The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Nov. 08, 2016
Filed:
Jul. 19, 2013
Mitsubishi Heavy Industries, Ltd., Tokyo, JP;
National University Corporation Fukushima University, Fukushima-shi, Fukushima, JP;
Hiroyuki Sonobe, Tokyo, JP;
Fumio Inayoshi, Tokyo, JP;
Hiroyuki Sasaki, Tsuruoka, JP;
Takayuki Takahashi, Sendai, JP;
MITSUBISHI HEAVY INDUSTRIES, LTD., Tokyo, JP;
NATIONAL UNIVERSITY CORPORATION FUKUSHIMA UNIVERSITY, Fukushima, JP;
Abstract
An actuator includes an output member having an output shaft () rotated about a rotation axis (Ar) thereof, a stationary crown gear () disposed at an input side of the output member and having a plurality of teeth disposed about the rotation axis in parallel, a wobbling crown gear () having a different number of teeth from stationary crown gear () about a central axis (Ac) and meshed with the stationary crown gear (), a plurality of drivers () disposed at an input side of the wobbling crown gear () about the rotation axis in parallel in a circumferential direction and configured to displace a portion of the wobbling crown gear () corresponding thereto in the axial direction, and a stopper () configured to come in contact with a portion of the wobbling crown gear () to restrict inclination of the wobbling crown gear () and configured to restrict a meshing depth of the stationary crown gear () and the wobbling crown gear ().