Speed Reducer Buffer Unit for Torque Measurement and Impact Protection
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Solution Overview
Problem
Speed reducing devices in humanoid robots are prone to loss of synchronism and gear damage due to external impacts, and there is a need for reliable load torque measurement for safe and stable operation.
Innovation Solution
A speed reducing device incorporating a buffer unit formed of an elastic member to absorb excessive loads and a measurement unit using a magnet and magnetic sensor to determine load torque, preventing damage and enabling accurate torque measurement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a strain wave gearing speed reducer is used to achieve reduced backlash and high speed reduction ratio, then the device becomes lightweight and compact, but the flexible configuration readily leads to loss of synchronism and gear damage when subjected to external impacts
Solution Approach 1:
The patent applies beforehand cushioning by introducing a buffer unit formed of an elastic member between the housing and the speed reducing portion. This buffer unit is pre-configured to absorb external impacts before they can cause loss of synchronism or gear damage in the strain wave gearing mechanism, thus protecting the flexible configuration from harmful forces.
2Reliability
If a buffer unit formed of an elastic member is introduced to absorb external impacts, then loss of synchronism and gear damage are prevented, but the device structure becomes more complex
Solution Approach 1:
The buffer unit serves multiple functions: it absorbs external impacts to prevent loss of synchronism and gear damage, and simultaneously enables load torque measurement through its elastic deformation. This multi-functionality reduces the need for separate protective mechanisms, thereby limiting the increase in device complexity.
Solution Approach 2:
The buffer unit acts as an intermediary element between the housing and the speed reducing portion. It mediates the transmission of external impacts by absorbing them through elastic deformation, thus protecting the internal gears from direct impact forces while adding only a single intermediate component.
3Measurement precision
If high-resolution sensors are used to accurately measure load torque, then measurement precision is improved, but the device complexity and cost increase
Solution Approach 1:
The patent replaces complex high-resolution sensor systems with a simpler mechanical measurement approach. By using the buffer unit's elastic deformation (a mechanical phenomenon) to indicate load torque, the system achieves reliable measurement without requiring sophisticated electronic sensors, thereby reducing device complexity and cost.
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 device effectively absorbs excessive loads, preventing damage to components and allows for reliable load torque measurement without the need for high-resolution sensors, enhancing the stability and safety of humanoid robots.
Implementation Method 1
a buffer unit formed of an elastic member and having a cushion force acting mainly in a substantially rotational tangential direction between the housing and the speed reducing portion
Implementation Method 2
a measurement unit for measuring an amount of displacement generated in the housing by the buffer unit
Data Source
AI summary
One object is to provide a speed reducer provided with a buffer mechanism for reducing an external force and capable of reliably measuring a load torque during an operation. A speed reducing device includes a speed reducing mechanism for reducing a rotation speed of an output with respect to an input between an input rotary shaft and an output rotary shaft, a housing that houses the speed reducing mechanism, and a buffer unit formed of an elastic member and having a cushion force acting mainly in a substantially rotational tangential direction. An amount of displacement of the housing generated by the buffer unit is measured by a measurement device.