# US 9,882,450 B2 · Rotation actuator

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- Number: US 9,882,450 B2
- Document ID: US9882450B2
- Status: Granted
- Kind: B2
- Application number: 15/315,629
- Filed: 2014-06-02
- Published: 2017-07-06
- Granted: 2018-01-30
- Earliest claimed: 2014-06-02
- Assignees: Harmonic Drive Systems Inc.
- Applicants: Harmonic Drive Systems Inc.
- Inventors: Daisuke Yaguchi; Kiyoto Kobayashi
- Web page: https://patentgrep.com/patent/US9882450B2

## CPC

- H02K 7/116: with gears
- F16H 1/28: with gears having orbital motion
- F16H 1/32: in which the central axis of the gearing lies inside the periphery of an orbital gear
- H02K 1/2706: Inner rotors
- H02K 7/08: Structural association with bearings
- H02K 7/088: {radially supporting the rotor directly}
- H02K: DYNAMO-ELECTRIC MACHINES (dynamo-electric relays H01H53/00; conversion of DC or AC input power into surge output power {H03K3/53})
- F16H: GEARING

## Abstract

A rotation actuator is equipped with a motor and a reduction gear disposed adjacent to each other. Both shaft end portions of a rotating shaft, which passes through the center of the motor and reducer, are rotatably supported through first and second rolling bearings by first and second fixed discs that are mutually fastened and fixed. A rotation output plate is supported through a third rolling bearing in the outer peripheral surface of the second fixed disc. A sliding ring is mounted between the rotation output plate and the first fixed disc. The sliding ring functions as a thrust bearing for the rotation output plate and also functions as a sealing mechanism for preventing grease from flowing from the reducer gear to the outside. A flat rotation actuator can be achieved.

## Claims

### Claim 1

A rotation actuator comprising:
a first fixed member and second fixed member fixed to each other across a predetermined gap in a center axis direction;
a rotating shaft that passes through the first fixed member in the center axis direction, a leading-end part of the rotating shaft extending to the second fixed member;
a first bearing mounted between the first fixed member and the rotating shaft, the first bearing rotatably supporting the rotating shaft on the first fixed member;
a second bearing mounted between the second fixed member and the leading-end part of the rotating shaft, the second bearing rotatably supporting the rotating shaft on the second fixed member;
a motor rotor fixed to a trailing-end part of the rotating shaft, the trailing-end part protruding toward a side opposite to the second fixed member;
a motor stator fixed to a portion of the first fixed member located on an opposite side from the second fixed member, the motor stator surrounding an external periphery of the motor rotor across a fixed gap;
a rotation output member for surrounding an external periphery of the second fixed member;
a third bearing mounted between the second fixed member and the rotation output member, the third bearing rotatably supporting the rotation output member on the second fixed member;
a reduction gear mechanism incorporated between the first fixed member and the second fixed member, the reduction gear mechanism reducing rotation of the rotating shaft and transmitting reduced rotation to the rotation output member;
a sliding bearing mounted between the rotation output member and the first fixed member so as to support the rotation output member in a rotatable manner on the first fixed member in the center axis direction; and
wherein the reduction gear mechanism has:
a sun gear formed on an external peripheral surface of a shaft portion of the rotating shaft, the shaft portion being positioned between the first and second fixed members;
a planetary gear supported in a rotatable manner by a planetary shaft bridged between the first and second fixed members, the planetary gear meshing with the sun gear; and
an internally toothed gear that is positioned between the rotation output member and the first fixed member, is fixed to the rotation output member, and meshes with the sun gear.

### Claim 2 (depends on 1)

The rotation actuator according to claim 1,
wherein the sliding bearing is a sliding ring that is slidably mounted in a gap between the rotation output member and the first fixed member so as to surround the internally toothed gear, and the gap is sealed by the sliding ring.

### Claim 3 (depends on 1)

The rotation actuator according to claim 1, further comprising:
a cylindrical portion that is formed on an external peripheral edge portion of the first fixed member, and protrudes toward a side opposite to the second fixed member; and
an end cover for covering a distal end opening of the cylindrical portion,
wherein the motor rotor and the motor stator are arranged in a space surrounded by the first fixed member and the end cover.

### Claim 4 (depends on 2)

The rotation actuator according to claim 2, further comprising:
a cylindrical portion that is formed on an external peripheral edge portion of the first fixed member, and protrudes toward a side opposite to the second fixed member; and
an end cover for covering a distal end opening of the cylindrical portion,
wherein the motor rotor and the motor stator are arranged in a space surrounded by the first fixed member and the end cover.