Concentric opposed cam actuator

Patent metadata

Field	Value
Publication number	US-10399219-B2
Application number	US-201615386767-A
Country	US
Kind code	B2
Filing date	Dec 21, 2016
Priority date	Aug 25, 2014
Publication date	Sep 3, 2019
Grant date	Sep 3, 2019

Abstract

An example device may include a rounded outer incline ramp and a rounded inner incline ramp surrounding a central axis. The rounded inner incline ramp and the rounded outer incline ramp may be inversely aligned relative to the central axis. The device may also include a piston carrier oriented in a direction parallel to the central axis. The piston carrier may include a first piston including a first roller positioned on the two ramps at a first point, where the first piston is configured to act on the two ramps in a direction parallel to the central axis. The piston carrier may also include a second piston including a second roller positioned on the two ramps at a second point opposite the first point, where the second piston is configured to act on the two ramps in a direction parallel to the central axis.

First claim

What is claimed is:

1. A method comprising:
determining a grounded component from a group of three components to enable rotation of two ungrounded components from the group about a central axis, wherein the group comprises (1) a rounded outer incline ramp surrounding the central axis, (2) a rounded inner incline ramp surrounding the central axis and inversely aligned from the rounded outer incline ramp, and (3) a piston carrier oriented in a direction parallel to the central axis;
causing the grounded component to become fixed from rotation about the central axis; and
driving a first piston of the piston carrier toward the rounded outer incline ramp and the rounded inner incline ramp to produce rotations of the two ungrounded components and to force a second piston from the piston carrier in a direction away from the rounded outer incline ramp and the rounded inner incline ramp.

2. The method of claim 1 , further comprising driving the second piston of the piston carrier toward the rounded outer incline ramp and the rounded inner incline ramp to produce opposite rotations of the two ungrounded components and to force the first piston in a direction away from the rounded outer incline ramp and the rounded inner incline ramp.

3. The method of claim 1 , wherein the first piston comprises a first roller positioned on the rounded outer incline ramp and the rounded inner incline ramp at a first point, and wherein the second piston comprises a second roller positioned on the rounded outer incline ramp and the rounded inner incline ramp at a second point opposite the first point.

4. The method of claim 3 , wherein the first point comprises a point at which surfaces of the rounded outer incline ramp and the rounded inner incline ramp have a same height orthogonal to the central axis.

5. The method of claim 3 , wherein the first roller comprises a first outer roller positioned along the rounded outer incline ramp and a first inner roller positioned along the rounded inner incline ramp such that the first outer roller and the first inner roller are configured to roll independently of each other.

6. The method of claim 1 , wherein each of the rounded outer incline ramp and the rounded inner incline ramp comprises a first semicircular portion extending from a lowest point to a highest point and a second semicircular portion opposite the first semicircular portion.

7. The method of claim 1 , wherein the rounded outer incline ramp and the rounded inner incline ramp have a same pitch.

8. The method of claim 1 , wherein the rounded inner incline ramp is fixed from rotation such that a linear motion of the first piston toward the rounded outer incline ramp and the rounded inner incline ramp causes a rotation of the piston carrier and the rounded outer incline ramp.

9. The method of claim 8 , wherein the rounded outer incline ramp and the rounded inner incline ramp have a same pitch such that the linear motion of the first piston toward the rounded outer incline ramp and the rounded inner incline ramp causes the rounded outer incline ramp to rotate twice as fast as the piston carrier.

10. The method of claim 1 , wherein the piston carrier is fixed from rotation such that a linear motion by the first piston toward the rounded outer incline ramp and the rounded inner incline ramp causes a rotation of the rounded inner incline ramp and the rounded outer incline ramp in opposite directions.

11. The method of claim 10 , wherein the rounded outer incline ramp and the rounded inner incline ramp have a same pitch such that the linear motion of the first piston toward the rounded outer incline ramp and the rounded inner incline ramp causes the rounded outer incline ramp to rotate at a same speed as the rounded inner incline ramp.

12. The method of claim 10 wherein the rounded outer incline ramp and the rounded inner incline ramp have a different pitch such that the linear motion of the first piston toward the rounded outer incline ramp and the rounded inner incline ramp causes the rounded outer incline ramp to rotate at a different speed than the rounded inner incline ramp.

13. The method of claim 1 , wherein at least one of the rounded outer incline ramp and the rounded inner incline ramp has a non-constant incline angle such that a linear motion of the first piston toward the rounded outer incline ramp and the rounded inner incline ramp causes a rotation of at least one of the rounded outer incline ramp and the rounded inner incline ramp with non-constant speed.

14. The method of claim 13 , wherein the at least one of the rounded outer incline ramp and the rounded inner incline ramp that has the non-constant incline angle comprises a surface with a plurality of undulations.

15. The method of claim 1 , wherein causing the grounded component to become fixed from rotation about the central axis comprises activating an actuator corresponding to the grounded component to prevent rotation of the grounded component.

16. A non-transitory computer readable medium having stored therein instructions, that when executed by a computing system, cause the computing system to perform functions comprising:
determining a grounded component from a group of three components to enable rotation of two ungrounded components from the group about a central axis, wherein the group comprises (1) a rounded outer incline ramp surrounding the central axis, (2) a rounded inner incline ramp surrounding the central axis and inversely aligned from the rounded outer incline ramp, and (3) a piston carrier oriented in a direction parallel to the central axis;
causing the grounded component to become fixed from rotation about the central axis; and
driving a first piston of the piston carrier toward the rounded outer incline ramp and the rounded inner incline ramp to produce rotations of the two ungrounded components and to force a second piston from the piston carrier in a direction away from the rounded outer incline ramp and the rounded inner incline ramp.

17. The non-transitory computer readable medium of claim 16 , wherein the functions further comprise driving the second piston of the piston carrier toward the rounded outer incline ramp and the rounded inner incline ramp to produce opposite rotations of the two ungrounded components and to force the first piston in a direction away from the rounded outer incline ramp and the rounded inner incline ramp.

18. The non-transitory computer readable medium of claim 16 , wherein the first piston comprises a first roller positioned on the rounded outer incline ramp and the rounded inner incline ramp at a first point, and wherein the second piston comprises a second roller positioned on the rounded outer incline ramp and the rounded inner incline ramp at a second point opposite the first point.

19. A system comprising:
at least one processor; and
a non-transitory computer readable medium having stored therein instructions, that when executed by the at least on processor, cause the at least one processor to perform functions comprising:
determining a grounded component from a group of three components to enable rotation of two ungrounded components from the group about a central axis, wherein the group comprises (1) a rounded outer incline ramp surrounding the central axis, (2) a rounded inner incline ramp surrounding the central axis and inversely aligned from the rounded outer incline ramp, and (3) a piston carrier oriented in a direction parallel to the central axis;
causing the grounded component to become fixed from rotation about the central axis; and
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Assignees

• Boston Dynamics Inc

Inventors

• Dellon Brian

Classifications

• F16H35/18

  Turning devices for rotatable members, e.g. shafts · CPC title

• B25J15/0226

  actuated by cams · CPC title

• Y10S901/28

  Joint · CPC title

• F16H23/00

  Wobble-plate gearings; Oblique-crank gearings · CPC title

• B25J9/146

  Rotary actuators · CPC title