Rotary actuator arrangement
First Claim
Patent Images
1. An artificial limb member comprising an actuator to effect movement of the limb member, wherein the actuator comprises:
- wave generator gearing;
a motor for causing rotation about an axis, the motor connected to the wave generator gearing;
a first toothed ring driven by the motor; and
bearings for carrying the first toothed ring;
wherein the actuator comprises a second toothed ring, the first and second toothed rings being circular, with the bearings carried between the first and second toothed rings, and the wave generator gearing is at least partially located radially within the bearings such that the bearings run on an outer perimeter of the first, circular toothed ring providing concentric constraint of the first, circular toothed ring.
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Abstract
A rotary actuator comprises a motor, gearing connected for driving by the motor, an output drive member and bearings for carrying the output drive member, wherein the gearing comprises wave generator gearing and the gearing is at least partially located radially within the bearings. In addition, an artificial limb member comprises an actuator to effect movement of the limb member, wherein the actuator comprises a motor connected to wave generator gearing.
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Citations
19 Claims
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1. An artificial limb member comprising an actuator to effect movement of the limb member, wherein the actuator comprises:
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wave generator gearing; a motor for causing rotation about an axis, the motor connected to the wave generator gearing; a first toothed ring driven by the motor; and bearings for carrying the first toothed ring; wherein the actuator comprises a second toothed ring, the first and second toothed rings being circular, with the bearings carried between the first and second toothed rings, and the wave generator gearing is at least partially located radially within the bearings such that the bearings run on an outer perimeter of the first, circular toothed ring providing concentric constraint of the first, circular toothed ring. - View Dependent Claims (2, 3, 4)
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5. An artificial limb member comprising an actuator to effect movement of the limb member, wherein the actuator comprises:
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wave generator gearing; a shaft for driving the gearing; a motor for causing rotation about an axis, the motor connected to the wave generator gearing; a toothed ring driven by the motor; and bearings for carrying the toothed ring; wherein the wave generator gearing is at least partially located radially within the bearings such that the bearings run on an outer perimeter of the toothed ring providing concentric constraint of the toothed ring; and wherein the motor is coupled to the shaft via a keyed spherically-formed male mating socket engaging with a matching keyed female socket. - View Dependent Claims (6, 7, 8, 9)
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10. An artificial limb member comprising an actuator to effect movement of the limb member, wherein the actuator comprises:
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wave generator gearing; a motor for causing rotation about an axis, the motor connected to the wave generator gearing; a toothed ring driven by the motor; and bearings for carrying the toothed ring; wherein the wave generator gearing is at least partially located radially within the bearings;
the actuator comprises a shaft for driving the gearing, and the motor is coupled to the shaft via a keyed spherically-formed male mating socket engaging with a matching keyed female socket. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17)
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18. An artificial limb member comprising an actuator to effect movement of the limb member, wherein the actuator comprises:
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wave generator gearing; a motor for causing rotation about an axis, the motor connected to the wave generator gearing; a toothed ring driven by the motor; and bearings for carrying the toothed ring; wherein the wave generator gearing is at least partially located radially within the bearings such that the bearings run on an outer perimeter of the toothed ring; wherein the actuator comprises a shaft for driving the gearing; wherein the motor is coupled to the shaft via a spherically-formed male mating socket engaging with a matching female socket; and wherein the male and female sockets are hexagonal.
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19. An artificial limb member comprising an actuator to effect movement of the limb member, wherein the actuator comprises:
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wave generator gearing; a motor for causing rotation about an axis, the motor connected to the wave generator gearing; a toothed ring driven by the motor; and bearings for carrying the toothed ring; wherein the wave generator gearing is at least partially located radially within the bearings;
the actuator comprises a shaft for driving the gearing, and the motor is coupled to the shaft via a spherically-formed male mating socket engaging with a matching female socket; and
wherein the male and female sockets are hexagonal.
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Specification