Cycloid gear assembly with alternating contact between transfer members and pins and related technology
A gear assembly in accordance with at least some embodiments of the present technology includes first and second supports extending circumferentially around an axis in first and second planes, respectively. The gear assembly further includes a first transfer member including first lobes and first troughs circumferentially alternating around the axis in a third plane. The gear assembly also includes a second transfer member including second lobes and second troughs circumferentially alternating around the axis in a fourth plane. The planes intersect the axis with the third and fourth planes between the first and second planes. The gear assembly further includes first and second pins circumferentially interspersed around the axis and extending between the first and second supports. The gear assembly transfers torque at least primarily via contact between the first pins and the first lobes and via contact between the second pins and the second lobes.
1. A method comprising:
causing first and second transfer members of a gear assembly to move out-of-phase with one another about an axis;
transferring force between the first transfer member and first pins of the gear assembly without transferring force between the first transfer member and second pins of the gear assembly while the first and second transfer members move out-of-phase with one another about the axis throughout a complete rotational cycle of the gear assembly; and
transferring force between the second transfer member and the second pins without transferring force between the second transfer member and the first pins while the first and second transfer members move out-of-phase with one another about the axis throughout the complete rotational cycle of the gear assembly,
wherein, during the method:
the first and second pins are circumferentially interspersed around the axis,
the gear assembly includes:
a first support extending circumferentially around the axis in a first plane intersecting the axis, and
a second support extending circumferentially around the axis in a second plane intersecting the axis,
the first and second planes are spaced apart from one another along the axis, and
the individual first and second pins fully span a gap between the first and second planes.
2. The method of claim 1 , further comprising causing an input-to-output reduction ratio within a range from 20:1 to 40:1 via the gear assembly.
3. The method of claim 1 , wherein:
during the method, the individual first and second 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;
transferring force between the first transfer member and the first pins includes contacting the first transfer member and the first pins at the first intermediate portion of the first pins; and
transferring force between the second transfer member and the second pins includes contacting the second transfer member and the second pins at the second intermediate portion of the second pins.
4. The method of claim 3 , wherein, during the method:
the individual first pins include a first annular recess at the second intermediate portion through which the individual first pins avoid contact with the second transfer member while contacting the first transfer member; and
the individual second pins include a second annular recess at the first intermediate portion through which the individual second pins avoid contact with the first transfer member while contacting the second transfer member.
5. The method of claim 1 , further comprising causing rotation of the individual first and second pins relative to the first and second supports while the first and second transfer members move out-of-phase with one another about the axis.
6. The method of claim 5 , further comprising:
rotatably carrying first end portions of the individual first and second pins at respective first roller bearings of the gear assembly while the first and second transfer members move out-of-phase with one another about the axis; and
rotatably carrying second end portions of the individual first and second pins at respective second roller bearings of the gear assembly while the first and second transfer members move out-of-phase with one another about the axis, wherein, during the method, the second end portions of the individual first and second pins are opposite to the first end portions of the individual first and second pins.
7. The method of claim 6 , further comprising:
carrying the first roller bearings at first sockets of the first support; and
carrying the second roller bearings at second sockets of the second support.
8. The method of claim 7 , wherein:
carrying the first roller bearings at the first sockets includes carrying the first roller bearings at first through holes defined by a first plate of the first support; and
carrying the second roller bearings at the second sockets includes carrying the second roller bearings at second through holes defined by a second plate of the second support.
9. The method of claim 6 , wherein the first and second pins directly contact cylindrical outer surfaces of rollers of the first and second roller bearings while the first and second transfer members move out-of-phase with one another about the axis.
10. The method of claim 1 , further comprising:
maintaining clearance between the first pins and the second transfer member while the first and second transfer members move out-of-phase with one another about the axis throughout the complete rotational cycle of the gear assembly; and
maintaining clearance between the second pins and the first transfer member while the first and second transfer members move out-of-phase with one another about the axis throughout the complete rotational cycle of the gear assembly.
11. The method of claim 1 , wherein:
causing the first and second transfer members to move out-of-phase with one another about the axis includes causing the first and second transfer members to move while in contact with a carrier of the gear assembly;
during the method the carrier includes a base and rods individually extending from the base; and
causing the first and second transfer members to move while in contact with the carrier includes causing the first and second transfer members to move while in contact with the carrier and while the rods extend through different respective pairs of a first peripheral opening defined by the first transfer member and a second peripheral opening defined by the second transfer member.
12. The method of claim 11 , further comprising rotating an output member of the gear assembly relative to a mount of the gear assembly in response to force exerted by the first and second transfer members against the base via the rods while causing the first and second transfer members to move out-of-phase with one another about the axis.
13. The method of claim 11 , wherein:
causing the first and second transfer members to move out-of-phase with one another about the axis includes causing the first and second transfer members to move out-of-phase with one another about the axis while first and second supports of the gear assembly carry the first and second pins; and
the method further comprises rotating the first and second supports relative to a mount of the gear assembly in response to force exerted by the first and second transfer members against the first and second supports via the first and second pins.
14. The method of claim 1 , wherein:
transferring force between the first transfer member and the first pins without transferring force between the first transfer member and the second pins includes contacting the first pins and a first continuous sinusoidal profile defined by the first transfer member; and
transferring force between the second transfer member and the second pins without transferring force between the second transfer member and the first pins includes contacting the second pins and a second continuous sinusoidal profile defined by the second transfer member.
15. The method of claim 1 , wherein causing the first and second transfer members to move out-of-phase with one another about the axis includes:
rotating a first eccentric bearing of the gear assembly within a first central opening defined by the first transfer member; and
rotating a second eccentric bearing of the gear assembly within a second central opening defined by the second transfer member.
16. The method of claim 1 , wherein causing the first and second transfer members to move out-of-phase with one another about the axis includes causing first and second transfer members to move 180-degrees out-of-phase with one another about the axis.
17. A method comprising:
causing first and second transfer members of a gear assembly to move out-of-phase with one another about an axis;
transferring force between the first transfer member and first pins of the gear assembly while the first and second transfer members move out-of-phase with one another about the axis; and
transferring force between the second transfer member and second pins of the gear assembly while the first and second transfer members move out-of-phase with one another about the axis,
wherein, during the method:
the first and second pins are circumferentially interspersed around the axis,
the gear assembly includes:
a first support extending circumferentially around the axis in a first plane intersecting the axis, and
a second support extending circumferentially around the axis in a second plane intersecting the axis,
the first and second planes are spaced apart from one another along the axis,
the individual first and second 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,
the individual first pins include a first annular recess at the second intermediate portion through which the individual first pins avoid contact with the second transfer member while contacting the first transfer member, and
the individual second pins include a second annular recess at the first intermediate portion through which the individual second pins avoid contact with the first transfer member while contacting the second transfer member.
18. The method of claim 17 , further comprising causing rotation of the individual first and second pins relative to the first and second supports while the first and second transfer members move out-of-phase with one another about the axis.
19. The method of claim 18 , further comprising:
rotatably carrying the first end portions of the individual first and second pins at respective first roller bearings of the gear assembly while the first and second transfer members move out-of-phase with one another about the axis; and
rotatably carrying the second end portions of the individual first and second pins at respective second roller bearings of the gear assembly while the first and second transfer members move out-of-phase with one another about the axis.
20. The method of claim 19 , further comprising:
carrying the first roller bearings at first sockets of the first support, and
carrying the second roller bearings at second sockets of the second support.