US 12,240,111 B2
Robotic joint actuator
Hessam Maleki, Burnaby (CA); and Seymur Dadashov, Richmond (CA)
Assigned to Sanctuary Cognitive Systems Corporation, Vancouver (CA)
Filed by Sanctuary Cognitive Systems Corporation, Vancouver (CA)
Filed on Dec. 28, 2023, as Appl. No. 18/399,632.
Claims priority of provisional application 63/435,893, filed on Dec. 29, 2022.
Prior Publication US 2024/0217096 A1, Jul. 4, 2024
Int. Cl. B25J 13/08 (2006.01); B25J 9/10 (2006.01); B25J 9/12 (2006.01)
CPC B25J 9/126 (2013.01) [B25J 9/1025 (2013.01); B25J 13/088 (2013.01)] 19 Claims
OG exemplary drawing
 
1. An actuator for a robotic joint, the actuator comprising:
an actuator housing having an axial axis defining an actuation axis;
a motor disposed within the actuator housing, the motor comprising a stator rotationally fixed relative to the actuator housing and a rotor rotatable relative to the stator and the actuator housing;
an input shaft coupled to the rotor:
an output shaft having an axial axis aligned with the actuation axis;
a gear reducer coupled to the input shaft and the output shaft, the gear reducer coupling a rotational motion of the rotor to the output shaft;
a first rotary encoder coupled to the rotor, wherein the first rotary encoder measures at least one parameter of the rotational motion of the rotor, wherein the first rotary encoder comprises a first encoder wheel coupled to the input shaft and a first sensing circuit coupled to the actuator housing and positioned relative to the first encoder wheel to detect changes in a field of the first encoder wheel, and wherein the sensing circuit is attached to the actuator housing by a spring mount configured to isolate the sensing circuit from vibrations in the actuator housing; and
a second rotary encoder coupled to the output shaft, wherein the second encoder measures at least one parameter of a rotational motion of the output shaft.