Gear bearing drive
First Claim
Patent Images
1. A gear bearing drive comprising an assembly having an input stage and an output stage, the assembly comprising:
- a sun gear sub-assembly comprising;
a sun gear including a plurality of sun gear teeth extending radially outwardly and disposed circumferentially around the sun gear, anda motor having an external rotor disposed inside an interior region of the sun gear and concentrically surrounded by the sun gear teeth, the sun gear rotatable with the external rotor;
a plurality of pinion sub-assemblies disposed to interface with and revolve around the sun gear sub-assembly, each pinion sub-assembly comprising an input pinion gear meshing with the sun gear and an output pinion gear, andan output ring gear disposed to mesh with the output pinion gear of each pinion sub-assembly.
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Abstract
A gear bearing drive provides a compact mechanism that operates as an actuator providing torque and as a joint providing support. The drive includes a gear arrangement integrating an external rotor DC motor within a sun gear. Locking surfaces maintain the components of the drive in alignment and provide support for axial loads and moments. The gear bearing drive has a variety of applications, including as a joint in robotic arms and prosthetic limbs.
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Citations
47 Claims
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1. A gear bearing drive comprising an assembly having an input stage and an output stage, the assembly comprising:
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a sun gear sub-assembly comprising; a sun gear including a plurality of sun gear teeth extending radially outwardly and disposed circumferentially around the sun gear, and a motor having an external rotor disposed inside an interior region of the sun gear and concentrically surrounded by the sun gear teeth, the sun gear rotatable with the external rotor; a plurality of pinion sub-assemblies disposed to interface with and revolve around the sun gear sub-assembly, each pinion sub-assembly comprising an input pinion gear meshing with the sun gear and an output pinion gear, and an output ring gear disposed to mesh with the output pinion gear of each pinion sub-assembly. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 27, 28, 29)
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13. A gear bearing drive comprising an assembly having an input stage and an output stage, the assembly comprising:
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a sun gear sub-assembly comprising; a sun gear, and a motor having an external rotor disposed inside an interior region of the sun gear, the sun gear rotatable with the external rotor; a plurality of pinion sub-assemblies disposed to interface with and revolve around the sun gear sub-assembly, each pinion sub-assembly comprising an input pinion gear meshing with the sun gear and an output pinion gear; axially facing mating locking surfaces on the pinion sub-assemblies and the sun gear sub-assembly disposed to transfer axial forces therebetween; and an output ring gear disposed to mesh with the output pinion gear of each pinion sub-assembly. - View Dependent Claims (14, 15, 16)
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17. A gear bearing drive comprising an assembly having an input stage and an output stage, the assembly comprising:
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a sun gear sub-assembly comprising; a sun gear, and a motor having an external rotor disposed inside an interior region of the sun gear, the sun gear rotatable with the external rotor; a plurality of pinion sub-assemblies disposed to interface with and revolve around the sun gear sub-assembly, each pinion sub-assembly comprising an input pinion gear meshing with the sun gear and an output pinion gear, radially facing bearing surfaces on the pinion sub-assemblies and the sun gear sub-assembly disposed in rolling bearing contact; and an output ring gear disposed to mesh with the output pinion gear of each pinion sub-assembly. - View Dependent Claims (18, 19, 20)
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21. A gear bearing drive comprising an assembly having an input stage and an output stage, the assembly comprising:
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a sun gear sub-assembly comprising; a sun gear, and a motor having an external rotor disposed inside an interior region of the sun gear, the sun gear rotatable with the external rotor; a plurality of pinion sub-assemblies disposed to interface with and revolve around the sun gear sub-assembly, each pinion sub-assembly comprising an input pinion gear meshing with the sun gear and an output pinion gear; wherein the sun gear sub-assembly further comprises a locking groove defining axially facing sun gear locking surfaces, and the pinion sub-assemblies each further comprises an extended roller defining mating axial locking surfaces in engagement with the sun gear locking surfaces to transfer axial forces; and an output ring gear disposed to mesh with the output pinion gear of each pinion sub-assembly.
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22. gear bearing drive comprising an assembly having an input stage and an output stage, the assembly comprising:
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a sun gear sub-assembly comprising; a sun gear, and a motor having an external rotor disposed inside an interior region of the sun gear, the sun gear rotatable with the external rotor; a plurality of pinion sub-assemblies disposed to interface with and revolve around the sun gear sub-assembly, each pinion sub-assembly comprising an input pinion gear meshing with the sun gear and an output pinion gear; a sun roller sub-assembly disposed at the output stage of the assembly, the sun roller sub-assembly comprising a sun roller bearing surface facing radially outwardly, and the pinion sub-assemblies further comprise a pinion roller surface facing radially inwardly and in bearing engagement against the radially outward sun roller bearing surface, to transfer radial forces; and an output ring gear disposed to mesh with the output pinion gear of each pinion sub-assembly. - View Dependent Claims (23)
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24. A gear bearing drive comprising an assembly having an input stage and an output stage, the assembly comprising:
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a sun gear sub-assembly comprising; a sun gear, and a motor having an external rotor disposed inside an interior region of the sun gear, the sun gear rotatable with the external rotor; a plurality of pinion sub-assemblies disposed to interface with and revolve around the sun gear sub-assembly, each pinion sub-assembly comprising an input pinion gear meshing with the sun gear and an output pinion gear; a sun roller sub-assembly disposed on the output stage of the assembly, the sun roller sub-assembly comprising a sun roller locking ring comprising a sun roller locking surface facing axially toward the sun gear, and the pinion sub-assemblies each further comprises an extended roller defining mating axial locking surface in engagement with the sun roller locking surface to transfer axial forces; and an output ring gear disposed to mesh with the output pinion gear of each pinion sub-assembly.
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25. A gear bearing drive, comprising an assembly having an input stage and an output stage, the assembly comprising:
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a sun gear sub-assembly comprising; a sun gear, and a motor having an external rotor disposed inside an interior region of the sun gear, the sun gear rotatable with the external rotor; a plurality of pinion sub-assemblies disposed to interface with and revolve around the sun gear sub-assembly, each pinion sub-assembly comprising an input pinion gear meshing with the sun gear and an output pinion gear; wherein each of the pinion sub-assemblies further comprise a support member, the input pinion gear and the output pinion gear supported by the support member, the support member including a roller bearing surface at the output stage in bearing engagement with a roller bearing surface on the output ring gear; and an output ring gear disposed to mesh with the output pinion gear of each pinion sub-assembly. - View Dependent Claims (26)
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30. A motorized joint comprising:
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a gear transmission having an input stage comprising an input gear including one or more force transmitting surfaces and an output stage comprising an output gear interfacing with the input gear, and an output mating interface configured to provide a torque output to a device; and a motor comprising an external rotor and an internal stator, the external rotor disposed within an interior of the input gear of the gear transmission and concentrically surrounded by the one or more force transmitting surfaces of the input gear for driving the input gear. - View Dependent Claims (31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47)
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Specification