Stiffness-variable joint actuator with motor-reducer integration
US12401254B1 · kind B1 · utility
Assignee
Inventors
Key dates
| Filing date | Dec 20, 2024 |
| Grant date | Aug 26, 2025 |
| Priority date | — |
| Expiry date | Dec 20, 2044 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY02T10/64
- WIPO fieldElectrical machinery, apparatus, energy
- WIPO sectorElectrical engineering
Abstract
The present invention discloses a stiffness-variable joint actuator with motor-reducer integration, and belongs to the field of robots. The stiffness-variable joint actuator includes: a torque motor, which includes a casing, a stator, a rotor, pin gears, and pin gear rollers; and a reducer core, which includes cycloidal gears, a planetary carrier, and an eccentric shaft. The motor is connected to a cycloidal-pin gear reducer, thereby achieving the technical effect of enhancing the impact resistance and reverse actuation capability of the actuator. The rotor is disposed outside the stator, the eccentric shaft is connected to the rotor, and the reducer is disposed inside the motor, thereby achieving the technical effect of integrating the motor and the reducer and reducing the axial dimension of the actuator. The cycloidal gears are provided with round holes and special-shaped holes, and the planetary carrier is provided with round dowel pins and special-shaped dowel pins; under a rated load, the round holes are in contact with the round dowel pins, and the special-shaped holes are not in contact with the special-shaped dowel pins; and under a load above the rated load, the round hol…
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.