Self-binding non-jamming stop module for rotary drive actuator
A rotary actuator has a stop module configured to mechanically link two gear stages travelling at different rotational speeds when an end-of-stroke travel limit is reached, thereby causing the rotary actuator to bind because relative motion between the gear stages is impeded.
1. A rotary actuator comprising:
an input shaft rotatably driven by an input torque;
a first gear stage having a first stage carrier driven to rotate by rotation of the input shaft, the first stage carrier including a threaded portion;
a second gear stage having a second stage carrier driven to rotate by rotation of the first stage carrier, wherein the second stage carrier includes gear teeth;
a first nut threadably mated with the threaded portion of the first stage carrier, wherein the first nut includes gear teeth;
a brake plate arranged for travel with the first nut along an axis of the threaded portion of the first stage carrier;
a first brake disk coupled to the input shaft; and
a transmission assembly configured to transmit rotational motion of the second stage carrier to the first nut to cause the first nut and the brake plate to travel in a first axial direction along the axis of the threaded portion of the first stage carrier;
wherein the brake plate engages the first brake disk at a first end-of-stroke travel limit of the rotary actuator to stop rotation of the input shaft.
2. The rotary actuator according to claim 1 , further comprising:
a second nut threadably mated with the threaded portion of the first stage carrier, wherein the second nut includes gear teeth;
a second brake disk coupled to the input shaft;
wherein the brake plate is arranged for travel with the second nut along the axis of the threaded portion of the first stage carrier;
wherein the transmission assembly is further configured to transmit rotational motion of the second stage carrier to the second nut to cause the second nut and the brake plate to travel in a second axial direction along the axis of the threaded portion of the first stage carrier opposite to the first axial direction;
wherein the brake plate engages the second brake disk at a second end-of-stroke travel limit of the rotary actuator to stop rotation of the input shaft.
3. The rotary actuator according to claim 2 , wherein the brake plate is arranged between the first nut and the second nut.
4. The rotary actuator according to claim 2 , wherein the threaded portion of the first stage carrier includes a cylindrical wall surrounding an axial travel passage, the cylindrical wall having a plurality of axially extending slots therethrough, and the brake plate is received within the travel passage and includes a plurality of radial spokes extending through the plurality of slots for engagement with the first nut and the second nut.
5. The rotary actuator according to claim 2 , wherein the first nut is a first spur gear nut having gear teeth, the second nut is a second spur gear nut having gear teeth, and the transmission assembly includes a transfer shaft having an input gear meshed with the gear teeth of the second stage carrier, a first output gear meshed with the gear teeth of the first spur gear nut, and a second output gear meshed with the gear teeth of the second spur gear nut.
6. The rotary actuator according to claim 2 , further comprising a first anti-jamming coupling for coupling the first brake disk to the input shaft, and a second anti-jamming coupling for coupling the second brake disk to the input shaft.
7. The rotary actuator according to claim 1 , wherein the threaded portion of the first stage carrier includes a cylindrical wall surrounding an axial travel passage, the cylindrical wall having a plurality of axially extending slots therethrough, and the brake plate is received within the travel passage and includes a plurality of radial spokes extending through the plurality of slots for engagement with the first nut.
8. The rotary actuator according to claim 1 , wherein the first nut is a first spur gear nut having gear teeth, and the transmission assembly includes a transfer shaft having an input gear meshed with the gear teeth of the second stage carrier and a first output gear meshed with the gear teeth of the first spur gear nut.
9. The rotary actuator according to claim 1 , further comprising an anti jamming coupling for coupling the first brake disk to the input shaft.
10. The rotary actuator according to claim 1 , wherein the first gear stage is a planetary gear stage having a first sun gear coupled to the input shaft for rotation with the input shaft, a first ring gear surrounding the first sun gear, a first set of planetary gears meshed with the first sun gear and the first ring gear, wherein the first stage carrier rotates with the first set of planetary gears about a rotational axis of the input shaft.
11. The rotary actuator according to claim 10 , wherein the second gear stage is a planetary gear stage having a second sun gear coupled to the first stage carrier for rotation with the first stage carrier, a second ring gear surrounding the second sun gear, a second set of planetary gears meshed with the second sun gear and the second ring gear, wherein the second stage carrier rotates with the second set of planetary gears about a rotational axis of the input shaft.