# US 12,006,012 B2 · Steering apparatuses and actuator apparatuses

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- Number: US 12,006,012 B2
- Document ID: US12006012B2
- Status: Granted
- Kind: B2
- Application number: 17/470,300
- Filed: 2021-09-09
- Published: 2022-03-10
- Granted: 2024-06-11
- Earliest claimed: 2020-09-09
- Assignees: Marine Acquisition (US) Incorporated
- Applicants: Marine Acquisition (US) Incorporated
- Inventors: Mark Douglas Petro-Roy; Richard Tyler Redfern; Steven Len Dykhuizen
- Web page: https://patentgrep.com/patent/US12006012B2

## CPC

- B63H 20/12: Means enabling steering
- B63B 79/10: using sensors, e.g. pressure sensors, strain gauges or accelerometers
- B63H 20/02: Mounting of propulsion units (B63H20/08 takes precedence)
- B63H 20/10: Means enabling trim or tilt, or lifting of the propulsion element when an obstruction is hit; Control of trim or tilt
- B63H 25/42: Steering or dynamic anchoring by propulsive elements (by jets B63H25/46); Steering or dynamic anchoring by propellers used therefor only; Steering or dynamic anchoring by rudders carrying propellers
- G01L 5/0061: {Force sensors associated with industrial machines or actuators (for the specific machine or actuator involved see relevant class, e.g. F01, F04, F16, B66, E21)}
- G01L 5/221: {to steering wheels, e.g. for power assisted steering}
- B63H 2025/022: {Steering wheels; Posts for steering wheels}
- B63H: MARINE PROPULSION OR STEERING (propulsion of air-cushion vehicles B60V1/14; specially adapted for submarines, other than nuclear propulsion, B63G; specially adapted for torpedoes F42B19/00)
- B63B: SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING (arrangements of vessel ventilation, heating, cooling, or air-conditioning B63J2/00; floating substructures as supports of dredgers or soil-shifting machines E02F9/06)
- G01L: MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE (weighing G01G)

## Abstract

Steering apparatuses, actuator apparatuses, stators, and electric motors are disclosed.

## Claims

### Claim 1

An actuator apparatus comprising:
an actuator body;
an actuator ram movable relative to the actuator body in response to actuation of the actuator; and
a force sensor operable to measure a force applied by a force-transfer body onto the actuator ram;
wherein:
the actuator is operable to actuate in response to the force applied by the force-transfer body;
the actuator comprises a motor operable to actuate the actuator;
the motor comprises an output shaft; and
the apparatus further comprises a threaded shaft coupled to the output shaft of the motor and threadedly coupled to the actuator ram such that rotation of the output shaft of the motor causes actuation of the actuator.

### Claim 2 (depends on 1)

The apparatus of claim 1 wherein the threaded shaft directly couples the output shaft of the motor to the actuator ram.

### Claim 3 (depends on 1)

The apparatus of claim 1 wherein the threaded shaft and the output shaft of the motor are integrally formed.

### Claim 4 (depends on 1)

The apparatus of claim 1 wherein the motor is an electric motor.

### Claim 5

An actuator apparatus comprising:
an actuator body;
an actuator ram movable relative to the actuator body in response to actuation of the actuator; and
a force sensor operable to measure a force applied by a force-transfer body onto the actuator ram, wherein the force sensor is operable to sense the force in response to a position of the force-transfer body relative to the actuator ram and the actuator is operable to actuate in response to the force applied by the force-transfer body.

### Claim 6 (depends on 5)

The apparatus of claim 5 wherein:
the actuator ram is coupled to a steering device of a marine vessel such that movement of the actuator ram relative to the actuator body steers the steering device;
the force sensor is positioned at a stern of the marine vessel; and
the force-transfer body is coupled to a helm of the marine vessel such that a force applied to the helm causes the force-transfer body to apply the force onto the actuator ram.

### Claim 7 (depends on 5)

The apparatus claim 5 wherein the actuator is backdrivable.

### Claim 8 (depends on 5)

The apparatus claim 5 wherein the actuator is a linear actuator.

### Claim 9 (depends on 5)

The apparatus of claim 5 wherein the force sensor is coupled to the actuator ram such that that movement of the actuator ram relative to the actuator body causes movement of the force sensor relative to the actuator body.

### Claim 10 (depends on 6)

The apparatus of claim 6 wherein the force-transfer body comprises an end of a steering cable coupled to the helm such that the force applied to the helm causes the end of the steering cable to apply the force.

### Claim 11 (depends on 6)

The apparatus of claim 6 wherein the force-transfer body is coupled to a steering cable coupled to the helm such that the force applied to the helm causes the force-transfer body to apply the force.

### Claim 12 (depends on 6)

The apparatus of claim 6 wherein:
the steering device is a marine engine;
the apparatus further comprises a transom mount mounted to the marine vessel at the stern of the marine vessel;
the marine engine is mounted to the transom mount;
the actuator is mounted to the transom mount such that the actuator is mounted to the marine vessel at the stern of the marine vessel;
the force-transfer body comprises an end of, or is coupled to, a steering cable coupled to the helm such that the force applied to the helm causes the force-transfer body to apply the force;
the transom mount defines a tilt tube;
the marine engine is rotatable relative to the marine vessel around the tilt tube; and
the steering cable extends through the tilt tube.

### Claim 13 (depends on 5)

The apparatus of claim 5 further comprising at least one resilient body resiliently coupling the force-transfer body to the actuator ram such that the force-transfer body is resiliently movable relative to the actuator ram.

### Claim 14 (depends on 5)

The apparatus of claim 5 wherein the force sensor is operable to produce an electric signal in response to the force and in response to the position of the force-transfer body relative to the actuator ram.

### Claim 15 (depends on 14)

The apparatus of claim 14 wherein the force sensor is operable to produce the electric signal in response to a position of a magnet on the force-transfer body relative to the actuator ram.

### Claim 16

An actuator apparatus comprising:
an actuator body;
an actuator ram movable relative to the actuator body in response to actuation of the actuator;
a force sensor operable to measure a force applied by a force-transfer body onto the actuator ram, wherein the actuator is operable to actuate in response to the force applied by the force-transfer body; and
an electrical conductor extending, at least, between the force sensor and a location within the actuator body.

### Claim 17 (depends on 16)

The apparatus of claim 16 wherein the electrical conductor extends, at least:
within a cavity in the actuator ram; and
within a cavity in the actuator body.

### Claim 18 (depends on 17)

The apparatus of claim 17 wherein the electrical conductor extends through a radially oriented opening in the actuator ram between the cavity in the actuator ram and the cavity in the actuator body.

### Claim 19 (depends on 17)

The apparatus of claim 17 wherein the electrical conductor is bent at a bend of the electrical conductor within the cavity in the actuator body, and wherein the bend of the electrical conductor moves along the cavity in the actuator body in response to movement of the actuator ram relative to the actuator body.

### Claim 20 (depends on 17)

The apparatus of claim 17 wherein the actuator body defines a channel in the cavity in the actuator body and positioned to receive and align the electrical conductor in the cavity in the actuator body.

### Claim 21 (depends on 16)

The apparatus of claim 16 further comprising an electric motor operable to actuate the actuator, wherein the electrical conductor is in electrical communication with the electric motor or with a printed circuit board assembly (“PCBA”) in electrical communication with the electric motor.

### Claim 22 (depends on 16)

The apparatus of claim 16 further comprising at least one resilient body resiliently coupling the force-transfer body to the actuator ram such that the force-transfer body is resiliently movable relative to the actuator ram.

### Claim 23 (depends on 16)

The apparatus of claim 16 wherein the force sensor is operable to produce an electric signal in response to the force.