公开(公告)号：US07431676B2

公开(公告)日：2008-10-07

申请号：US11288042

申请日：2005-11-28

Applicant: Delbert Tesar

Inventor： Delbert Tesar

IPC: F16H23/00

CPC classification number: F16H1/28 ,  B64C13/34 ,  F16H1/32 ,  F16H1/46 ,  F16H57/021 ,  F16H2001/2881 ,  H02K7/116 ,  Y02E10/725

Abstract: Self-contained rotary actuator provides motive power in automated mechanical systems and includes cross-roller bearing as a structural joint. Outer attachment shell rigidly interfaces the mechanical system and contains motor stator and internal bull gear. Internal bull gear, with internal gear teeth, interfaces cross-roller bearing, and provides stiffness. Output attachment plate mechanism includes internal ring gear and supports drive shaft bearings. Internal ring gear, with internal gear teeth, rigidly interfaces output attachment plate. Drive shaft holds prime mover rotor and eccentric and associates output attachment plate via the drive shaft bearings. Gear train includes circular arc, external teeth meshing gear for meshing with internal teeth of internal bull and internal ring gears and walks minimal external gear teeth per prime mover rotor rotation. Cross-roller bearing, outer attachment shell, drive shaft, and meshing gear train provide a self-contained, integrated, actuation torque transmitting force from the prime mover along shortest-possible transmission path.

Abstract translation: 独立的旋转执行器在自动机械系统中提供动力，并且包括作为结构接头的交叉滚子轴承。 外部附件外壳与机械系统刚性接合，并包含电机定子和内部大齿轮。 内部大齿轮，内齿轮齿，交叉滚子轴承，并提供刚度。 输出附件板机构包括内齿圈并支撑驱动轴轴承。 内齿圈，内齿轮齿，刚性接口输出附件板。 驱动轴保持原动机转子和偏心轮，并通过驱动轴轴承联接输出附件板。 齿轮系包括圆弧，外齿啮合齿轮，用于与内部公牛和内圈齿轮的内齿啮合，并且每个原动机转子旋转均行走最少的外齿轮齿。 交叉滚子轴承，外部附件外壳，驱动轴和啮合齿轮系提供了从原动机沿最短可能传输路径的独立，集成的致动扭矩传递力。

公开(公告)号：US07122926B2

公开(公告)日：2006-10-17

申请号：US10665729

申请日：2003-09-18

Applicant: Delbert Tesar

Inventor： Delbert Tesar

IPC: H02K7/10

CPC classification number: H02K7/10 ,  H02K7/1085 ,  H02K7/116 ,  H02K16/00 ,  Y10T74/20317

Abstract: A fault-tolerant actuator module, in a single containment shell, containing two actuator subsystems that are either asymmetrically or symmetrically laid out is provided. Fault tolerance in the actuators of the present invention is achieved by the employment of dual sets of equal resources. Dual resources are integrated into single modules, with each having the external appearance and functionality of a single set of resources.

Abstract translation: 提供了一个容错致动器模块，在一个容纳壳体中，包含两个不对称或对称布置的致动器子系统。 本发明的致动器中的容错通过使用两组相同的资源来实现。 双重资源集成到单个模块中，每个模块具有单一资源的外观和功能。

公开(公告)号：US07081062B2

公开(公告)日：2006-07-25

申请号：US10714183

申请日：2003-11-14

Applicant: Delbert Tesar

Inventor： Delbert Tesar

IPC: F16H23/00 ,  F16H59/00 ,  F16H1/32

CPC classification number: H02K7/116 ,  B64C13/34 ,  F16H1/28 ,  F16H1/32 ,  F16H1/46 ,  F16H57/021 ,  F16H2001/2881 ,  Y02T50/44

Abstract: A rotary actuator incorporating a shell, an output plate and a cross-roller bearing retaining the output plate within the shell. A prime mover, disposed within the shell, exerts torque on a gear train within the shell. A pair of gears, disposed on either side of the cross-roller bearing, mesh with one or more gears in the geartrain. Depending on the application, the geartrain may be a planetary epicyclic or an eccentric hypocyclic type.

Abstract translation: 一种旋转致动器，其包括壳体，输出板和将输出板保持在壳体内的交叉滚子轴承。 设置在外壳内的原动机在壳体内的齿轮系上施加扭矩。 设置在交叉滚子轴承两侧的一对齿轮与齿轮箱中的一个或多个齿轮啮合。 根据应用，齿轮箱可以是行星式行星式或偏心型的低音型。

公开(公告)号：US4505166A

公开(公告)日：1985-03-19

申请号：US363457

申请日：1982-03-30

Applicant: Delbert Tesar

Inventor： Delbert Tesar

IPC: B25J9/04 ,  B25J9/10 ,  B25J17/02 ,  B25J3/04 ,  G05G11/00

CPC classification number: B25J17/0241 ,  B25J9/04 ,  B25J9/1015 ,  B25J9/105 ,  Y10T403/32319 ,  Y10T403/32418 ,  Y10T74/20 ,  Y10T74/20305 ,  Y10T74/206 ,  Y10T74/2114

Abstract: A remote manipulator for a robotic system has a plurality of intercoupled manipulator links and a principal manipulator drive unit coupled to manipulate the remote position of an end-effector supported by said links in response to a manipulator control signal. Coarse adjustment of the end effector is refined by a precision control subsystem which augments the principal manipulator to achieve a "control-in-the-small" robotic manipulator system. The augmenting precision-achieving subsystem includes a coupling mechanism, coupled with one of the links, for establishing the position of one of the links relative to another link, and a precision adjustment device, associated with the coupling mechanisms for adjusting the position of the one link relative to another link as established by the coupling mechanism, independently of the action of the principal manipulator drive unit and effectively without bearing the load supported by the one of said links. Generally, if the manipulator has N major degrees of freedom, then it will be useful to implement up to N secondary degrees of freedom to adequately establish the control-in-the-small subsystem.

Abstract translation: 用于机器人系统的远程操纵器具有多个相互联系的操纵器连杆和主操纵器驱动单元，其耦合以响应于操纵器控制信号来操纵由所述链节支撑的末端执行器的远程位置。 末端执行器的粗调是通过精密控制子系统来完善的，精密控制子系统增加主要操纵器以实现“小型控制”机器人操纵器系统。 增强精度实现子系统包括与链接中的一个联接的联接机构，用于建立相对于另一个链节的链接中的一个的位置;以及精密调节装置，其与用于调节一个的位置的联接机构相关联 链接相对于由联接机构建立的另一个链路，与主操纵器驱动单元的作用无关，并且有效地不承担由所述链接之一支撑的负载。 通常，如果操纵器具有N个主要自由度，那么实施最多N个次级自由度以充分建立小型控制子系统将是有用的。