Rotary electromagnetic locking actuator
The subject matter of this specification can be embodied in, among other things, a rotary lock assembly includes an epicyclic gear assembly having a sun gear assembly, a ring gear assembly, and a planet gear assembly having a collection of planet gears mechanically engaged to the sun gear assembly and the ring gear assembly, and a planet carrier mechanically engaged to the planet gears and configured to be rotated by the planet gears, a lock rotor configured to be rotated by the ring gear assembly, and a rotary output assembly configured to be rotated by the planet carrier.
1. A rotary lock assembly comprising:
an epicyclic gear assembly comprising:
a sun gear assembly;
a ring gear assembly; and
a planet gear assembly comprising:
a plurality of planet gears mechanically engaged to the sun gear assembly and the ring gear assembly; and
a planet carrier mechanically engaged to the planet gears and configured to be rotated by the planet gears;
a lock rotor configured to be rotated by the ring gear assembly;
a lock key; and
a rotary output assembly configured to be rotated by the planet carrier and urge radial displacement of the lock key from a first lock key configuration to a second lock key configuration based on rotary movement of the rotary output assembly.
2. The rotary lock assembly of claim 1 , wherein the sun gear assembly is configured to be rotated by a rotary power source.
3. The rotary lock assembly of claim 1 , wherein the ring gear assembly comprises the lock rotor.
4. The rotary lock assembly of claim 1 , further comprising an electric motor configured to urge rotation of the sun gear assembly.
5. The rotary lock assembly of claim 1 , and a second lock key configuration, wherein the lock rotor is configured to be rotated by the ring gear assembly between a first lock rotor configuration in which radial displacement of the lock key from the first lock key configuration to the second lock key configuration is prevented, and a second lock rotor configuration in which radial displacement of the lock key from the first lock key configuration to the second lock key configuration is permitted.
6. The rotary lock assembly of claim 5 , further comprising a first lock rotor stop configured to prevent rotation of the lock rotor in a first direction at the first lock rotor configuration, and a second lock stop configured to prevent rotation of the lock rotor in a second direction at the second lock rotor configuration.
7. The rotary lock assembly of claim 5 , wherein the rotary output assembly is configured for rotary movement relative to radial movement of the lock key, and having an outer surface defining a recess between a first rotational recess face and a second rotational recess face, and configured to receive the lock key in the first lock key configuration and be prevented from rotating based on mechanical interference between the lock key and at least one of the first rotational recess face and the second rotational recess face.
8. The rotary lock assembly of claim 5 , further comprising:
a housing; and
a key guide grounded to the housing and having a radial slot configured to provide radial guidance for the radial displacement of the lock key and prevent rotational movement of the lock key within the housing.
9. The rotary lock assembly of claim 5 , further comprising a bias member configured to bias rotation of the lock rotor toward the first lock rotor configuration.
10. A method of locking a linear actuator, the method comprising:
receiving torque at a sun gear assembly of an epicyclic gear assembly;
transmitting torque from the sun gear assembly to a ring gear assembly of the epicyclic gear assembly through a plurality of planet gears of a planet gear assembly of the epicyclic gear assembly;
urging rotation of a lock rotor based on rotation of the ring gear assembly;
urging rotation of a planet carrier by orbital motion of the planet gears about the sun gear assembly;
urging radial displacement of a lock key from a first lock key configuration to a second lock key configuration based on rotary movement of a rotary output assembly; and
transmitting torque from the planet carrier to the rotary output assembly.
11. The method of claim 10 , further comprising providing, by an electric motor, torque at the sun gear assembly.
12. The method of claim 10 , further comprising:
contacting, based on movement of the rotary output assembly, the lock key with a radial groove face of a groove defined in the rotary output assembly and configured to receive the lock key in the first lock key configuration;
preventing rotary movement of the rotary output assembly based on interference between the lock key and the radial groove face;
preventing rotation of the planet gear assembly based on the prevented rotary movement of the rotary output assembly; and
transmitting substantially all torque received at the sun gear assembly to the ring gear assembly.
13. The method of claim 10 , further comprising rotating the lock rotor from a first lock rotor configuration to a second lock rotor configuration.
14. The method of claim 13 , wherein the first lock rotor configuration is a first rotational position defined by a first lock rotor end stop configured to interfere with rotation of the lock rotor in a first direction, and the second lock rotor configuration is a second rotational position defined by a second lock rotor end stop configured to interfere with rotation of the lock rotor in a second direction opposite the first direction.
15. The method of claim 13 , wherein the lock rotor is configured to prevent radial displacement of a lock key from a first key configuration to a second key configuration in the first lock rotor configuration, and is configured to permit radial displacement of the lock key from the first key configuration to the second key configuration in the second lock rotor configuration.
16. A rotary actuator comprising:
a housing;
a rotary input member rotatably moveable relative to the housing;
a rotary output member rotatably moveable between a first output position relative the housing, and a second output position relative to the housing; and
a rotary lock assembly disposed within the housing and comprising:
a first epicyclic gear assembly comprising:
a sun gear assembly;
a ring gear assembly; and
a planet gear assembly comprising:
a plurality of planet gears mechanically engaged to the sun gear assembly and the ring gear assembly; and
a planet carrier mechanically engaged to the planet gears and configured to be rotated by the planet gears;
a lock rotor configured to be rotated by the ring gear assembly;
a lock key; and
a rotary output assembly configured to be rotated by the planet carrier and urge radial displacement of the lock key from a first lock key configuration to a second lock key configuration based on rotary movement of the rotary output assembly.
17. The rotary actuator of claim 16 , further comprising an electric motor configured to urge rotation of the sun gear assembly.
18. The rotary actuator of claim 16 , wherein the lock rotor is configured to be rotated by the ring gear assembly between a first lock rotor configuration in which radial displacement of the lock key from the first lock key configuration to the second lock key configuration is prevented, and a second lock rotor configuration in which radial displacement of the lock key from the first lock key configuration to the second lock key configuration is permitted.
19. The rotary actuator of claim 18 , wherein the rotary lock assembly further comprises a first lock rotor stop configured to prevent rotation of the lock rotor in a first direction at the first lock rotor configuration, and a second lock stop configured to prevent rotation of the lock rotor in a second direction at the second lock rotor configuration.
20. The rotary actuator of claim 18 , wherein the rotary output member is configured for rotary movement relative to radial movement of the lock key, and the rotary output member comprises an outer surface defining a groove between a first radial groove face and a second radial groove face, and configured to receive the lock key in the first lock key configuration and be prevented from rotating based on mechanical interference between the lock key and at least one of the first radial groove face and the second radial groove face.