JP2016525657A - Curved bearing contact system - Google Patents

Abstract

In some embodiments, systems and methods are described for a gear contact system configured to support radial, thrust, and moment loads. The system includes a first gear comprising a first roller having a first roller bearing surface having a curved convex surface defined by a first radius of curvature, and a first gear having a curved concave surface defined by a second radius of curvature. A second gear having a second roller having two roller bearing surfaces, wherein the second radius of curvature is greater than the first radius of curvature, and the second roller bearing surface of the second roller is 2 The pitch diameter of one gear engages with the first roller bearing surface of the first roller at at least one point, and a straight line in contact with this point forms a predetermined angle with respect to the rotation shaft of the first gear. [Selection] Figure 23

Description

  This application claims the benefit of US Provisional Patent Application No. 61 / 804,256 filed on March 22, 2013 in accordance with section 119 (e) of the US Patent Act, the disclosure of which is hereby incorporated by reference Is incorporated herein by reference.

  In addition, this application claims the benefit of US Provisional Patent Application No. 61 / 913,635 filed on Dec. 9, 2013 in accordance with section 119 (e) of the U.S. Patent Law. Is incorporated herein by reference.

  This application is related to US patent application Ser. No. 11 / 821,095 entitled “Gear Bearing Drive” filed Jun. 21, 2007 and issued as US Pat. No. 8,016,893. The disclosure of that application is hereby incorporated by reference.

  US patent application Ser. No. 11 / 821,095 claims the benefit of US Provisional Patent Application No. 60 / 815,313, filed on June 21, 2006, in accordance with section 119 (e) of the US Patent Act. And the disclosure of that application is incorporated herein by reference.

  All patents, patent applications, and publications cited herein are incorporated by reference in their entirety to describe in more detail the state of the art known to those skilled in the art at the time of the invention described herein. Is incorporated herein by reference.

  The present invention relates to curved bearing contact systems and their use in various systems such as planetary gear systems and gear bearing drives.

  Modern compact actuator designs require small devices and equipment that can apply a large force. Actuator requirements are becoming increasingly stringent with respect to mass, dimensions, power, and cost. Improvements in actuator robustness and reliability with respect to power efficiency and small packaging can lead to an efficient device with significantly increased performance and reliability at a lower cost.

  Development of high-performance and efficient power trains (actuators and transmissions) is critical for meeting the fundamental design requirements of next-generation robotic systems, especially weight, efficiency, and miniaturization for application functions In space robotics (eg, space manipulator joints, dynamic biotechnology, humanoid manipulators, and space exercise equipment for astronauts). Such robot applications require new types of actuators with small configurable hardware and mechanical compatibility and adaptability inherent in robot operation.

  In the past, the mainstream of actuators was a harmonic drive that provides a small mechanism equipped with a high speed reduction gear. For the past 30 years, the use of harmonic drive transmissions in conjunction with high-performance electric motors has been the most advanced technology for drive joints in robots. Harmonic drives are mainly useful for developing small and high torque output actuators. These drive joints are ideal for a wide variety of applications as they are equally backlash free and require only one dry lubrication. The operating principle of a harmonic drive is based on a unique type of transmission mechanism with three coaxial parts represented by a wave generator, flexspline, and circular spline. The wave generator consists of a bearing press-fitted into an elliptical steel disc and inserted into a flexspline. The flexspline is a thin steel cup adapted to fit the shape of the wave generator and has teeth on the outer diameter that contact the circular spline. The circular spline consists of a hard steel ring with teeth on the inside diameter and represents the output. The harmonic drive is designed so that the flexspline has 2 fewer teeth than the circular spline, so that one revolution of the wave plug causes the circular spline to shift by 2 teeth, resulting in a very high torque benefit. However, studies of harmonic drives have shown that it exhibits greatly non-linear movement under high dynamic loads due to the presence of flexible gear parts in series in the transmission. This elastic element provides low stiffness in the middle of the transmission and is deformed by the load as well as backlash. The elastic component also introduces instability in the high gain feedback loop, further reducing the drive joint control system performance. Furthermore, the harmonic drive is only a transmission system and requires a special motor to function as an actuator.

  In an attempt to reduce size, cost, and manufacturing complexity, several other actuator systems have been used, including the combination of high gear ratio planetary gearheads and high performance brushless motors. In general, most of these actuators are still too large because the motor is connected in series to the planetary gearbox and is not integrated within the gearbox. Some work has been done to reduce the size of the brushless DC motor and planetary gear assembly in series. For example, a small inner rotor slotless brushless DC motor connected in series with a single stage planetary gearhead has been developed. However, the resulting actuator can only exhibit a reduction ratio as low as one fifth and lacks the ability to produce the high amount of torque often desired in robotics. Another example is a slotless brushless DC motor integrated into a planetary gear head that functions as a robot actuator. This system attempts to reduce the cogging of brushless DC motors by optimizing the number of gear teeth and the tooth-to-pole ratio integrated in the stator. Efficiencies of 80-85% were achieved for 90W output and backlash ranged from 50-20 minutes. The main drawbacks of these devices were that they were unable to produce high amounts of torque, often exceeding the 20 Nm desired in robotics, and showed relatively high backlash compared to harmonic drives.

  In some embodiments, systems and methods are described for a gear contact system configured to support radial, thrust, and moment loads, the system comprising a curved convex surface defined by a first radius of curvature. A first gear having a first roller having a first roller bearing surface having a second roller having a second roller bearing surface having a curved concave surface defined by a second radius of curvature. The second radius of curvature is greater than the first radius of curvature, and the second roller bearing surface of the second roller is the first roller of the first roller at the pitch diameter of the two gears. The bearing surface is engaged with at least one point, and a straight line in contact with the bearing surface forms a predetermined angle with respect to the rotation axis of the first gear. In some embodiments, the angle is between 0 and 90 degrees. In some embodiments, the predetermined angle is between 30-60 degrees. In some embodiments, the predetermined angle is between 40-50 degrees. In some embodiments, the predetermined angle is between 30-60 degrees. In some embodiments, the predetermined angle is 45 degrees. In some embodiments, the roller bearing surface comprises a material that can support high speed contact. In some embodiments, the material comprises at least one of AMPCO 45 bronze, stainless steel, or nitrone steel. In some embodiments, the first radius of curvature, the second radius of curvature, and the predetermined angle are selected such that the first roller bearing surface and the second roller bearing surface wear evenly. In some embodiments, the gear contact system is used in a planetary gear system having at least a sun gear, at least two planetary gears, and at least one ring gear. In some embodiments, the gear contact system includes an input stage assembly comprising an input sun gear, at least one input planet gear, and an input ring gear; and an output planet gear, at least one output planet coupled to the at least one input gear. Used in a planetary gear system having a gear and at least one output stage assembly comprising an output ring gear. In some embodiments, a method for using a gear contact system with stable radial, thrust, and moment loads is described.

  In some embodiments, the at least one output stage assembly further comprises an output sun gear, and the input stage assembly further comprises a motor having an external rotor disposed inside the internal region of the input sun gear. In some embodiments, the motor drives the input sun gear, the input ring gear is fixed, the output sun gear does not move, and the output ring gear is driven by the input sun gear. In some embodiments, the motor drives the input sun gear, the input ring gear is fixed, the output sun gear is driven by the input sun gear, and the output ring does not move. In some embodiments, the motor drives the input ring gear, the input sun gear is fixed, the output sun gear is driven by the input ring gear, and the output ring does not move. In some embodiments, the motor drives the input ring gear, the input sun gear is fixed, the output sun gear does not move, and the output ring is driven by the input ring gear. In some embodiments, the ball bearing race has a groove provided between the input stage and the output stage at the interface between the input sun gear and the output sun gear. In some embodiments, the connection of at least one input planet gear and at least one output planet gear is pre-stressed. In some embodiments, the ball bearing race has a groove provided between the input stage and the output stage at the interface between the input ring gear and the output ring gear. In some embodiments, the carrier keeps one input planet gear parallel to at least one other input planet gear in a radial plane perpendicular to the axis of rotation when the planet gear system is subjected to high external loads. Configured. In some embodiments, the carrier is configured to keep one output planet gear parallel to at least one other output planet gear in a radial plane perpendicular to the axis of rotation when the planet gear system is subjected to high external loads. Is done.

  In some embodiments, an input sun gear, an output sun gear, at least one input planetary gear, at least one output planetary gear, an input ring gear, and an output ring gear each having a plurality of teeth and outputting torque and speed A system and method for manufacturing a planetary gear system configured as described is described. In some embodiments, the method includes an input that includes at least one of an input sun gear tooth range, a desired gear ratio range, and a planetary gear tooth number range, and a maximum torque and speed output. In a processor configured to receive at a user interface and store and execute computer readable instructions, a range of input sun gear teeth, a range of desired gear ratios, and a range of number of planetary gear teeth; Calculating a parameter of the planetary gear system having the greatest common divisor of the number of teeth of at least one output planet and the number of teeth of one output ring using at least one combination of maximum torque and speed output Transmitting planetary gear system parameters to an image generator capable of generating an image of the planetary gear system; And a transmitting image of the planetary gear system to additional manufacturing apparatus capable of generating a physical copy of the planetary gear system based on Temu image.

  In some embodiments, receiving an input comprising at least one of an input sun gear tooth range, a desired gear ratio range, and a planetary gear tooth number range, and a maximum torque and speed output. A design module comprising a user interface configured and a memory and a processor operatively connected to the user interface for storing executable instructions and data, wherein the instructions are in a range of input sun gear teeth, desired A combination of at least one of a gear ratio range, a planetary gear tooth number range, and a maximum torque and speed output, at least one output planetary tooth number and one output ring tooth number. A design module, which is executed to calculate the parameters of the planetary gear system having the greatest common divisor with Sending planetary gear system parameters to an image generator that is operatively connected and capable of generating an image of the planetary gear system and generating a physical copy of the planetary gear system based on the planetary gear system image An apparatus is described that comprises a transmission module configured to transmit an image of a planetary gear system to an additional possible manufacturing apparatus.

FIG. 6 shows a gear bearing drive using a curved roller surface as described in some embodiments of the present disclosure. FIG. Fig. 3 shows components of a brushless "outrunner" motor as described in some embodiments of the present disclosure. Fig. 4 illustrates a curved roller bearing as described in some embodiments of the present disclosure. FIG. 6 illustrates force balance in a multi-stage planetary subassembly as described in some embodiments of the present disclosure. FIG. 6 illustrates force balance in a single stage planetary subassembly as described in some embodiments of the present disclosure. Fig. 5 shows a longitudinal cut surface of a GBD showing a curved roller surface as described in some embodiments of the present disclosure. Fig. 5 shows a thrust bearing and an axial prestress planet as described in some embodiments of the present disclosure. FIG. 3 illustrates an inrunner / outrunner configuration of a gear bearing drive as described in some embodiments of the present disclosure. FIG. FIG. 6 shows a kinematic diagram of a GBD assembly as described in some embodiments of the present disclosure. Fig. 4 illustrates forward and reverse configurations as described in some embodiments of the present disclosure. FIG. 3 illustrates an inrun / inrunner configuration for GBD as described in some embodiments of the present disclosure. FIG. FIG. 6 illustrates a GBD outrunner / inrunner configuration as described in some embodiments of the present disclosure. FIG. FIG. 6 illustrates a GBD outrunner / outrunner configuration as described in some embodiments of the present disclosure. FIG. FIG. 5 shows in tabular form the state of sun gear and ring gear in four different inrunner and outrunner combinations as described in some embodiments of the present disclosure. 2 shows an overview of the kinematic relationship of a gear bearing drive as described in some embodiments of the present disclosure. Fig. 4 shows a gear bearing drive system for an elbow prosthesis as described in some embodiments of the present disclosure. FIG. 15 shows linear torque rate characteristics for the gear bearing drive motor described in FIG. 14 as described in some embodiments of the present disclosure. FIG. 15 shows details of a gear bearing drive design for the elbow prosthesis described in FIG. 14 as described in some embodiments of the present disclosure. Fig. 4 shows a dynamometer used to test a gear bearing drive as described in some embodiments of the present disclosure. FIG. 18 shows the results from the dynamometer test in FIG. 17, as described in some embodiments of the present disclosure. FIG. 5 shows a closed loop step response to a 2500 rpm speed reference as described in some embodiments of the present disclosure. FIG. 6 shows a flowchart for a computer-implemented method of designing a gear bearing drive as described in some embodiments of the present disclosure. FIG. 4 shows another view of a GBD having a curved rolling surface as described in some embodiments of the present disclosure. FIG. 6 shows a view of a curved roller bearing as implemented in a GBD as described in some embodiments of the present disclosure. Fig. 4 illustrates a curved roller bearing as described in some embodiments of the present disclosure. FIG. 3 illustrates a GBD with a carrier as described in some embodiments of the present disclosure. FIG.

  In order to reduce the size, cost, and manufacturing complexity of robot actuators and other gearboxes, there is a need for an approach that reduces the overall complexity of the gear assembly and provides additional stability. In some aspects, the systems and methods described herein eliminate the need for fasteners, ball bearings, and at the same time dual function for mechanical parts that provide support for radial, thrust, and moment loads. Provide an approach. In some aspects, the systems and computer-implemented methods described herein relate to eliminating noise and premature damage, reducing trial and error, and reducing design and overall manufacturing costs.

  In some aspects, the systems and methods described herein are as described in US Pat. No. 8,016,893 entitled “Gear Bearing Drive”, the contents of which are incorporated by reference. It can be realized in a gear bearing drive (GBD). In some aspects, the systems and methods described herein provide various modes of operation of GBD.

Other aspects of the systems and methods described herein are: 1) effectively performing reduced speed and high deceleration, 2) maintaining gear set alignment without using conventional ball bearings and planet carriers, 3) enabling the placement of the motor in the gearbox to reduce the total capacity of the actuator, 4) simplifying the assembly process, and 5) conventional ball bearings, planetary carriers, external fasteners, and Including providing an overall low cost solution that does not require complex assembly.
Curved contact surface

  In some embodiments, the present invention uses a curved contact surface provided axially parallel to the gear component to establish gear set alignment and secure the assembly in the longitudinal and lateral directions. In one aspect, a roller assembly is provided that provides gear set alignment and secures the gear assembly in the longitudinal and lateral directions.

  In some examples, the roller surface forms a truncated spherical surface with a smaller circular surface directed toward the gear surface, eg, the inclined surface is biased at a positive angle. In some examples, the roller surface forms a spherical surface with a truncated tip where the smaller circular surface is away from the gear surface, eg, the inclined surface is biased at a negative angle. An inclined roller surface provides an angular contact surface associated with each gear, and an angular contact surface of an adjacent gear is adjacent to a roller having an inclined surface biased at a positive angle and an inclined surface biased at a negative angle. Selected to do. The inclined roller surface provides an angular contact surface having a diameter equal to the pitch diameter of the associated gear at the contact.

  FIG. 23 illustrates a curved roller bearing as described in some embodiments of the present disclosure. FIG. 23 shows two curved roller surfaces in contact with the pitch diameter point contact 2301. The curved roller surface corresponding to the lower roller 2302 has an inclined surface that is biased at a negative angle. The curved roller surface corresponding to the upper roller 2303 has an inclined surface that is biased at a positive angle.

  In some embodiments, the point at which the two curved roller surfaces meet coincides with the point at which both rollers curve. The curvature of the roller contact surface can be defined by two tangent circles. In some embodiments, one of the rollers has a curved convex surface that is proportional to the inverse of the radius of the first circle, and the other roller has a curved concave surface that is proportional to the inverse of the radius of the second circle. In some embodiments, the radius corresponding to one of the rollers is greater than the radius corresponding to the other roller. For example, in some embodiments of GBD, the ring roller radius is larger than the planetary roller radius, allowing a point contact interface that can improve efficiency as opposed to line contact. Point contact also reduces sliding friction caused by speed differences that vary along the roller radius. The two rollers may touch at a point where a circle that matches the curvature of the first roller touches a circle that matches the curvature of the second roller. In some embodiments, the two rollers touch at the pitch diameter of the two gears.

  In some embodiments, the roller contact surface is bent so that a straight line passing through the center of the two tangent circles and a point where the circles meet form a contact angle in the pitch diameter. As used herein, “bent” means that a straight line that touches two circles at the contact point of two gears deviates angularly from a plane parallel to the rotation axis of the gear or is out of plane. means. In some embodiments, a 45 degree angle may be used to distribute the bearing load evenly in the thrust and radial directions. In some embodiments, any angle between 0 degrees and 90 degrees may be used, depending on the arrangement of the gear parts and the axial and radial forces that need to be balanced. The radius that defines the curvature of the roller can be selected as a function of contact pressure and contact stress.

  In some embodiments, the roller may comprise any material capable of supporting high speed contact (eg, AMPCO 45 bronze, stainless steel, or nitrone steel).

  In some embodiments, when two contacts are used to balance the gear system in the radial direction and two contacts are used to balance the gear system in the axial direction, a four-point contact occurs. FIG. 4A illustrates force balance in a multi-stage planetary subassembly as described in some embodiments of the present disclosure. The four point contact bearing 401 is implemented in a planetary system having an input stage 430 and an output stage 420. FIG. 4B illustrates force balance in a single stage planetary subassembly, as described in some embodiments of the present disclosure. The four point contact bearing 401 is realized in the single stage planetary system 440. When curved rollers are used on both sides of the gearbox, the planetary subassembly functions as a four-point contact bearing 401 that can support all radial, thrust, and moment loads simultaneously. The forces resulting from the operation on the planetary rollers will force the planets to rotate along their longitudinal axis and prevent side and axis shake that can significantly reduce drive efficiency.

  In some embodiments, to ensure high stiffness in the system, the planet is pre-stressed to ensure high stiffness in the system and to accommodate deflections that can be caused by external loads. Planetary prestress can keep the contacts at pitch diameter throughout the gear meshing cycle. If wear occurs, the rollers will wear evenly, causing the planetary subassembly to shrink as a result of its rigidity, but once the subassembly shrinks, the rollers will continue to maintain gearset alignment throughout the wear process. Shift inward to maintain the same contact pitch point. In some embodiments, the four point angular contact of the planetary subassembly, ground and output ring is similar in principle to a Gothic arch bearing. The forces resulting from the operation on the planetary rollers will force the planets to rotate along their longitudinal axis and prevent side and axis shake that can significantly reduce drive efficiency. In some embodiments, a four-point bearing is realized using curved rollers that contact at a pitch diameter that forms a 90 degree pressure interface. This eliminates the shear forces applied to the gear teeth using standard parallel rollers, and the thrust and radial forces can be evenly distributed between the rollers. Distributing the load evenly between the rollers results in even roller wear, so that gear set alignment can be maintained for a longer operating life. In some embodiments, ball bearing races 402 are provided between the input sun and ring gear and between the output sun and ring gear to balance and offset the planetary prestress and ensure smooth output operation. It has a groove. The ball bearing race may function as a thrust bearing element in the system.

  When using the curved roller approach, the planetary gear system can be constructed by assembling the two gear stages individually and then attaching and tightening the rollers from both sides of the assembly. When the planetary rollers are tightened, they are flat head screws for aligning the planetary subassemblies along their orbital axes to ensure that both planetary gear teeth mesh and operate accurately at their pitch diameter. Can function as.

The present invention can also be applied to other gear systems to eliminate the need for external ball bearings and carriers that increase cost, weight, volume, and overall manufacturing complexity. Angular contact rollers can be applied to reduce the complexity of typical planetary gear trains by constraining sun, planets, and ring gear in one or more stages without ball bearings or planet carriers.
Roller surface applied to gear bearing drive

  In one embodiment using a two-stage planetary gearbox, the sun, planet, and ring rolling surfaces position the planet in orbit but do not interfere with the rotation of the planet. The gear acts to transmit torque, and the surface (roller) realizes a bearing support function in the thrust direction and the radial direction. For example, if a curved roller is used on both sides of the gearbox in a planetary configuration, the planetary subassembly can function as a four point contact bearing that can simultaneously support radial, thrust, and moment loads.

  FIG. 1 illustrates a gear bearing drive using a curved roller surface as described in some embodiments of the present disclosure. FIG. 1 shows an input stage 130 comprising a motor shaft 101, an input sun gear 102, an input stage ring 103, and an input planetary gear 104. FIG. 1 also shows an output stage 120 comprising an output sun gear 105, a sun roller 107, an output planetary gear 108, a planetary roller 109, a ring roller 110, and an output stage ring 111. The bearing ring 112 travels between the input stage 130 and the output stage 120.

  Motor shaft 101 is operatively connected to one end of input sun gear 102. In some embodiments, the motor shaft 101 can be operatively coupled to a motor disposed within the input sun gear 102. In some embodiments, the actuator may use an external rotor brushless motor, also called “outrunner”, which is a direct current motor commonly used in model airplanes.

  FIG. 2 illustrates the components of a brushless “outrunner” motor, as described in some embodiments of the present disclosure. The motor may fix the coil 201 to an end bell (grounded stator) 202 and place the magnet 203 on a rotating shell (rotor) 211. The grounded stator 202 may further include a stator stack 203, a plurality of stator teeth 204, and a bearing 205. FIG. 2 also shows the magnetic pole 212 in the rotor 211. The outrunner motor has a permanent magnet 210 on the rotor 211 that moves when the coil 201 is charged. The motor is designed such that the magnetic field generated by the magnet 210 is always offset and the rotor is rotated. As the motor's magnetic shell rotates, in some embodiments it can be incorporated into the first stage sun gear to drive the mechanism in a very small and efficient approach. Furthermore, this motor design has a higher torque output, greater heat dissipation, and fewer parts compared to a standard DC motor design.

  The output sun gear 105 and the output sun roller 107 are coaxially arranged at the other end of the input sun gear 102 on the output side. In some embodiments, the input stage ring 103 is fixed and the input stage planet 104 and the output stage planet 108 rotate about a central axis driven by the sun gear 102. In some embodiments, there is a difference in the total number of teeth between the input planet 104 and the output planet 108. In some embodiments, the difference in the total number of teeth causes the output ring 111 gear to rotate. In some embodiments, the output sun roller 107 stabilizes the drive and keeps the pinion subassembly properly aligned. The output sun roller 107 includes a radially outward sun roller bearing surface that rolls without sliding on the corresponding roller bearing surface of the pinion or planetary subassembly. In some embodiments, the planetary roller (eg, 109) has a radially outward bearing surface that can roll without sliding on the corresponding roller bearing surface of the sun roller (eg, 107) and ring roller (eg, 110). In some embodiments, the ring roller (eg, 110) has a radially inward bearing surface that can roll without sliding on the corresponding roller bearing surface of the planetary roller (eg, 109).

  In some embodiments, the input sun gear 102 gear meshes with the input planetary gear 104 gear. In some embodiments, the output sun gear 105 gears mesh with the output planetary gear 108 gears. The planetary roller 109 is coaxially disposed on the output side of the output planetary gear 108. The output planetary roller 109 is in contact with the output sun roller 107 and in contact with the output ring roller 110. In some embodiments, the contact point between the planetary roller 109 and the sun roller 107 and the contact point between the planetary roller 109 and the ring roller 110 are curved contact surfaces. In some embodiments, the contact surface forms a curved roller bearing. The output stage ring 111 and the input stage ring 103 may include a ball bearing race 112 having a groove between the two rings. The ball bearing race 112 can function as a thrust bearing.

  FIG. 21 shows another view of a GBD having a curved rolling surface as described in some embodiments of the present disclosure. FIG. 21 shows the particular mechanisms described in FIGS. 1 and 2, such as the motor rotor shaft 101, motor stator and coil 201, thrust bearing 112, planetary pinions 104, 108, planetary roller 109, and sun roller 107. FIG. 21 also shows mounting base 2101, encoder base 2102, output belt drive 2105, output shaft drive 2106, and alignment pin 2107.

  A mount 2101 is attached to the input stage of the GBD and can be used to position the GBD at an efficient operating level. An encoder base 2012 may also be attached to the input side of the GBD to provide feedback regarding speed and position control. The output belt drive 2105 may be a flexible power transmission component that includes all of the gear components and can form the outer periphery of the gear components. The GBD may also include an output shaft drive 2106 that can receive power from the GBD and transmit it to an output source. The output shaft drive 2106 and the output belt drive 2105 allow the GBD to transmit power in two directions (eg, in series via the output shaft and in parallel via the timing belt pulley). The GBD may also include an alignment pin 2107 that may be used to keep the gear in place.

  FIG. 3 illustrates a curved roller bearing as described in some embodiments of the present disclosure. 3 shows the ring gear 304, the planetary gear 108, the gear mesh 301, the planetary tooth upper end 306, the pitch diameter boundary surface 307, the ring tooth lower end 308, the ring roller 110, the planetary roller 109, the planetary roller cone radius 311 and the ring roller cone radius 310. A straight line 320 connecting a center of two circles corresponding to two conical radii and a point in contact with the two circles, and a straight line 330 in contact with the two circles are shown.

  In some embodiments, the pitch diameter 307 may be defined in terms of the gear mesh 301. The pitch diameter passes through the center of each tooth, that is, through the center of the gear mesh 301. In FIG. 3, the gear mesh 301 includes a distance between the planetary tooth upper end 306 and the ring tooth lower end 308. In some embodiments, the pitch diameter interface 307 represents the point at which the planetary gear teeth and ring gear teeth engage during pure rotational movement. In FIG. 3, the rollers 109 and 110 have two tangent circles 310 and 311 so that a straight line 320 passing through the center and a point in contact with the two circles forms a predetermined angle of 45 degrees with the pitch diameter boundary surface 307. Formed. In this example, an angle of 45 degrees results in point contact that assumes pure rotation because it belongs to the pitch diameter 302, thereby improving the overall efficiency of the bearing. In some embodiments, the angle may also be defined by a straight line 330 that contacts two circles with respect to the pitch diameter interface 307.

  FIG. 22 shows a diagram of a curved roller bearing implemented in GBD as described in some embodiments of the present disclosure. FIG. 22 shows the first stage planetary pinion 2201, the pitch diameter 2202 associated with the first stage planet, the second planetary pinion 2204, the pitch diameter 2205 of the second planetary pinion, and the angular point contact 2207 for each of the planetary pinions. Show. As shown in FIG. 2, the curved roller contact 2207 in the first stage occurs at the pitch diameter 2202 of the first planet, and the contact 2207 in the second bullet occurs at the pitch diameter 2205 of the second planet.

  FIG. 5 shows a longitudinal cut surface of a GBD showing a curved roller surface as described in some embodiments of the present disclosure. FIG. 5 illustrates certain mechanisms described in FIGS. 1 and 2, such as outrunner motor 501, stage 1 planet 502, stage 2 planet 503, roller face cap 504, pitch diameter 505, and point contact bearing 506, for example. FIG. 5 also shows a prestressed bolt 510, a planetary couple 511 connecting the stage 1 planet 502 and the stage 2 planet 503, an integrated ring orbit 508, and an integrated sun orbit 509.

  The prestress bolt 510 fixes the roller surface 504 to the planets 502 and 503. The input stage planet 502 and the output stage planet 503 are also connected by a bolt 510 and an alignment pin. When the input stage planet 502 rotates, the corresponding output stage planet 503 also rotates.

  The integrated track 509 has a groove provided between the input stage 530 and the output stage 520 at the sun boundary surface. The integral track 508 also has a groove provided between the input stage and the output stage at the ring interface. In some embodiments, the integrated trajectory is characteristic of a Gothic arch trajectory. In some embodiments, the Gothic arch trajectory can force a four-point contact for each of the balls under planetary pressure. The tracks 508, 509 can help improve the output stage by firmly supporting moments and external loads acting on the output stage without affecting the drive efficiency.

  FIG. 6 illustrates a thrust bearing and an axial prestressed planet as described in certain embodiments of the present disclosure.

In some embodiments, a thrust bearing 601 may be introduced between the ground ring 602 and the output ring 604 to reduce the GBD output rollout and increase overall drive efficiency, so that the planet 603 is axial. Can be prestressed. By prestressing the couple between the input and output planets 603, the output ring 604 can be pressed against the input ring by the output planets and output ring rollers, but freely slides against the ground ring 601 by the interface thrust bearing 601. To do. When the output ring 604 is subjected to a cantilever load (bending or shearing), it can maintain a position parallel to the ground ring 602 due to planetary prestress, so that the output stage roller is synchronized with the input stage roller. By forcing to continue, the stress on the roller is reduced and the efficiency of the system is improved.
Carrier system

  In some embodiments, a carrier system can be inserted into the gear bearing drive. When a high external load is applied to the system, the planet can be displaced in a radial plane perpendicular to the axis of rotation. In some embodiments, the planet can be secured to the carrier. The carrier can be used to keep the planets parallel to each other throughout the meshing cycle. In some embodiments, the carrier system can be secured by a carrier lock (eg, a cage or a stepped bolt).

FIG. 24 shows a GBD with a carrier as described in some embodiments of the present disclosure. The carrier 2401 is attached to the planetary pinion at both the input stage and the output stage. In some embodiments, a retainer 2402 is used to attach the input carrier and the output carrier. In some embodiments, the carriers can be connected by stepped bolts 2403.
Gear bearing drive system configuration and motion modeling

GBD can be configured in various ways depending on the application. Different arrangements of gears and different methods of driving the gears can result in high and low speed reducers and accelerators. Each configuration can produce its own motion model. In some embodiments, the gear bearing drive can have more than one output stage. Different stages may have different mechanical advantages so that the GBD produces different torque outputs at different stages.
Inrunner / Outrunner

  FIG. 7A shows an inrunner / outrunner configuration of a gear bearing drive as described in some embodiments of the present disclosure.

The input to this mechanism is the torque of the first stage sun gear 701, and the output is the torque sensed by the second stage ring gear 703. The first stage ring 702 is fixed and treated as ground. The balance of forces acting on the planet produces the overall torque benefit of the mechanism as shown in FIG. 7A.
The torque benefit can be calculated by summing the torques for the instantaneous center of rotation (point B).
F · (2b) = fp ₂ · (b−d) (1)
Where a, b, d, and e represent the sun gear, input planet, output planet, and output ring pitch diameters, respectively, T _in represents the input torque from the motor, and T _out is the amplified torque in the output ring. is there.

In this configuration, a slight difference in the planetary pitch diameter results in a large torque benefit between the input sun and the output ring. This is because the input tangential force F resulting from the motor torque is applied to the moment arm of 2b, which is much larger than the moment arm (bd), where the sensed ring force f _p2 acts and is equal to the difference in the planetary pitch diameter. This is because it works. In addition, the direction of movement of the output relative to the input is also defined by the difference in planet size. If the pitch diameter of the input stage planet is larger than the pitch diameter of the output stage planet, the denominator of Equation 1 is a positive number and rotates the output in the same direction as the input, and vice versa.

  FIG. 8 shows a forward and reverse configuration as described in some embodiments of the present disclosure. Including small changes in the diameter of the planets results in very high torque ratios without changing the overall form factor of the mechanism. This configuration is called an inrunner / outrunner mode because it is an inner drive input sun gear and an outer drive output ring gear, and has a very high reduction ratio and applicability for incorporating an external rotor motor in the input stage sun gear. Adopted to develop drive device.

  FIG. 7B shows a kinematic diagram of a GBD assembly as described in some embodiments of the present disclosure.

  The motion model of the inrunner / outrunner GBD configuration can be further developed to associate an acceptable number of teeth and torque ratio in each gear element. The motion equation of motion is developed with respect to the virtual arm velocity and then inverted with respect to ground. The arm constitutes an imaginary axis that passes through the rotating pinion axis and rotates around the sun gear. As shown in FIG. 7B, N1 to N5 represent the number of teeth of the first stage sun N1, the first stage planet N2, the first stage ring N3, the second stage planet N4, and the second stage ring N5, respectively.

The overall angular velocity of the input to the ground (first stage sun) is
w _Input = w _{Input / Arm} + w _Arm (3)
It can be expressed as.

The angular velocity of the first stage pinion relative to the arm is
It is expressed.

The angular velocity of the first stage ring (ie, ground) with respect to ground is zero. Therefore,
w ₃ = w _{3 / Arm} + w _Arm = 0 (5)
It is.

The speed of grounding against the arm is
It is.

From equations (4) and (6), the arm speed can be derived as follows.

Substituting equation (7) into equation (3) again, the input speed relative to ground is
It becomes.

Since the pinions of both stages are firmly connected, they have equal angular velocities,
w _{2 / Arm} = w _{4 / Arm} (9)
It is.

The output (second stage ring) speed for the arm is determined as follows.

The output speed with respect to ground is determined as follows.

When formula (8) is divided by formula (11), the final angular velocity ratio or torque ratio is determined as follows.

Equation (12) defines the number of allowable teeth imposed on each gear element for a given torque ratio. According to equation (13), the additional geometric condition in the first stage requires that the number of ground ring teeth be equal to the total number of sun gear teeth and twice the input pinion teeth.
N ₃ = N ₁ + 2N ₂ (13)

Furthermore, the intermeshing gears must have the same diameter pitch and pressure angle characteristics in order to engage in pure rolling contact. According to equation (14), the diameter pitch represented by P is a divisor of the number of teeth per inch and is related to the number N of teeth and the pitch diameter D.

The pressure angle determines the involute tooth profile of the spur gear, such as the addendum height, the root height, the total tooth height, and the base circle. As shown by equation (15), the planets at both stages must orbit at an equal radial distance from the sun, so another condition is imposed on the pitch diameter.

  Equations (12), (13), and (15) reduce the total number of unknowns iteratively solved to develop a GBD planetary gearbox to three. Note also that equation (12) can be determined by substituting equation (15) into equation (2).

  Since the gear teeth must be integers, additional mathematical constraints affect the number of allowable teeth in each gear. This description is limited to GBD equations as shown in equation (12), but the same process can be applied to any of the other configurations.

The terms in equation (12) are rearranged in the following form, where R is the desired gear ratio.

If R is a positive value, the resulting p and q must also be positive values, so N ₄ and N ₅ are calculated as follows:

Where GCF (p, q) is the greatest common divisor of p and q. Therefore, in order to calculate other values for the number of teeth of the GBD assembly, only the gear ratio and the number of teeth of the input stage sun gear and pinion gear need to be known (R, N ₁ , N ₂ ).
Inrunner / Inrunner

  FIG. 9 illustrates a GBD in-runner / in-runner configuration as described in some embodiments of the present disclosure. FIG. 9 illustrates adding the sun gear 904 to the output stage to produce an actuator output and setting the output stage ring gear 903 to a stationary state. This mode of operation can produce a customizable low torque ratio gearhead and has the ability to implement a speed increasing function, such as an accelerator. Here, the output gear is changed to the second stage sun gear 804 as opposed to the second stage ring gear 903, and the equations (10-12) are corrected in consideration of this change in the power path.

Equation (10) is
It can be rewritten as

Then, Formula (11) is calculated as follows.

The final angular velocity ratio is obtained by dividing equation (8) by equation (20).

Furthermore, since the input planet and the output planet must orbit at the same radial distance, the pitch diameter must satisfy the following relationship expressed by equation (22).

By substituting equation (14) into (22), equation (22) can be transformed using gears with a selected number of teeth and diameter pitch.
Outrunner / Inrunner

  FIG. 10 illustrates a GBD outrunner / inrunner configuration as described in some embodiments of the present disclosure.

  Except that the input stage ring gear 1002 is driven in contrast to the input stage sun gear 1001 and the output of this mechanism is the output stage sun gear 1004, the outrunner / inrunner configuration is functionally very similar to the inrunner / outrunner described above. Is similar. In some embodiments, the input ring gear 1002 can be operated by placing magnets on the inner segment of the ring gear, and the motor coil can be fixed to the outer segment of the ring, similar to a ring motor.

The overall angular velocity of the input to the ground (first stage ring) can be expressed as:
w _Input = w ₃ = w _{Input / Arm} + w _Arm

The angular velocity of the first stage pinion relative to the arm can be expressed as:

The angular velocity of the first stage sun (ie, ground) relative to ground is zero. Therefore,
It becomes.

Substituting equation (26) into equation (24), the input angular velocity can be expressed as:

The angular velocity of the output (second stage sun) can be expressed as follows for the arm:

The output speed for grounding is calculated by adding the arm speed to equation (28).

The angular velocity ratio is calculated by dividing equation (27) by equation (29).

The exercise conditions described in equations (22) and (23) for the inrunner / inrunner mode also apply to the outrunner / inrunner mode for similar gear placement in the second stage.
Outrunner / Outrunner

  FIG. 11 illustrates a GBD outrunner / outrunner configuration as described in some embodiments of the present disclosure. The outrunner / outrunner configuration functions in the same way as the inrunner / inrunner mode, but requires the input stage ring gear 1102 to operate as opposed to the input stage sun gear 1101.

  Here, in contrast to the second stage sun gear in the outrunner / inrunner mode, the output gear changes to the second stage ring gear 1103, so the equations (28-30) are modified to take this change in the power path into account. The

Equation (28) can be modified as follows.

The output speed relative to ground can be expressed as:

Thus, the final angular velocity ratio is calculated by dividing equation (27) by equation (32).

  Similarly, the motion conditions described in equation (15) for the inrunner / outrunner configuration apply to the outrunner / outrunner because both have similar planetary gear arrangements.

  FIG. 12 shows in tabular form the state of the sun gear and ring gear in four different inrunner and outrunner combinations as described in some embodiments of the present disclosure. FIG. 12 also shows the application and mode of operation for each configuration. Various modes can be used as a preliminary design tool to select a working joint suitable for a given application (eg, a high or low speed reducer or accelerator).

FIG. 13 shows an overview of the kinematic relationship of a gear bearing drive as described in some embodiments of the present disclosure. The table summarizes the results of the equations determined above.
Proof of concept

  FIG. 14 illustrates a gear bearing drive system for an elbow prosthesis as described in some embodiments of the present disclosure.

  The first prototype gear bearing drive was developed to function as a robust, high performance, low cost elbow joint drive system. The actuator was designed to provide the maximum continuous torque of 26 Nm and the minimum bandwidth of 5 Hz required for an elbow prosthesis application as shown in FIG. 14 at a nominal speed of 23 rpm.

  A dedicated brushless outrunner motor [Hacker A20-30M] was selected based on torque speed characteristics with respect to application requirements. This external rotor design has higher torque output, improved efficiency (usually 90-95%), greater heat dissipation, and fewer parts compared to a standard DC motor design. At 13.8 volts, the motor can output 0.19 Nm of stall torque and runs at a no-load speed of 12,100 rpm. A gear bearing ratio of 264: 1 was synthesized to change the motor torque speed curve to the desired operating points of 26 Nm and 23 rpm.

FIG. 15 shows linear torque speed characteristics for the gear bearing drive motor described in FIG. 14 as described in some embodiments of the present disclosure.
Gearbox design

  After determining the required gear ratio to 1: 264, the next step was to specify the gear bearing parts with the selected motor and integrate them. A parametric study was performed to determine the number of allowable gear teeth in each gear part as defined by the equation of motion determined above. An industry standard pressure angle of 20 degrees was chosen to provide a combination of smooth operation, low backlash, and high load transmission. The number of teeth was optimized to provide the smallest design form factor using parametric spreadsheet calculations. Therefore, the minimum number of teeth recommended by the American Gear Manufacturers Association (AGMA) to avoid undercut interference was chosen to be equal to 19 for the input pinion. The number of teeth for the input ring, the output planet, and the output ring is automatically calculated by equations (13), (17), and (18), respectively. Therefore, the number of teeth of the input stage sun gear was the only variable left. Therefore, a parametric study was performed in the program (eg, Excel) for integers in the range of 20-100 with respect to the input stage sun, and at the same time the remaining gear values were determined. It was determined that a value of 57 for the number of teeth in the sun gear resulted in the greatest common divisor of equations (17) and (18), resulting in the minimum number of acceptable teeth in the output stage planet and output stage ring.

  Once the number of teeth was entered for all gears, the next step was to determine the size of the gear diameter depending on the transmission geometry and load capacity requirements. The geometric dimension constraint associated with the motor outer diameter placed a low limit on the input stage sun gear pitch diameter, which required a minimum pitch diameter of 1.475 inches to fit the outer periphery of the external rotor motor. Therefore, a pitch diameter of 1.5 inches was selected for the input stage sun gear. Knowing the diameter of the input sun gear, the pitch diameters of the other gears were determined based on the equations (14) and (15) as shown in FIG. The gear tooth profile curves are generated using standard involute curves by Integrated Gear Software from Universal Technical Systems, Inc., which conforms to the AGMA standard, to ensure that the design meets the torque capacity specification. Analysis was performed on strength using element analysis software Cosmos.

  16 shows details of a gear bearing drive design for the elbow prosthesis described in FIG. 14, as described in some embodiments of the present disclosure.

  FIG. 17 shows a dynamometer that is used to test a gear bearing drive as described in some embodiments of the present disclosure.

  In some embodiments, the dynamometer applies friction to a rotating drum 1702 that is directly driven by an external rotor servomotor 1701. A friction brake is applied to the rotating disk via the operating solenoid 1703. The friction torque is measured using a reaction torque sensor 1704 together with the motor current, voltage, and rotational speed. An amplifier can be used to power up the motor using a PI controller with automatic gain scheduling. The amplifier establishes automatic phase commutation by an external encoder attached to the motor rotor shaft.

  FIG. 18 shows the results of a dynamometer test as described in some embodiments of the present disclosure. The three-phase motor drive consumes 110 watts of power to produce a nominal output speed of 26 Nm and 23 rpm, resulting in an excellent efficiency of 85% for motors and gear bearings.

FIG. 19 illustrates a closed loop step response to a 2500 rpm speed reference as described in some embodiments of the present disclosure. Additional dynamic tests were performed to determine system robustness for applications requiring specific high frequency torque / position tracking. Driver acceleration and bandwidth were tested using a step response test. The drive shows a very fast response that achieves an overall speed bandwidth of 18 Hz, which is inherent to the low inertia planetary gear reducer design. The drive accelerates rapidly at about 45,000 rpm / second ² and reaches maximum power in less than 0.23 seconds. The GBD prototype weighs only 140 grams and has an overall power density of 0.67 watts / gram and a volumetric power density of 0.50 watts / cm3.
Design program

  The computer-implemented method described herein can reduce trial and error in the actuator development stage. In some embodiments, a set of design methods can be generated and implemented (eg, using MATLAB) to guide the designer throughout the actuator design step.

  In some embodiments, the program can receive as input the maximum diameter of the actuator and the desired torque and output, and all possible gear configurations to produce the smallest assembly that meets the design requirements. The parameters can be solved.

  In some embodiments, the program uses the kinematic relationship shown in FIG. 13 to calculate the output. For example, the program may use a parameter permutation to solve an equation that controls a two-stage planetary gearbox. Referring to FIG. 13, N1 to N6 indicate the number of teeth of the input sun gear, the input planetary gear, the input ring gear, the output sun gear, the output planetary gear, and the output ring gear, respectively, and D1 to D6 represent their respective pitch diameters.

FIG. 20 shows a flowchart for a computer-implemented method for designing a gear bearing drive as described in some embodiments of the present disclosure.

  In some embodiments, the design program 2030 uses the equations shown in FIG. 13 to solve the GBD parameters as a function of the gear ratio range, which is the number of teeth of the input sun gear and input planet gear. For example, the program 2030 may include a desired gear ratio range 2002 (eg, 250-280), an input planetary tooth number range 2001 (eg, 15-30), an input sun gear tooth number range 2004 (eg, 20 -50), and user input of maximum torque and speed output 2003 may be received at user interface 2020. The program 2030 can receive input and output the smallest drive in terms of the number of teeth and tooth strength of the output gear. The program may output GBD parameters 2005, GBD sketch (eg, CAD) 2006, and various combinations of GBD 2007. In some embodiments, the program 2030 assumes that the planet spacing is equal for both stages to avoid interference during assembly. Program 2030 may be implemented in a design module having a processor and memory configured to store and execute computer-readable instructions.

  In some embodiments, once all parameters have been identified, the American Society of Mechanical Engineers determines the pressure angle, addendum height, total tooth height, root gap, outer root diameter, and inner fillet diameter. Gear properties are calculated using (ASME) standard tooth profiles. Corresponding values are stored in the workspace and can be analyzed for strength using gear tooth deflection and contact strength analysis with a minimum safety factor defined by the user. If the set of parameters passes strength analysis, they can be used as image generation programs (eg, Solid Works 2013, ANSYS 2014, and Integrated Gear Software (IGS) 2015) for manufacturability analysis and CAD model component generation. Can be exported. In some embodiments, a transmission module operably connected to the design module may transmit parameters to the image generation program.

  In some embodiments, the CAD model component is designed using an image generation program and a functional device (eg, 2050) using an additional manufacturing device 2040 (eg, 3D system viper machine) based on stereolithography additive manufacturing technology. ) Prototype. In some embodiments, a transmission module may transmit CAD model components to an additive manufacturing system.

  Although given components of the system have been described individually, those skilled in the art will also understand that some of the functions may be combined or shared in a given executable instruction, program sequence, code portion, etc. Will.

  The subject matter described in this specification can be implemented by digital electronic circuitry, computer software, firmware, or hardware, including the structures and components disclosed herein, and equivalents thereof, or combinations thereof. . The subject matter described herein is, for example, (e.g., machine-readable storage) for execution by a data processing device (e.g., a programmable processor, computer, or computers) or for controlling the operation thereof. It may be implemented as one or more computer program products, such as one or more computer programs that are tangibly embodied in an information carrier (within a device) or embodied in a propagated signal. A computer program (also known as a program, software, software application, or code) may be written in any form of programming language, including a compiled or interpreted language, as a stand-alone program or as a module, component, It may be deployed in any form, such as as a subroutine or other unit suitable for use in a computing environment. A computer program does not necessarily correspond to a file. A program can be part of a file that holds other programs or data, a single file dedicated to the program in question, or multiple organizational files (eg, one or more modules, subprograms, or parts of code) Can be stored in a file). A computer program may be deployed to be executed on one computer or multiple computers at one site, or to be scattered across multiple sites and interconnected by a communication network.

  The processes and logic flows described herein, including the method steps of the subject matter described herein, perform the functions of the subject matter described herein by acting on input data and producing output. To execute, it may be executed by one or more programmable processors executing one or more computer programs. Processes and logic flows may be performed by dedicated logic circuits such as, for example, FPGAs (Field Programmable Gate Arrays) and ASICs (Application Specific Integrated Circuits), with which the apparatus of the subject matter described herein is implemented. obtain.

  Processors suitable for executing computer programs include, by way of example, both general and special purpose microprocessors and any one or more processors of any type of digital computer. Generally, a processor will receive instructions and data from a read-only memory or a random access memory or both. The basic elements of a computer are a processor for executing instructions and one or more memory devices for storing instructions and data. Generally, a computer includes one or more mass storage devices for storing data, such as a magnetic disk, a magneto-optical disk, or an optical disk, or is operatively connected to send and receive data from them, Or both. Information carrier waves suitable for embodying computer program instructions and data include, by way of example, semiconductor memory devices (eg, EPROM, EEPROM, and flash memory devices), magnetic disks (eg, internal hard disks and erasable disks), magneto-optics. Includes all forms of non-volatile memory, including disks and optical disks (eg, CD and DVD disks). The processor and the memory can be supplemented by, or incorporated in, dedicated logic circuitry.

  To provide user interaction, the subject matter described herein is a display device for displaying information to a user, such as a CRT (CRT) or LCD (Liquid Crystal Display) monitor, and a user input to a computer Can be realized in a computer having a keyboard or a pointing device (for example, a mouse or a trackball). Other types of devices can be used as well to provide user interaction. For example, the feedback provided to the user may be any form of perceptual feedback (eg, visual feedback, auditory feedback, or haptic feedback), and the input from the user may be acoustic input, audio input, or haptic input. It can be received in any format including.

  The subject matter described herein may allow a user to interact with a back-end computer (eg, a data server), a middleware component (eg, an application server), or a front-end computer (eg, an implementation of the subject matter set forth herein). Client computer having a graphical user interface or web browser), or a computing system including any combination of such backend, middleware, and frontend components. The components of the system can be interconnected by any form or medium of digital data communication, eg, a communication network. Examples of communication networks include a local area network (“LAN”) and a wide area network (“WAN”) such as the Internet.

Claims (23)

A gear contact system configured to support radial, thrust, and moment loads,
A first gear comprising a first roller having a first roller bearing surface having a curved convex surface defined by a first radius of curvature;
A second gear comprising a second roller bearing surface having a second roller bearing surface having a curved concave surface defined by a second radius of curvature greater than the first radius of curvature; and The second roller bearing surface engages with the first roller bearing surface of the first roller at at least one point in the pitch diameter of the two gears, and a straight line in contact with the point is a line of the first gear. A system that makes a predetermined angle with respect to the axis of rotation.   The system of claim 1, wherein the predetermined angle is between 0 degrees and 90 degrees.   The system of claim 1, wherein the predetermined angle is between 30 degrees and 60 degrees.   The system of claim 1, wherein the predetermined angle is between 40 degrees and 50 degrees.   The system of claim 1, wherein the predetermined angle is 45 degrees.   The system of claim 1, wherein the roller bearing surface comprises a material capable of supporting high speed contact.   The system of claim 6, wherein the material comprises at least one of AMPCO 45 bronze, stainless steel, or nitrone steel.   The first radius of curvature, the second radius of curvature, and the predetermined angle are selected such that the first roller bearing surface and the second roller bearing surface wear evenly. The system described in.   The system of claim 1, used in a planetary gear system having at least a sun gear, at least two planetary gears, and at least one ring gear.   An input stage assembly comprising an input sun gear, at least one input planet gear, and an input ring gear; and at least one comprising an output planet gear, the at least one output planet gear coupled to the at least one input gear, and an output ring gear. The system of claim 1 for use in a planetary gear system having an output stage assembly.   The system of claim 10, wherein the at least one output stage assembly further comprises an output sun gear, and wherein the input stage assembly further comprises a motor having an external rotor disposed within an interior region of the input sun gear.   The system of claim 11, wherein the motor drives the input sun gear, the input ring gear is fixed, the output sun gear does not move, and the output ring gear is driven by the input sun gear.   The system of claim 11, wherein the motor drives the input sun gear, the input ring gear is fixed, the output sun gear is driven by the input sun gear, and the output ring does not move.   The system of claim 11, wherein the motor drives the input ring gear, the input sun gear is fixed, the output sun gear is driven by the input ring gear, and the output ring does not move.   The system of claim 11, wherein the motor drives the input ring gear, the input sun gear is fixed, the output sun gear does not move, and the output ring is driven by the input ring gear.   The system of claim 11, further comprising a ball bearing raceway having a groove between the input stage and the output stage at an interface between the input sun gear and the output sun gear.   The system of claim 11, further comprising a ball bearing raceway having a groove between the input stage and the output stage at an interface between the input ring gear and the output ring gear.   The system of claim 11, wherein a connection between the at least one input planet gear and the at least one output planet gear is pre-stressed.   And further comprising a carrier configured to keep one input planet gear parallel to at least one other input planet gear in a radial plane perpendicular to the rotational axis when the planet gear system is subjected to a high external load. The system according to claim 11.   The carrier further comprises a carrier configured to keep one output planet gear parallel to at least one other output planet gear in a radial plane perpendicular to the rotational axis when the planet gear system is subjected to a high external load. The system according to claim 10.   21. A method using a gear contact system according to claims 1-20, wherein the radial load, thrust load, and moment load are stable. An planetary gear having an input sun gear, an output sun gear, at least one input planet gear, at least one output planet gear, an input ring gear, and an output ring gear each having a plurality of teeth and configured to output torque and speed A method of manufacturing a system, comprising:
In the user interface:
The input sun gear tooth range, the desired gear ratio range, and the planet gear number range, and
Receiving an input including at least one of a maximum torque and a speed output;
In a processor configured to store and execute computer-readable instructions,
A range of teeth of the input sun gear, a range of the desired gear ratio, and a range of the number of teeth of the planetary gear;
Calculating parameters of the planetary gear system having the greatest common divisor of the number of teeth of at least one output planet and the number of teeth of one output ring using at least one combination of said maximum torque and speed output When,
Sending the parameters of the planetary gear system to an image generator capable of generating an image of the planetary gear system;
Transmitting the image of the planetary gear system to an additional manufacturing device capable of generating a physical copy of the planetary gear system based on the image of the planetary gear system. An planetary gear having an input sun gear, an output sun gear, at least one input planet gear, at least one output planet gear, an input ring gear, and an output ring gear each having a plurality of teeth and configured to output torque and speed An apparatus for manufacturing a system,
The input sun gear tooth range, the desired gear ratio range, and the planet gear number range, and
A user interface configured to receive an input including at least one of a maximum torque and a speed output;
A design module comprising a processor and memory for storing executable instructions and data and operatively connected to the user interface, the instructions comprising:
A range of teeth of the input sun gear, a range of the desired gear ratio, and a range of the number of teeth of the planetary gear;
Calculating a parameter of a planetary gear system having a greatest common divisor of the number of teeth of at least one output planet and the number of teeth of one output ring using at least one combination of said maximum torque and speed output A design module that runs on
A transmission module operably connected to the design module,
Sending the parameters of the planetary gear system to an image generator capable of generating an image of the planetary gear system;
A transmission module configured to transmit the image of the planetary gear system to an additional manufacturing device capable of generating a physical copy of the planetary gear system based on the image of the planetary gear system. apparatus.