: a housing, in which are arranged in axial sequence a gear, a motor, a brake, a sensor and a motor drive. The motor drive includes wide-bandgap/WBG electronics and is arranged in heat-dissipating relationship with a free end of the housing. Through the motor and some further components, there is provided a central channel for receiving a cable connected to at least one further actuator of the robot manipulator. The channel may be angled or straight. In embodiments where the motor drive is hollow, the central channel extends between the axial ends of the actuator. There is further provided an all-in-one industrial robot comprising a robot manipulator, in which one or more self-contained actuators with the above characteristics are installed and a robot controller is physically integrated.