Nested Coil Bending Structure for Stable Robot Joint Flexing
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Solution Overview
Problem
Existing bending structures for joint function parts in robots are complicated due to the engagement of multiple disc elements, which complicates the structure while stabilizing the bending operation.
Innovation Solution
A simplified bending structure comprising an outer coiled part and an inner coiled part, where the outer coiled part has gaps to distance adjacent coils, and the inner coiled part fits between these gaps, ensuring axial rigidity and flexibility during bending.
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 applies nesting by placing the inner coiled part inside the outer coiled part, with the inner coiled part fitting into the gaps between adjacent coils of the outer coiled part. This nested configuration provides mutual support between the two coiled parts, ensuring bending operation stability while using a simpler structure compared to engaging multiple disc elements. The nested arrangement allows the coiled parts to work together as a unified bending mechanism without requiring complex engagement features.
2Device complexity
If the bending structure uses a simplified design, then device complexity is reduced, but axial rigidity may be compromised
Solution Approach 1:
The patent applies the composite principle by combining two different coiled parts (outer coiled part and inner coiled part) with different structural characteristics into a single bending structure. The outer coiled part provides overall structural framework, while the inner coiled part fitting into its gaps provides additional support and rigidity. This composite configuration achieves axial rigidity equivalent to or greater than single coiled structures, while maintaining design simplicity and avoiding the need for complex disc element engagements.
3Strength
If gaps between coils are reduced to ensure axial rigidity, then axial strength is improved, but bending flexibility is reduced
Solution Approach 1:
The patent applies local quality by creating different gap configurations in different locations of the coiled structure. The outer coiled part has gaps between adjacent coils that allow for bending movement, while the inner coiled part is positioned to provide localized support where axial rigidity is needed. This differential gap configuration allows the structure to exhibit both axial rigidity and bending flexibility simultaneously - the gaps enable bending while the nested coiled parts maintain axial strength.
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 simplifies the design while maintaining stability and flexibility, ensuring that the length of the axis remains constant during bending, and preventing compression in the axial direction.
Implementation Method 1
an outer coiled part formed of a wire which is wound in a coiled shape to have a plurality of coils in the axial direction, and an inner coiled part formed of a wire which is wound in a coiled shape
Data Source
AI summary
Provided is a bending structure and a joint function part, capable of ensuring sufficient flexibility and rigidity in an axial direction. The bending structure is provided with an outer coiled part formed of a wire wound in a coiled shape and an inner coiled part formed of a wire wound in a coiled shape and arranged in the outer coiled part, wherein the outer coiled part has a plurality of gaps to distance adjacent coils, and coils of the inner coiled part are provided so as to correspond to the gaps of the outer coiled part and fit between the adjacent coils while being in contact with the adjacent coils of the outer coiled part.