Granted Patent B1

US 12,398,785 · App. 18/884,700 · Granted Aug 26, 2025

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

Assignee: Agility Robotics, Inc.

F16H1/32F16H2001/325

Abstract

Claims (92)

1. A gear assembly comprising:

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

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

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

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

pins individually extending between the first and second supports along respective pin axes, wherein the individual pins are configured to rotate relative to the first and second supports about the respective pin axes in response to force from at least one of the first and second transfer members during operation of the gear assembly as the first and second transfer members move out-of-phase with one another relative to the assembly axis,

wherein a total quantity of the first lobes is at least three times a total quantity of the pins minus one, and wherein a total quantity of the second lobes is at least three times the total quantity of the pins minus one.

2. The gear assembly of claim 1 , wherein the individual pins directly contact one of the first and second transfer members and remain out of contact with the other of the first and second transfer members during operation of the gear assembly as the first and second transfer members move out-of-phase with one another relative to the assembly axis.

3. The gear assembly of claim 1 , wherein:

the first and second pins are at respective positions circumferentially alternating about the assembly axis; and

the gear assembly is configured to transfer 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 as the first and second transfer members move out-of-phase with one another relative to the assembly axis.

4. 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.

5. The gear assembly of claim 4 , wherein:

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

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

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

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

6. The gear assembly of claim 5 , 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.

7. The gear assembly of claim 4 , wherein the first and second roller bearings are drawn-cup needle roller bearings.

8. The gear assembly of claim 1 , wherein:

the pins include:

first pins that remain out of contact with the second transfer member during operation of the gear assembly as the first and second transfer members move out-of-phase with one another relative to the assembly axis, and

second pins that remain out of contact with the first transfer member during operation of the gear assembly as the first and second transfer members move out-of-phase with one another relative to the assembly axis; and

the individual first and second pins are elongate and have a non-uniform transverse cross-sectional area along the corresponding pin axis.

9. 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 assembly axis;

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

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

10. The gear assembly of claim 9 , 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.

11. The gear assembly of claim 9 , 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.

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

an input shaft configured to rotate about the assembly 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.

13. The gear assembly of claim 1 , wherein the gear assembly has an input-to-output reduction ratio within a range from 50:1 to 70:1.

14. A gear assembly comprising:

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

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

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

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

pins individually extending between the first and second supports along respective pin axes;

first roller bearings circumferentially distributed around the assembly axis at the third plane; and

second roller bearings circumferentially distributed around the assembly axis at the fourth plane,

wherein:

the pins indirectly contact the first transfer member via the first roller bearings,

the pins indirectly contact the second transfer member via the second roller bearings,

wherein a total quantity of the first lobes is at least three times a total quantity of the pins minus one, and wherein a total quantity of the second lobes is at least three times the total quantity of the pins minus one.

15. A gear assembly comprising:

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

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

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

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

pins individually extending between the first and second supports along respective pin axes, wherein the individual pins are configured to rotate relative to the first and second supports about the respective pin axes in response to force from at least one of the first and second transfer members during operation of the gear assembly as the first and second transfer members move out-of-phase with one another relative to the assembly axis,

wherein:

the pins include:

first pins that remain out of contact with the second transfer member during operation of the gear assembly as the first and second transfer members move out-of-phase with one another relative to the assembly axis, and

second pins that remain out of contact with the first transfer member during operation of the gear assembly as the first and second transfer members move out-of-phase with one another relative to the assembly axis; and

the individual first and second pins are elongate and have a non-uniform transverse cross-sectional area along the corresponding pin axis,

a total quantity of the first lobes is at least two times a total quantity of the pins minus one,

a total quantity of the second lobes is at least two times the total quantity of the pins minus one,

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 are configured to contact the first transfer member via the first intermediate portion, and

the individual second pins are configured to contact the second transfer member via the second intermediate portion.

16. The gear assembly of claim 15 , wherein:

a transverse cross-sectional area of the individual first pins is smaller at the fourth plane than at the third plane; and

a transverse cross-sectional area of the individual second pins is smaller at the third plane than at the fourth plane.

17. The gear assembly of claim 15 , wherein:

the individual first pins include a first annular recess at the second intermediate portion; and

the individual second pins include a second annular recess at the first intermediate portion.

18. The gear assembly of claim 15 , wherein:

the first lobes and first troughs form a first continuous cycloidal profile through which the first transfer member contacts the first pins; and

the second lobes and second troughs form a second continuous cycloidal profile through which the second transfer member contacts the second pins.

19. The gear assembly of claim 15 , wherein a distribution of the first and second pins around the assembly axis is radially symmetrical.

Assignments (2)

Continuity (3)

References Cited (15)