# US 12,007,009 B2 · Harmonic drive actuator gearhead

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- Number: US 12,007,009 B2
- Document ID: US12007009B2
- Status: Granted
- Kind: B2
- Application number: 17/773,829
- Filed: 2020-11-02
- Published: 2022-11-24
- Granted: 2024-06-11
- Earliest claimed: 2019-10-31
- Assignees: The Johns Hopkins University
- Applicants: The Johns Hopkins University
- Inventors: Dan Stoianovici; Doru Petrisor
- Web page: https://patentgrep.com/patent/US12007009B2

## CPC

- F16H 49/001: {Wave gearings, e.g. harmonic drive transmissions}
- H02K 7/116: with gears
- F16H: GEARING
- H02K: DYNAMO-ELECTRIC MACHINES (dynamo-electric relays H01H53/00; conversion of DC or AC input power into surge output power {H03K3/53})

## 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.

## Claims

### Claim 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.

### Claim 2 (depends on 1)

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

### Claim 3 (depends on 1)

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

### Claim 4 (depends on 1)

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

### Claim 5 (depends on 4)

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

### Claim 6 (depends on 1)

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.

### Claim 7 (depends on 1)

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

### Claim 8 (depends on 1)

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

### Claim 9 (depends on 1)

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

### Claim 10 (depends on 1)

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

### Claim 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.

### Claim 12 (depends on 11)

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

### Claim 13 (depends on 11)

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

### Claim 14 (depends on 11)

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

### Claim 15 (depends on 14)

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

### Claim 16 (depends on 11)

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.

### Claim 17 (depends on 11)

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

### Claim 18 (depends on 11)

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.

### Claim 19 (depends on 11)

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

### Claim 20 (depends on 11)

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