Harmonic drive actuator gearhead

Patent metadata

Field	Value
Publication number	US-12007009-B2
Application number	US-202017773829-A
Country	US
Kind code	B2
Filing date	Nov 2, 2020
Priority date	Oct 31, 2019
Publication date	Jun 11, 2024
Grant date	Jun 11, 2024

Abstract

A novel way of mounting a harmonic drive gearhead to a cylindrically shaped motor reduces the overall size of the actuator assembly. Specifically, the motor is mounted within the harmonic drive and its bearings, a space that is typically occupied by a harmonic drive component. This is made possible by redesigning the harmonic drive such that it is able to surround the motor and provide for a compact footprint for the actuator assembly.

First claim

What is claimed is:

1. A device assembly comprising:
a motor;
a gearhead actuator assembly, wherein the gearhead actuator assembly includes a static component and an output component;
a wave generator shaft, and,
wherein the gearhead actuator assembly is configured for the motor to sit in a space defined by the static component and the output component, and wherein the wave generator shaft comprises a thin, tubular shape over the motor.

2. The device assembly of claim 1 wherein the wave generator shaft is bell-shaped.

3. The device assembly of claim 1 further comprising a bell-shaped motor mount.

4. The device assembly of claim 1 wherein the motor is cylindrically shaped.

5. The device assembly of claim 4 wherein the motor is an electrical motor.

6. The device assembly of claim 1 wherein bearings are located laterally to allow their dual use for the wave generator shaft as well as main bearings of the device via connection to the output component and the static component.

7. The device assembly of claim 1 wherein the motor comprises a gearhead.

8. The device assembly of claim 1 further comprising a harmonic drive with static and dynamic circular splines.

9. The device assembly of claim 1 further comprising a flexible spline.

10. The device assembly of claim 1 further comprising an output shaft.

11. A harmonic gearhead assembly comprising:
a motor;
a static component;
an output component operatively coupled to the motor, such that an action of the motor generates a corresponding action of the output component;
a wave generator shaft, and,
wherein the static component and the output component are arranged to define a space in which the motor is disposed, and wherein the wave generator shaft comprises a thin, tubular shape over the motor.

12. The harmonic gearhead assembly of claim 11 further comprising a bell- shaped harmonic drive wave generator.

13. The harmonic gearhead assembly of claim 11 further comprising a bell- shaped motor mount.

14. The harmonic gearhead assembly of claim 11 wherein the motor is cylindrically shaped.

15. The harmonic gearhead assembly of claim 14 wherein the motor is an electrical motor.

16. The harmonic gearhead assembly of claim 11 wherein bearings are located laterally to allow their dual use for the wave generator shaft as well as main bearings of the device via connection to the output component and the static component.

17. The harmonic gearhead assembly of claim 11 wherein the motor comprises a gearhead.

18. The harmonic gearhead assembly of claim 11 further comprising a harmonic drive with static and dynamic circular splines, wherein the static circular splines are coupled to the static component and the dynamic circular splines are coupled to the output component.

19. The harmonic gearhead assembly of claim 11 further comprising a flexible spline.

20. The harmonic gearhead assembly of claim 11 wherein the motor is mounted from a head end of the motor.

Assignees

• Univ Johns Hopkins

Inventors

• Stoianovici Dan
• Petrisor Doru

Classifications

• H02K7/116

  with gears · CPC title

• F16H49/001 Primary

  Wave gearings, e.g. harmonic drive transmissions · CPC title