US 11,942,855 B2
Compact offset outrunner harmonic drive rotary actuator and deployment system using same
Jordin Gischler, Santa Cruz, CA (US); Baixi Pei, Newark, CA (US); Rob Thodal, Santa Cruz, CA (US); and JoeBen Bevirt, Santa Cruz, CA (US)
Assigned to Joby Aero, Inc., Santa Cruz, CA (US)
Filed by Joby Aero, Inc., Santa Cruz, CA (US)
Filed on Aug. 12, 2021, as Appl. No. 17/400,605.
Claims priority of provisional application 63/064,413, filed on Aug. 12, 2020.
Prior Publication US 2022/0173634 A1, Jun. 2, 2022
Int. Cl. H02K 7/116 (2006.01); B64C 27/52 (2006.01); B64D 27/24 (2006.01); F16H 49/00 (2006.01)
CPC H02K 7/116 (2013.01) [B64C 27/52 (2013.01); B64D 27/24 (2013.01); F16H 49/001 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A compact harmonic drive rotary actuator system, said harmonic drive rotary actuator system comprising:
a rotary actuator, said rotary actuator comprising:
a first flange;
a second output flange rotationally coupled to said first flange around a first axis;
a drive motor, said drive motor comprising:
a stator fixedly coupled to said first flange; and
an external rotor positioned to create an air gap between said stator and said rotor radially outward from said stator, said external rotor rotationally coupled to said stator, said external rotor rotationally coupled to said second output flange;
a wave generator fixedly coupled to said external rotor of said motor, said wave generator comprising:
a wave generator cam; and
a wave bearing having an internal surface mounted to an external surface of said wave generator cam;
a flexspline cup, said flexspline cup fixedly coupled to said first flange; and
a circular internal spline, said circular internal spline fixedly coupled to said second output flange,
wherein said drive motor resides within said flexspline cup, and wherein all of said drive motor resides further into said flexspline cup than said wave generator cam, and wherein said motor gap resides further outboard from said first axis than an inner surface of the inner race of said wave bearing.