WO2009011682A1 - Entraînement de palier d'engrenage - Google Patents

Entraînement de palier d'engrenage Download PDF

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Publication number
WO2009011682A1
WO2009011682A1 PCT/US2007/016366 US2007016366W WO2009011682A1 WO 2009011682 A1 WO2009011682 A1 WO 2009011682A1 US 2007016366 W US2007016366 W US 2007016366W WO 2009011682 A1 WO2009011682 A1 WO 2009011682A1
Authority
WO
WIPO (PCT)
Prior art keywords
gear
sub
pinion
assembly
sun
Prior art date
Application number
PCT/US2007/016366
Other languages
English (en)
Inventor
Brian Weinberg
Constantinos Mavroidis
John M. Vranish
Original Assignee
Northeastern University
Nasa Goddard Space Flight Center
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Northeastern University, Nasa Goddard Space Flight Center filed Critical Northeastern University
Priority to PCT/US2007/016366 priority Critical patent/WO2009011682A1/fr
Priority to EP07796944A priority patent/EP2179197A4/fr
Priority to CA2694004A priority patent/CA2694004A1/fr
Priority to CN200780100463A priority patent/CN101849119A/zh
Priority to JP2010516959A priority patent/JP2010533830A/ja
Publication of WO2009011682A1 publication Critical patent/WO2009011682A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2/70—Operating or control means electrical
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/36—Toothed gearings for conveying rotary motion with gears having orbital motion with two central gears coupled by intermeshing orbital gears
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/54—Artificial arms or hands or parts thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2002/6836—Gears specially adapted therefor, e.g. reduction gears
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2002/6845—Clutches

Definitions

  • the present invention relates to a gear bearing drive and its use in a variety of applications, including prosthetic limbs and robotic arms.
  • a gear bearing is a mechanical structure comprising both gear and roller bearing surfaces such that the mechanical power structure and bearing motion control functions are performed without the need for dedicated bearings .
  • Gear bearings take both component and device forms .
  • Gear bearing components can be constructed in many forms, and gear bearing components can be directly interfaced to each other as modules to form gear bearing devices.
  • Gear bearing devices use rolling friction throughout, so external bearings are not required.
  • Epicyclical gear bearing speed reducers are easily constructed using gear bearing technology and these provide good speed reduction in a compact package .
  • “Rock Lock” (based on force balancing) properties are inherent in gear bearing epicyclical speed reducers and these ensure exceptional safety by preventing joint back drive (when the gear bearing reduction ratio is above a certain value, around 90-120:1) .
  • Gear bearings use the gear tooth tips mated against the roller bearing to lock the system axially. In addition to locking the system together this mate can perform thrust bearing functions, adding additional functionality to the mechanism. Gear bearing devices can be made to provide exceptional bearing strength in a compact package and have unique motion control properties, which enable them to perform competitive edge functions.
  • a gear bearing system is described in US Patent No. 6,626,792.
  • This system utilizes a planetary gear arrangement that eliminates conventional bearings by placing a contact surface at each gear's pitch diameter.
  • the system utilizes a one-tooth difference between input and output pinion gears .
  • the contacting surfaces maintain proper meshing and allow the gear set to operate with minimal vibration. Reliability is also increased due to the decrease in part count and overall complexity.
  • Also inherent to the gear bearing design is the ability to achieve a large range of, gear ratios using the same mechanisms, for example, from 1:1 to 1:2000 by only changing the number of teeth of each gear.
  • the gear bearing system in this patent includes a single roller per gear that locks the system together using the ends of the gear teeth.
  • a gear bearing drive according to the present invention is a compact mechanism with the ability to operate as an actuator providing torque and as a joint providing support. This is possible because of the combination of external rotor brushless DC motor technology and gear bearing technology. It can replace traditional motor gear train assemblies with a single mechanism saving weight and space. Additionally, high absolute or incremental positional precision is inherent to the design with the addition of an encoder to the drive motor. Its compact size, high precision and joint capabilities allow it to have applications in the aerospace, space, manufacturing, transportation and other industries .
  • a gear bearing drive provides a bearingless joint and a high power compact actuator with large power density.
  • the gear bearing drive utilizes a planetary gear arrangement in which an external rotor motor is integrated within an input sun gear sub-assembly. The coils of the motor are grounded to the input ring gear.
  • the gear bearing drive uses the roller bearing surface to provide both axial and radial support to the mechanism.
  • the roller bearing design can use a single rolling surface with its end face mated to the gear tooth end tips or it can use a two-step roller bearing that separates radial and axial support using a roller bearing surface for radial support and an extended roller to lock the system axially.
  • the gear bearing drive that includes a two-step roller sub-assembly can also benefit from a chamfering of gear tooth tip ends to remove all loading from the gear end tooth tips . This feature moves most axial loading to below the root circle of the gear, thereby greatly increasing the joint strength of the drive.
  • the gear bearing drive simplifies a machine's joint assembly by eliminating extraneous support structure . And by combining the joint structure, motor, and gearing into a single compact mechanism, devices utilizing gear bearings can achieve high .power density. This makes the gear bearing drive useful in a variety of applications, including robotic arms, prosthetics, powered winches , and bionics .
  • Fig. 1 is an isometric view of a first embodiment of a gear bearing drive from the output side according to the invention
  • Fig. 2 is an isometric view side of the gear bearing drive of Fig. 1 from the input side,-
  • Fig. 3 is a partially cut-away view of the gear bearing drive of Fig . 2 ;
  • Fig. 4A is an output side plan view of the first embodiment of the gear bearing drive,-
  • Fig. 4B is an input side plan view of the first embodiment of the gear bearing drive
  • Fig. 5 is a partial view of the first embodiment of the gear bearing drive from the output side, with locking rings removed;
  • Fig. 6 is a partial view of the first embodiment of the gear bearing drive from the input side, with locking rings removed;
  • Fig- 7 is an isometric view of interior components of the first embodiment of the gear bearing drive,-
  • Fig. 8 is a side view of the interior components of Fig. 7,-
  • Fig. 9 is an isometric cut-away view of the first embodiment of the gear bearing drive
  • Fig. 1OA is a side view of a pinion sub-assembly of the first embodiment of the gear bearing drive,-
  • Fig. 1OB is a cross-sectional view of the pinion sub- assembly of Fig. 1OA;
  • Fig. HA is an isometric view of a sun gear sub-assembly of the first embodiment of the gear bearing drive
  • Fig. HB is an end view of the sun gear sub-assembly of Fig. HA;
  • Fig. HC is a further isometric view of the sun gear sub- assembly of Fig. HA,- Fig. 12 is a cross-sectional view of the first embodiment of the gear bearing drive;
  • Fig. 13 is a plan view of the sun gear sub-assembly and pinion sub-assemblies of the first embodiment of the gear bearing drive ;
  • Fig. 14 is an isometric view of a first step in assembling the first embodiment of the gear bearing drive;
  • Fig. 15 is an isometric view of a second step in assembling the first embodiment of the gear bearing drive,-
  • Fig. 16 is an isometric view of a third step in assembling the first embodiment of the gear bearing drive
  • Fig. 17 is an isometric view of a fourth step in assembling the first embodiment of the gear bearing drive
  • Fig. 18 is an isometric view of a fifth step in assembling the first embodiment of the gear bearing drive
  • Fig. 19 is an isometric view of a sixth step in assembling the first embodiment of the gear bearing drive
  • Fig. 20 is an isometric view of a seventh step in assembling the first embodiment of the gear bearing drive
  • Fig. 21 is an isometric view of an eighth step in assembling the first embodiment of the gear bearing drive
  • Fig. 22 is an isometric view of a ninth step in assembling the first embodiment of the gear bearing drive
  • Fig. 23 is an isometric view of a tenth step in assembling the first embodiment of the gear bearing drive
  • Fig. 24 is an isometric view of an eleventh step in assembling the first embodiment of the gear bearing drive
  • Fig. 25 is an isometric view of a twelfth step in assembling the first embodiment of the gear bearing drive
  • Fig. 26 is an isometric view of a thirteenth step in assembling the first embodiment of the gear bearing drive
  • Fig. 27 is an isometric view of a fourteenth step in assembling the first embodiment of the gear bearing drive,-
  • Fig. 27 is an isometric view of a fourteenth step in assembling the first embodiment of the gear bearing drive
  • Fig. 28A is an isometric view of the first embodiment of the gear bearing drive fully assembled
  • Fig. 28B is a further isometric view of the first embodiment of the gear bearing drive fully assembled
  • Fig. 29 is an isometric view of a second embodiment of a gear bearing drive
  • Fig. 30 is a cross-sectional view of the second embodiment of the gear bearing drive ;
  • Fig. 31 is a partial cross-sectional view of the second embodiment of the gear bearing drive
  • Fig. 32A is an isometric view of a robotic arm incorporating gear bearing drives according to the present invention
  • Fig. 32B is a further isometric view of the robotic arm of Fig. 32A;
  • Fig. 32C is a still further isometric view of the robotic arm of Fig. 32A;
  • Fig. 33A is an isometric view of a prosthetic arm incorporating gear bearing drives according to the present invention.
  • LO Fig. 33B is a further isometric view of the prosthetic arm of Fig. 33a;
  • Fig. 34A is an isometric view of an elbow joint of the prosthetic arm of Fig. 33A;
  • Fig. 34B is a further isometric view of the elbow and L5 forearm drive of Fig. 34A;
  • Fig. 35A is an isometric view of a forearm drive of the prosthetic arm of Fig. 33A;
  • Fig. 35B is a further view of the forearm drive of the prosthetic arm of Fig. 35B;
  • Fig. 36 is a schematic view of a winch assembly incorporating a gear bearing drive according to the present invention.
  • Fig. 37 is a schematic view of a further embodiment of a gear bearing drive according to the present invention.
  • .5 Fig. 38 is a schematic view of a still further embodiment of a gear bearing drive according to the present invention.
  • the gear bearing drive includes an external rotor motor 12 integrated into a gear bearing assembly 14.
  • the gear bearing assembly is a bearingless gear system that places a rolling surface at the pitch diameter of each gear to maintain gearset alignment and to support thrust, radial and bending loads .
  • the gear system includes an input side sun gear sub-assembly 16 concentrically surrounded by input side and output side ring gears 18, 20.
  • Several identically- sized pinion gear sub-assemblies 22 interface between the input sun gear sub-assembly 16 and the ring gears 18, 20.
  • the pinion sub-assemblies surround and revolve about the sun gear sub- assembly to connect an input stage to an output stage of the drive.
  • the motor 12 is integrated internally within the sun gear sub-assembly on the input side.
  • the coils 24 of the motor are grounded to the input side of the assembly.
  • Input and output locking rings 26, 28 are provided on the input and output sides to mate the ring gears 18, 20 to the pinion sub-assemblies 22 and lock the entire assembly 14 together.
  • the drive When assembled, the drive is rigid, possessing the ability to support thrust, radial, and bending loads, as described further below.
  • the locking rings and ring gears are configured as needed to attach to a desired application.
  • the sun gear sub-assembly 16 is centrally located in the interior of the drive and includes the magnets 32 of the external rotor motor and their mounting structure 34, an input sun gear 36, an optional encoder drive shaft 38, the sun gear roller bearing surface 42, and the sun gear locking surfaces 43, 44.
  • the sun gear roller bearing surface 42 faces radially outwardly, and the sun locking surfaces 44 face axially to mate with an extended roller 46 of the pinion sub-assembly.
  • a sun gear locking ring 48 is coaxially located on the end of the sun gear 36 at the input side.
  • the sun gear locking ring 48 includes the sun gear roller bearing surface 42 facing radially outwardly, which rolls without slipping on a corresponding roller bearing surface 52 of the pinion sub- assemblies 22.
  • the sun gear locking ring 48 also includes a sun gear locking surface 44 facing axially toward the sun gear 36.
  • Sun gear teeth 56 extend radially from the sun gear 36 at a determined pitch radius, which is the same as the radius of the sun gear roller bearing surface 42.
  • the sun gear teeth at the pitch radius and the sun gear rolling bearing surface rotate 5 at the same velocity.
  • the sun gear teeth are chamfered (Figs.
  • an output sun roller sub- assembly 66 is coaxially disposed at the other end of the sun gear at the output side.
  • the output sun roller assembly stabilizes the drive and keeps the pinion sub-assemblies aligned correctly.
  • the output sun roller sub-assembly includes a sun roller bearing
  • the sun roller sub-assembly includes a sun roller locking ring 74 disposed coaxially at the end of the sun roller sub- 5 assembly on the output side and a sun roller bearing 76.
  • the sun roller sub-assembly includes a sun roller locking surface 78 facing axially toward the sun gear.
  • the sun roller sub-assembly includes another locking surface 78 facing axially outwardly.
  • the sun roller locking ring locks the sun roller sub-assembly to the 0 pinion sub-assemblies.
  • the locking surfaces mate with an extended roller 82 of the pinion sub-assemblies, further stabilizing the output side of the gear bearing drive.
  • Each pinion sub-assembly includes an input stage pinion gear
  • the teeth of the input stage pinion mesh with the teeth of the sun gear and with the teeth of the input side ring gear.
  • the teeth of the output pinion mesh with the teeth of the output side ring gear.
  • Three pinion sub-assemblies are illustrated, but four or more could be used if desired, to distribute the load within the limits of the planetary gear pinion spacing equations.
  • the input stage pinion and the output stage pinion are coaxially mounted on a pinion support member or backbone 88, which provides the main support for the pinion sub-assembly.
  • a pinion roller cap 102 is mounted axially at one end of the backbone on threaded rods 108 and locks the pinion sub-assembly together.
  • the pinion sub-assembly can be assembled in another manner, as could be determined by those of skill in the art.
  • the backbone includes a roller bearing surface 52 on one end facing radially outwardly.
  • the rolling bearing surface rolls without slipping on the sun roller bearing surface 42 and the input ring gear roller bearing surface 92. This fixes the radial position of the sun gear sub-assembly.
  • Locking surfaces 58 located on the extended roller 46 adjacent to the roller bearing surface, face axially inward and outward. They mate with the locking grooves of the sun gear sub-assembly and input ring gear, locking the input side of the gear bearing drive mechanism to the pinion sub-assembly.
  • the tips of the gear teeth ends are chamfered to shift loading to below the root circle of the gear. This increases the force handling capabilities of the joint and decreases the potential for accelerated wear of the gear end tips .
  • the backbone includes a radially facing pinion roller bearing surface 72.
  • the roller bearing surface rolls without slipping on the sun roller bearing surface 68 and also fixes the radial position of the sun roller sub-assembly.
  • Locking surfaces 104 located on an extended roller 106 adjacent to the roller bearing surface, face axially inward and outward. They mate with the locking grooves of the sun roller sub-assembly and output ring gear, locking the output side of the gear bearing drive mechanism to the pinion sub-assembly and axially locating the sun roller assembly.
  • the tips of the gear teeth ends are chamfered to shift loading to below the root circle of the gear. This increases the force handling capabilities of the joint and decreases the potential for accelerated wear of the gear end tips .
  • the input side ring gear 18 includes teeth that mesh with the teeth of the input pinions 84.
  • a locking groove is formed by the end faces of the input ring gear' s teeth and the axial inward face of the input side locking ring 26. This groove defines locking surfaces 118 (Fig. 9) that mate with the locking surfaces 58 of the input side of the pinion sub-assembly.
  • the input side ring gear end tips are chamfered.
  • the output side ring gear 20 includes teeth that mesh with the teeth of the output side pinion gears 86.
  • a locking groove is formed by the end faces of the output ring gear's teeth and the axial inward face of the output side locking ring 28.
  • This groove defines locking surfaces 120 (Fig. 9) that mate with the locking surfaces 104 of the output side of the pinion sub-assembly. As with the pinion sub-assembly gear teeth and the sun gear teeth, the output side ring gear end tips are chamfered.
  • the output and ' input side locking rings mate the ring gears to the pinion gear sub-assemblies, locking the assembly together.
  • the locking rings include roller bearing surfaces 122, 124 that roll without slipping on the roller bearing surfaces of the pinion roller caps and the pinion backbones .
  • the motor is a compact external rotor DC motor. In this motor, the coils are fixed to the end bell (grounded stator) and the magnets are placed on the rotor. This motor design has higher torque output, greater heat dissipation, and a lower part count when compared to standard DC motor designs.
  • Tabs 132 are formed, for example, by machining, into an inner surface of the sun gear.
  • the magnets 32 are affixed, for example, with glue, between the tabs.
  • An external rotor is coaxially disposed within the cavity inside the sun gear.
  • the stator is fixed internally within the rotor.
  • Small tapped holes 134 may be included in some tabs to assist in holding the sun gear locking ring 48 in place.
  • An encoder shaft 38 may also be included for attachment to the sun gear if desired for the application.
  • An encoder attached to this shaft has its resolution multiplied by the same ratio as the gear bearing device, making the device well suited for precision control. For example, a 12 bit (4096 clicks per rotation) encoder attached to the motor with a gear reduction ratio of 300:1 yields a potential rotational accuracy of ⁇ 0.0003 degrees .
  • the device is preferably assembled with the aid of an assembly jig 140 , which locates the pinions .
  • the threaded rods 108 are inserted into mounting holes 144 in collars 142 in the jig.
  • the threaded rods locate the pinions at the proper locations and orient them correctly.
  • the pinion backbones 88 are slid over the threaded rods.
  • the output stage pinions 86 are slid into place over the backbones (Fig. 17) .
  • the output side sun roller locking ring 74 is held in place in the center of the jig, aligned with the opening in the jig
  • the output sun roller 76 is then bolted to the output sun roller locking ring (Fig. 19) .
  • the input side pinions 84 are then slid on the pinion assembly backbones (Fig. 20) .
  • the output side ring gear 20 is slid in place over the pinions (Fig. 21) .
  • the sun gear 36 is slid into place, and the assembly jig is removed (Fig. 22) .
  • the input side ring gear 18 is slid into place (Fig. 23) .
  • the pinion roller caps 102 are bolted in using the threaded rods (Fig. 24) .
  • the sun gear roller with surface 42 is slid into place and bolted down (Fig. 25) .
  • the output locking ring 28 is mounted to the output ring gear using alignment pins 152 to ensure the gear bearing roller surface is properly aligned (Fig. 26) .
  • the motor coil structure is mounted to the input side locking ring 26, and then the input side locking ring is mounted to the input side ring gear 18 (Fig. 27).
  • Figs. 28A and B illustrate two views of a completely assembled gear bearing drive device .
  • Other configurations of the gear bearing drive are possible.
  • a gear bearing drive can be provided using only the gear end teeth tips and a plain gear bearing roller to lock the mechanism together.
  • the roller rings are one diameter with the radial surfaces acting as gear bearing rollers and the internal axial face as locking surfaces .
  • the input and output locking rings are omitted.
  • the reduction ratio of the gear bearing drive is determined by known equations. (See, for example, US Patent No. 6,626,792).
  • An external rotor motor is integrated within the sun gear as described above.
  • Backdrivability is reduced as the gear reduction ratio increases until the point at which the "Rock Lock” takes over. After this point, the mechanism in non-backdrivable .
  • an external rotor motor 152 is incorporated in one or more of the pinions 154, rather than in the sun gear 156. See Fig. 37.
  • This assembly is thus a single stage gear reducer with an integrated motor. Additional motors increases the power density without increasing the size of the assembly.
  • the passive centrally located sun gear 156 and the passive pinions 158 can be rollers/locking rings only, or they can also include a gear.
  • the ring gear can drive a machine directly or can include additional features to allow it to function as the pinion component in a rack and pinion
  • the motor stator(s) are grounded as needed depending on the applications.
  • the gear bearing drive 160 is a gear bearing transmission integrated into an internal rotor brushless DC motor 162 coaxially. See Fig. 38.
  • the magnets 164 are
  • the sun gear has
  • the ring gear, pinion gears, and sun gear all include roller bearing surfaces . These roller bearing surfaces, maintain the concentricity of the sun and ring gear with relation to the coils .
  • the pinions support the internal structure . This configuration of the gear bearing drive multiplies the rotational !0 speed of the output shaft in relation to the driven ring gear. The large radius of the magnet/coils gives the motor high torque capabilities.
  • the output shaft has the ability to support loads, both thrust and radial, along with moments.
  • a further embodiment of this externally driven gear bearing 5 drive uses a two stage system, with planets having a single tooth difference, and an output side ring gear and sun roller.
  • the output side ring gear is the output of the actuator. It has the same gear bearing components as the above sun gear driven embodiment, except that the input side ring gear is now driven in 0 a similar fashion to that of the embodiment of Fig. 38 by an internal rotor motor and exterior coils. In this case, the pinions are free to cycle and the sun gear is locked in position
  • This drive can support thrust and radial loads along with moments on the output side ring gear.
  • the gear-bearing drive can be implemented as a joint, capable of supporting moments, thrust, and radial loads while driving the joint with high levels of torque.
  • the gear bearing drive is suitable as a joint in a robotic arm or prosthetic limb.
  • the illustrated robot arm has six degrees of freedom and possesses both high strength and exceptional precision in a lightweight compact package.
  • the arm is modular, incorporating a series of joint modules and an end effector module. This modularity allows the fast design and prototyping of these arms at any size and with any number of required degrees of freedom at the end-effector.
  • Each joint (shoulder 202, elbow 204, and wrist 206 in the- embodiment shown) is driven with its own gear bearing drive, which combines an actuator, joint load support, and position sensing into a space which is volumetrically smaller than any current robot arm of similar capabilities.
  • the gear bearing drive's comprehensive functionality facilitates the modular design structure of the robot arm, making the arm reconfigurable and highly adaptable to a variety of tasks .
  • the robot utilizes one gear bearing drive per degree-of-freedom.
  • the shoulder and elbow joints use identical gear bearing drives, and the wrist joint uses a smaller gear bearing drive.
  • Each gear bearing drive joint assembly includes its own controller and encoder.
  • the gear bearing drives are configured with the encoder and joint position synchronized so they can be installed or replaced without having to re-reference the zeros of the robot arm.
  • the user When inserted into a pre-indexed joint mounting, the user only needs to enter an arm type code into a master controller and the system is ready to use.
  • the robot arm's configuration can be changed by simply replacing, adding, or removing sections from the robot arm.
  • the payload capacity of the robot arm can determined by the size and strength of the arm, as desired for the tasks to be performed.
  • the approximate weight of the robot arm shown is about 15 lbs with arms comprised of aluminum.
  • the gear bearing drive is illustrated in a 3-4 degree of freedom prosthetic arm 300 in Figs. 33A to 35B.
  • the arm includes a gear bearing drive located at the elbow 302 for flexion and extension.
  • a gear bearing drive 306 is provided for forearm rotation, that is, pronation and supination.
  • a gear bearing drive 308 is provided for wrist flexion and extension.
  • An optional humeral rotation drive 310 may be provided.
  • a socket 312 for the upper arm and coupling system 314 for the hand are also provided.
  • the joints are capable of 120 deg/s rotational speed.
  • the estimated mass/weight of the arm is approximately 1.2 kg/2.75 lbs for the components shown, excluding the socket.
  • the gear bearing drive at the elbow joint has an outer diameter of
  • the external rotor motor utilized in the arm shares the same form factor with power capabilities from 55-210 W, so the system can be optimized for a specific application, such as heavy lifting or ultra low power consumption.
  • strain gauges can be incorporated into the joints to enable the controller to monitor the applied joint torque and backdrive when an overloaded condition is detected.
  • the gear ratio of the gear bearing drive can be configured so that the drive cannot be back driven.
  • the motor has no energy consumption when an elbow joint, for example, is under static loading.
  • the forearm (pronate-supinate) rotation is powered by a gear bearing drive 306 that also provides the coupling system that connects the elbow to the forearm.
  • the input stage ring gear is mounted and grounded to the elbow and the forearm is directly mounted to the output ring gear.
  • the forearm can be constructed of lightweight composites, which offer the necessary strength and stiffness .
  • a gear bearing drive 308 is mounted in the upper forearm. See Figs. 35A and B. Power is transferred from this system to the wrist with a no-slip belt drive 316 or transmission shaft.
  • the coupler for the wrist is detailed based the requirements of the hand and can also include a slip clutch 318 to protect the user from excessive impulsive loads .
  • the gear bearing drive's input stage is grounded and the output stage is connected to a winch drum.
  • the input stage 404 is grounded to the boat deck 406 and the output stage 408 is connected to the winch drum 410, which is coaxially mounted.
  • a one-way clutch or bearing 412 can be implemented between the output stage and the winch drum to allow for manual operation, with a suitable mechanism 414 for manual operation.
  • the gear- bearing drive resides inside the winch drum; it drives rotation of the winch and supports the loading from the lines 416.
  • the winch can be self-tailing or non-self-tailing.
  • the gear bearing drive can integrate with other winches such as vehicle winches, construction winches, etc., or alternatively, can be used as a pancake style gear motor driving the winch or other machine externally or remotely.
  • the gear bearing drive can be used in a variety of other applications. For example, in manufacturing, it can function as an actuator and/or a joint to drive machinery. In CNC machines, it can replace servomotors and/or precision positioning stages. In bionics it can serve as a joint and/or actuator for mechatronic body parts. It can actuate a wide variety of objects, such as windows and haptic interfaces . It can replace standard DC brushed and brushless gear motors. In aerospace, the gear bearing drive can be used to control or actuate landing gear, wing control surfaces, hatches, and the like.

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Transplantation (AREA)
  • Animal Behavior & Ethology (AREA)
  • Vascular Medicine (AREA)
  • Veterinary Medicine (AREA)
  • Cardiology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Public Health (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Robotics (AREA)
  • Retarders (AREA)

Abstract

L'invention concerne un entraînement de palier d'engrenage qui fournit un mécanisme compact qui fonctionne comme un actionneur fournissant un couple et comme un joint fournissant un support. L'entraînement comprend un dispositif d'engrenage intégrant un moteur à courant continu à rotor externe à l'intérieur d'un planétaire. Des surfaces de blocage maintiennent les composants de l'entraînement en alignement et fournissent un support pour des charges axiales et des moments. L'entraînement de palier d'engrenage a une diversité d'applications, comprenant une articulation dans des bras robotiques et des membres prothétiques.
PCT/US2007/016366 2007-07-19 2007-07-19 Entraînement de palier d'engrenage WO2009011682A1 (fr)

Priority Applications (5)

Application Number Priority Date Filing Date Title
PCT/US2007/016366 WO2009011682A1 (fr) 2007-07-19 2007-07-19 Entraînement de palier d'engrenage
EP07796944A EP2179197A4 (fr) 2007-07-19 2007-07-19 Entraînement de palier d'engrenage
CA2694004A CA2694004A1 (fr) 2007-07-19 2007-07-19 Entrainement de palier d'engrenage
CN200780100463A CN101849119A (zh) 2007-07-19 2007-07-19 齿轮轴承驱动装置
JP2010516959A JP2010533830A (ja) 2007-07-19 2007-07-19 歯車軸受装置

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/US2007/016366 WO2009011682A1 (fr) 2007-07-19 2007-07-19 Entraînement de palier d'engrenage

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WO2009011682A1 true WO2009011682A1 (fr) 2009-01-22

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JP (1) JP2010533830A (fr)
CN (1) CN101849119A (fr)
CA (1) CA2694004A1 (fr)
WO (1) WO2009011682A1 (fr)

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CN102431039A (zh) * 2010-09-29 2012-05-02 鸿富锦精密工业（深圳）有限公司 机械手臂
WO2012125562A1 (fr) * 2011-03-11 2012-09-20 Iwalk, Inc. Organes de commande de joint biomimétique
WO2015120076A1 (fr) * 2014-02-04 2015-08-13 Rehabilitation Institute Of Chicago Composants de prothèse myoélectrique modulaires et légers et procédés associés
CN105090380A (zh) * 2015-09-10 2015-11-25 上海奇步机器人有限公司 行星齿轮传动机构
US9693883B2 (en) 2010-04-05 2017-07-04 Bionx Medical Technologies, Inc. Controlling power in a prosthesis or orthosis based on predicted walking speed or surrogate for same
US9737419B2 (en) 2011-11-02 2017-08-22 Bionx Medical Technologies, Inc. Biomimetic transfemoral prosthesis
WO2018209198A1 (fr) * 2017-05-11 2018-11-15 Board Of Regents, The University Of Texas System Orthèse motorisée à technologie combinée de moteur et d'engrenage
US10265197B2 (en) 2014-05-09 2019-04-23 Touch Bionics Limited Systems and methods for controlling a prosthetic hand
US10369024B2 (en) 2016-09-02 2019-08-06 Touch Bionics Limited Systems and methods for prosthetic wrist rotation
US10398576B2 (en) 2011-08-18 2019-09-03 Touch Bionics Limited Prosthetic feedback apparatus and method
US10449063B2 (en) 2014-10-03 2019-10-22 Touch Bionics Limited Wrist device for a prosthetic limb
US10531965B2 (en) 2012-06-12 2020-01-14 Bionx Medical Technologies, Inc. Prosthetic, orthotic or exoskeleton device
US10610385B2 (en) 2013-02-05 2020-04-07 Touch Bionics Limited Multi-modal upper limb prosthetic device control using myoelectric signals
US20210010628A1 (en) * 2020-02-24 2021-01-14 Zhengzhou University Pipeline radar and television inspection robot
US10973660B2 (en) 2017-12-15 2021-04-13 Touch Bionics Limited Powered prosthetic thumb
EP3825573A1 (fr) * 2019-11-20 2021-05-26 Sinfonia Technology Co., Ltd. Mécanisme d'engrenage planétaire paradoxal mécanique
US11083600B2 (en) 2014-02-25 2021-08-10 Touch Bionics Limited Prosthetic digit for use with touchscreen devices
US11185426B2 (en) 2016-09-02 2021-11-30 Touch Bionics Limited Systems and methods for prosthetic wrist rotation
US11931270B2 (en) 2019-11-15 2024-03-19 Touch Bionics Limited Prosthetic digit actuator
US12027849B2 (en) 2006-12-06 2024-07-02 Solaredge Technologies Ltd. Distributed power system using direct current power sources
US12097131B2 (en) 2022-05-24 2024-09-24 Touch Bionics Limited Wrist device for a prosthetic limb

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CN103064342B (zh) * 2012-12-14 2016-03-02 王泓晖 手摇脉冲发生器
CN105240413A (zh) * 2015-10-10 2016-01-13 广西大美电器有限公司 一种散热远程控制系统
CN105373199A (zh) * 2015-10-10 2016-03-02 广西大美电器有限公司 一种使用计算机控制散热的系统
CN105666520B (zh) * 2016-04-01 2017-08-25 哈尔滨工业大学 一种基于齿轮传动的欠驱动机械臂手腕
KR101892562B1 (ko) 2016-07-13 2018-08-28 주식회사 세진아이지비 모듈 베어링 및 그를 구비하는 동력전달장치
WO2018045495A1 (fr) * 2016-09-06 2018-03-15 深圳市优必选科技有限公司 Dispositif de réduction de vitesse, moteur de servodirection d'articulation, et robot
CN107298385B (zh) * 2017-06-23 2018-05-04 河南省中原凌空起重设备有限公司 用于起重设备的可安全自锁的转动控制装置
CN109591045A (zh) * 2018-12-20 2019-04-09 杭州宇树科技有限公司 一种高集成度高性能机器人关节单元
JP2020118261A (ja) * 2019-01-25 2020-08-06 シナノケンシ株式会社 減速機及び減速機付きモータ

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Cited By (35)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12027849B2 (en) 2006-12-06 2024-07-02 Solaredge Technologies Ltd. Distributed power system using direct current power sources
US9693883B2 (en) 2010-04-05 2017-07-04 Bionx Medical Technologies, Inc. Controlling power in a prosthesis or orthosis based on predicted walking speed or surrogate for same
US10406002B2 (en) 2010-04-05 2019-09-10 Bionx Medical Technologies, Inc. Controlling torque in a prosthesis or orthosis based on a deflection of series elastic element
CN102431039A (zh) * 2010-09-29 2012-05-02 鸿富锦精密工业（深圳）有限公司 机械手臂
WO2012125562A1 (fr) * 2011-03-11 2012-09-20 Iwalk, Inc. Organes de commande de joint biomimétique
US10398576B2 (en) 2011-08-18 2019-09-03 Touch Bionics Limited Prosthetic feedback apparatus and method
US11259941B2 (en) 2011-08-18 2022-03-01 Touch Bionics Limited Prosthetic feedback apparatus and method
US9737419B2 (en) 2011-11-02 2017-08-22 Bionx Medical Technologies, Inc. Biomimetic transfemoral prosthesis
US10531965B2 (en) 2012-06-12 2020-01-14 Bionx Medical Technologies, Inc. Prosthetic, orthotic or exoskeleton device
US11890208B2 (en) 2013-02-05 2024-02-06 Touch Bionics Limited Multi-modal upper limb prosthetic device control using myoelectric signals
US10610385B2 (en) 2013-02-05 2020-04-07 Touch Bionics Limited Multi-modal upper limb prosthetic device control using myoelectric signals
US10034780B2 (en) 2014-02-04 2018-07-31 Rehabilitation Institute Of Chicago Modular and lightweight myoelectric prosthesis components and related methods
US11464654B2 (en) 2014-02-04 2022-10-11 Rehabilitation Institute Of Chicago Modular and lightweight myoelectric prosthesis components and related methods
WO2015120076A1 (fr) * 2014-02-04 2015-08-13 Rehabilitation Institute Of Chicago Composants de prothèse myoélectrique modulaires et légers et procédés associés
US10369016B2 (en) 2014-02-04 2019-08-06 Rehabilitation Institute Of Chicago Modular and lightweight myoelectric prosthesis components and related methods
US9579218B2 (en) 2014-02-04 2017-02-28 Rehabilitation Institute Of Chicago Modular and lightweight myoelectric prosthesis components and related methods
US9839534B2 (en) 2014-02-04 2017-12-12 Rehabilitation Institute Of Chicago Modular and lightweight myoelectric prosthesis components and related methods
US11083600B2 (en) 2014-02-25 2021-08-10 Touch Bionics Limited Prosthetic digit for use with touchscreen devices
US10265197B2 (en) 2014-05-09 2019-04-23 Touch Bionics Limited Systems and methods for controlling a prosthetic hand
US11234842B2 (en) 2014-05-09 2022-02-01 Touch Bionics Limited Systems and methods for controlling a prosthetic hand
US10449063B2 (en) 2014-10-03 2019-10-22 Touch Bionics Limited Wrist device for a prosthetic limb
US11357646B2 (en) 2014-10-03 2022-06-14 Touch Bionics Limited Wrist device for a prosthetic limb
CN105090380A (zh) * 2015-09-10 2015-11-25 上海奇步机器人有限公司 行星齿轮传动机构
US11185426B2 (en) 2016-09-02 2021-11-30 Touch Bionics Limited Systems and methods for prosthetic wrist rotation
US12059362B2 (en) 2016-09-02 2024-08-13 Touch Bionics Limited Systems and methods for prosthetic wrist rotation
US10369024B2 (en) 2016-09-02 2019-08-06 Touch Bionics Limited Systems and methods for prosthetic wrist rotation
WO2018209198A1 (fr) * 2017-05-11 2018-11-15 Board Of Regents, The University Of Texas System Orthèse motorisée à technologie combinée de moteur et d'engrenage
US10973660B2 (en) 2017-12-15 2021-04-13 Touch Bionics Limited Powered prosthetic thumb
US11786381B2 (en) 2017-12-15 2023-10-17 Touch Bionics Limited Powered prosthetic thumb
US11931270B2 (en) 2019-11-15 2024-03-19 Touch Bionics Limited Prosthetic digit actuator
EP3825573A1 (fr) * 2019-11-20 2021-05-26 Sinfonia Technology Co., Ltd. Mécanisme d'engrenage planétaire paradoxal mécanique
US11187301B2 (en) 2019-11-20 2021-11-30 Sinfonia Technology Co., Ltd. Mechanical paradox planetary gear mechanism
US11708933B2 (en) * 2020-02-24 2023-07-25 Zhengzhou University Pipeline radar and television inspection robot
US20210010628A1 (en) * 2020-02-24 2021-01-14 Zhengzhou University Pipeline radar and television inspection robot
US12097131B2 (en) 2022-05-24 2024-09-24 Touch Bionics Limited Wrist device for a prosthetic limb

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CN101849119A (zh) 2010-09-29
CA2694004A1 (fr) 2009-01-22
EP2179197A4 (fr) 2010-09-01
JP2010533830A (ja) 2010-10-28
EP2179197A1 (fr) 2010-04-28

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