Motor Housing With Integrated Gears

Abstract

A motor housing with integrated gears includes a motor having a first shaft, the motor configured to actuate the first shaft, a dowel, the dowel rotatably coupled to the first shaft, an encoder configured to surround the dowel, the encoder being configured to measure an angular velocity of the first shaft, a gear system in meshed communication with the first shaft, and a second shaft in meshed communication with the gear system such that the motor is operable to transmit power to the second shaft. The housing further includes at least one seal, the seal located on the dowel between the first end and the second end of the dowel and creating a barrier such that the dowel is rotatable within the seal while preventing migration of lubricant on the at least one gear into the encoder.

What is claimed: 
     
         1 . A motor housing with integrated gears comprising:
 a motor including a first shaft, the motor configured to actuate the first shaft;   a dowel, the dowel rotatably coupled to the first shaft at a first end of the dowel, the dowel having a second end opposing said first end;   an encoder configured to surround the second end of the dowel, the encoder being configured to measure an angular velocity of the first shaft;   a gear system in meshed communication with the first shaft;   a second shaft in meshed communication with the gear system such that the motor is operable to transmit power to the second shaft; and   at least one seal, the seal located on the dowel between the first end and the second end of the dowel and creating a barrier such that the dowel is rotatable within the seal while minimizing migration of lubricant on the at least one gear into the encoder.   
     
     
         2 . The motor housing of  claim 1 , wherein the motor is a brushless DC motor. 
     
     
         3 . The motor housing of  claim 1 , wherein the gear system includes at least one gear. 
     
     
         4 . The motor housing of  claim 1 , wherein the gear system comprises at least two gears. 
     
     
         5 . The motor housing of  claim 4 , wherein the gear system is a parallel axis gear system. 
     
     
         6 . The motor housing of  claim 1 , wherein at least one of the at least one seal is made of Teflon. 
     
     
         7 . The motor housing of  claim 1 , further comprising lubricant, the lubricant being a synthetic lubricating grease. 
     
     
         8 . The motor housing of  claim 7 , wherein the synthetic lubricating grease is Klübersynth grease. 
     
     
         9 . A motor housing assembly comprising:
 a parallel axis gear system including at least one gear;   a brushless DC motor configured to power an output shaft, the output shaft including a first end that is in meshed communication with the gear system, and an opposing second end, the second end coupled to a dowel;   a gear output shaft in meshed communication with the gear system, such that actuation of the motor is configured to provide motion to the gear output shaft; and   a sealant system configured to minimize the migration of lubricant from the gear system, the sealant system further comprising at least one seal located on the dowel and configured to minimize migration of lubricant along the dowel.   
     
     
         10 . The assembly of  claim 9 , further comprising an encoder configured to measure an angular velocity of the dowel. 
     
     
         11 . The assembly of  claim 9 , wherein the gear system includes at least two gears and at least one pinion. 
     
     
         12 . The assembly of  claim 9 , the sealant system comprises at least one seal made of Teflon. 
     
     
         13 . The assembly of  claim 9 , further comprising lubricant, the lubricant being a synthetic lubricating grease. 
     
     
         14 . The assembly of  claim 13 , wherein the synthetic lubricating grease is Klübersynth grease.