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US 10,883,590 B2Granted
Compound harmonic gear
AssigneeHamilton Sunstrand Corporation
InventorsDerick S. Balsiger, Nicholas R. Van De Veire, Zaffir A. Chaudhry, Huan Zhang
Life of this patent
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Abstract
A compound harmonic actuator is provided and includes a motor, a flex spline disposed about the motor and a wave generator radially interposable between the motor and the flex spline. The wave generator being rotatably drivable by the motor and shaped to form the flex spline into an elliptical shape with an axis such that wave generator rotations drive rotations of the axis of the ellipse of the flex spline.
Claims19
A compound harmonic actuator, comprising:
- a motor;
- a flex spline disposed about the motor;
- and
- a wave generator radially interposable between the motor and the flex spline and rotatably drivable by the motor and shaped to form the flex spline into an elliptical shape with an axis such that wave generator rotations drive rotations of the axis of the ellipse of the flex spline,
- the wave generator comprising a scalloped outer surface and roller bearings arranged circumferentially about the scalloped outer surface,
- wherein the flex spline comprises a ground flex spline configured to interface with the wave generator and having a first number of external teeth, an output flex spline configured to interface with an output gear and having a second number of external teeth which is different from the first number and a coupling configured to interface with the respective first and second numbers of external teeth of the ground and output flex splines.
3 more elements
A compound harmonic actuator, comprising:
- a motor;
- a flex spline disposed about the motor and formed as only a single unitary piece;
- and
- a wave generator radially interposable between the motor and the flex spline,
- the wave generator being rotatably drivable by the motor and shaped to form the flex spline into an elliptical shape with an axis such that wave generator rotations drive rotations of the axis of the ellipse of the flex spline,
- wherein the flex spline comprises a ground flex spline configured to interface with the wave generator and having a first number of external teeth, an output flex spline configured to interface with an output gear and having a second number of external teeth which is different from the first number and a coupling configured to interface with the respective first and second numbers of external teeth of the ground and output flex splines.
3 more elements
A compound harmonic actuator, comprising:
- a motor;
- a flex spline disposed about the motor;
- and
- a wave generator radially interposable between the motor and the flex spline and rotatably drivable by the motor and shaped to form the flex spline into an elliptical shape with an axis such that wave generator rotations drive rotations of the axis of the ellipse of the flex spline,
- the flex spline comprising:
- a ground flex spline configured to interface with the wave generator and having a first number of external teeth;
- an output flex spline configured to interface with an output gear and having a second number of external teeth which is different from the first number;
- and
- a coupling configured to interface with the respective first and second numbers of external teeth of the ground and output flex splines.
6 more elements
Dependencies are inferred from the claim text.