Patent ID: 9488248
Filing Date: 2016-11-08
CPC Classification: F16H

Claim Text:
1. An actuator comprising: an output member having an output shaft rotated about a rotation axis thereof; a stationary gear disposed at one side in an axial direction in which the rotation axis extends with respect to the output member and having a plurality of teeth disposed in parallel in a circumferential direction about the rotation axis; a wobbling gear disposed between the output member and the stationary gear, having a central axis tiltable with respect to the rotation axis, a different number of teeth from the stationary gear which formed in parallel in a circumferential direction about the central axis, and meshing with the stationary gear; a plurality of drivers disposed at the one side in the axial direction with respect to the wobbling gear, disposed in parallel in the circumferential direction about the rotation axis, configured to axially displace a corresponding portion of the wobbling gear in the circumferential direction, and configured to incline the central axis of the wobbling gear with respect to the rotation axis; and a stopper configured to restrict a meshing depth of a tooth of the wobbling gear meshed with any one of the plurality of teeth of the stationary gear by coming in contact with a portion of the wobbling gear and restricting inclination of the wobbling gear during a wobbling process of the wobbling gear, wherein the central axis rotates about the rotation axis while the central axis is inclined with respect to the rotation axis, as the plurality of drivers are sequentially driven in the sequence in which they are disposed in parallel in the circumferential direction, wherein the output member is engaged with the wobbling gear to be rotated about the rotation axis according to turning of the wobbling gear about the central axis in the wobbling process, and wherein the stopper is disposed outside in a radial direction of an annular row of teeth constituted by a plurality of teeth of the wobbling gear disposed in parallel in the circumferential direction.