Granted Patent B2

US 12,498,019 · App. 18/625,672 · Granted Dec 16, 2025

Inventors: Kevin Sweeney (Albany, OR); Jonathan Hurst (Albany, OR)

Assignee: Agility Robotics, Inc.

F16H1/32F16H2001/323F16H2001/325

Abstract

Claims (95)

1 . A gear assembly comprising:

a first support extending circumferentially around an axis in a first plane intersecting the axis;

a second support extending circumferentially around the axis in a second plane intersecting the axis, wherein the first and second planes are spaced apart from one another along the axis;

a first transfer member including first lobes and first troughs circumferentially alternating in a third plane intersecting the axis, wherein an average circumferential span of the first lobes in the third plane is smaller than an average circumferential span of the first troughs in the third plane;

a second transfer member including second lobes and second troughs circumferentially alternating in a fourth plane intersecting the axis, wherein the third and fourth planes are between the first and second planes along the axis, wherein an average circumferential span of the second lobes in the fourth plane is smaller than an average circumferential span of the second troughs in the fourth plane; and

pins circumferentially distributed around the axis, individually extending between the first and second supports, and individually configured to rotate relative to the first and second supports as the first and second transfer members move out-of-phase with one another about the axis,

wherein the gear assembly is configured to transfer torque via the pins without any one of the pins simultaneously contacting the first and second transfer members.

2 . The gear assembly of claim 1 , wherein:

the gear assembly further comprises:

first roller bearings at the first support, and

second roller bearings at the second support; and

the pins individually extend between different respective pairs of one of the first roller bearings and one of the second roller bearings.

3 . The gear assembly of claim 2 , wherein:

the first support includes first sockets circumferentially distributed around the axis;

the first roller bearings are at least partially disposed within the first sockets;

the second support includes second sockets circumferentially distributed around the axis; and

the second roller bearings are at least partially disposed within the second sockets.

4 . The gear assembly of claim 3 , wherein:

the first support includes a first plate defining first through holes;

the first sockets are at the first through holes;

the second support includes a second plate defining second through holes; and

the second sockets are at the second through holes.

5 . The gear assembly of claim 2 , wherein the first and second roller bearings are drawn-cup needle roller bearings.

6 . The gear assembly of claim 2 , wherein:

the first and second roller bearings individually include:

rollers individually defining a cylindrical outer surface,

an annular frame carrying the rollers; and

the pins contact the cylindrical outer surfaces of the rollers directly.

7 . The gear assembly of claim 1 , wherein:

the individual pins include:

a first end portion at the first support,

a second end portion at the second support,

a first intermediate portion between the first and second end portions, and

a second intermediate portion between the first intermediate portion and the second end portion;

and

the individual pins contact the first and second transfer members via the first and second intermediate portions, respectively.

8 . The gear assembly of claim 1 , wherein:

the gear assembly further comprises a carrier including a base and rods individually extending from the base;

the first transfer member defines first peripheral openings distributed circumferentially around the axis;

the second transfer member defines second peripheral openings distributed circumferentially around the axis; and

the individual rods extend through different respective pairs of one of the first peripheral openings and one of the second peripheral openings.

9 . The gear assembly of claim 8 , wherein:

the gear assembly further comprises:

a mount fixedly connected to the first and second supports, and

an output member fixedly connected to the base; and

the gear assembly is configured to rotate the output member relative to the mount in response to force exerted by the first and second transfer members against the base via the rods.

10 . The gear assembly of claim 8 , wherein:

the gear assembly further comprises a mount fixedly connected to the base; and

the gear assembly is configured to rotate the first and second supports relative to the mount in response to force exerted by the first and second transfer members against the first and second supports via the pins.

11 . The gear assembly of claim 1 , further comprising:

an input shaft configured to rotate about the axis; and

a first eccentric bearing carried by the input shaft, wherein the first transfer member defines a first central opening at which the first eccentric bearing is rotatably disposed; and

a second eccentric bearing carried by the input shaft, wherein the second transfer member defines a second central opening at which the second eccentric bearing is rotatably disposed.

12 . The gear assembly of claim 1 , wherein the gear assembly has an input-to-output reduction ratio within a range from 20:1 to 40:1.

13 . A gear assembly comprising:

a first support extending circumferentially around an axis in a first plane intersecting the axis;

a second support extending circumferentially around the axis in a second plane intersecting the axis, wherein the first and second planes are spaced apart from one another along the axis;

a first transfer member including first lobes and first troughs circumferentially alternating in a third plane intersecting the axis;

a second transfer member including second lobes and second troughs circumferentially alternating in a fourth plane intersecting the axis, wherein the third and fourth planes are between the first and second planes along the axis; and

pins circumferentially distributed around the axis, individually extending between the first and second supports, and individually configured to rotate relative to the first and second supports as the first and second transfer members move out-of-phase with one another about the axis,

wherein:

an average angle in the third plane between circumferentially neighboring pairs of the pins is no more than one third an average angle in the third plane between circumferentially neighboring pairs of the first lobes,

an average angle in the fourth plane between circumferentially neighboring pairs of the pins is no more than one third an average angle in the fourth plane between circumferentially neighboring pairs of the second lobes, and

the gear assembly is configured to transfer torque via the pins without any one of the pins simultaneously contacting the first and second transfer members.

14 . The gear assembly of claim 13 , wherein:

the gear assembly further comprises:

first roller bearings at the first support, and

second roller bearings at the second support; and

the pins individually extend between different respective pairs of one of the first roller bearings and one of the second roller bearings.

15 . The gear assembly of claim 14 , wherein:

the first support includes first sockets circumferentially distributed around the axis;

the first roller bearings are at least partially disposed within the first sockets;

the second support includes second sockets circumferentially distributed around the axis; and

the second roller bearings are at least partially disposed within the second sockets.

16 . The gear assembly of claim 14 , wherein the first and second roller bearings are drawn-cup needle roller bearings.

17 . A gear assembly comprising:

a first support extending circumferentially around an axis in a first plane intersecting the axis;

a second support extending circumferentially around the axis in a second plane intersecting the axis, wherein the first and second planes are spaced apart from one another along the axis;

a first transfer member including first lobes and first troughs circumferentially alternating in a third plane intersecting the axis;

a second transfer member including second lobes and second troughs circumferentially alternating in a fourth plane intersecting the axis, wherein the third and fourth planes are between the first and second planes along the axis; and

pins circumferentially distributed around the axis, individually extending between the first and second supports, and individually configured to rotate relative to the first and second supports as the first and second transfer members move out-of-phase with one another about the axis,

wherein:

a total quantity of the first lobes is at most one third a total quantity of the pins,

a total quantity of the second lobes is at most one third the total quantity of the pins, and

the gear assembly is configured to transfer torque via the pins without any one of the pins simultaneously contacting the first and second transfer members.

18 . The gear assembly of claim 17 , wherein:

the gear assembly further comprises:

first roller bearings at the first support, and

second roller bearings at the second support; and

the pins individually extend between different respective pairs of one of the first roller bearings and one of the second roller bearings.

19 . The gear assembly of claim 18 , wherein:

the first support includes first sockets circumferentially distributed around the axis;

the first roller bearings are at least partially disposed within the first sockets;

the second support includes second sockets circumferentially distributed around the axis; and

the second roller bearings are at least partially disposed within the second sockets.

Assignments (2)

Continuity (3)

References Cited (21)