Electrical transmission through a reconfigured clock spring

Abstract

Provides actuator assemblies or rotary joints for devices. [Solution] An actuator assembly or rotary joint for a device includes a rotating part, a stationary part, and a clock spring. The rotating part is configured to interface with the stationary part. The stationary part and the rotating part structurally form a space that is at least partially enclosed by the stationary part and the rotating part. The clock spring is molded to fit into the space and is configured to transmit at least a power signal or a data signal from the rotating part to the stationary part.

Description

Technical Field

[0001] The present disclosure relates to systems and methods for signal and / or power transmission. More particularly, some embodiments of the present disclosure relate to assemblies and mechanisms such as actuators or rotary joints that utilize one or more clock springs for transmitting power or signals.

Background Art

[0002] Mechanisms have been utilized to transmit signals between various components of a system. For example, clocksprings can be used to transmit electrical signals between a steering wheel and a steering column by winding and unwinding a cable attached to each moving component. Such mechanisms enable the transmission of power and signals by the rotational movement of the steering wheel and can ensure a continuous electrical connection. However, conventional clocksprings may be large in size or shape and may not be suitable for compact integration.

Summary of the Invention

Problems to be Solved by the Invention

[0003] Other existing solutions for signal or power transmission, such as slip rings or dynamic circular wire bundles, often involve the use of various mechanical and electrical interfaces. However, these solutions are significantly more expensive than clocksprings or can only operate at a much lower cycle count compared to clocksprings.

Means for Solving the Problems

[0004] In some embodiments, the technology described herein relates to an actuator assembly for a device, the actuator assembly comprising: a rotating part configured to interface with a stationary part; a stationary part, wherein the stationary part and the rotating part structurally form a space enclosed at least partially by the stationary part and the rotating part; and a clock spring configured to transmit at least a power signal or a data signal from the rotating part to the stationary part, wherein the clock spring is molded to fit into the space.

[0005] In some embodiments, the technology described herein relates to a method for signal or power transmission relating to an actuator or rotary joint assembly including a movable part, a stationary part, and a clock spring disposed between the movable part and the stationary part, the method comprising rotating the movable part from a first to a second degree, thereby moving the clock spring from a first position to a second position, the movable part and the stationary part being electrically connected to each other in a continuous manner through the clock spring.

[0006] In some embodiments, the techniques described herein relate to a method in which, as the clock spring transitions between continuous positions, the clock spring continuously transmits power signals or data signals between a moving part and a stationary part.

[0007] In some embodiments, the techniques described herein relate to a clock spring assembly, wherein the clock spring is made from one or more flat flexible cables (FFCs) or flexible circuits.

[0008] In some embodiments, the technology described herein relates to a clock spring assembly, wherein at least a portion of the clock spring corresponds to a cylindrical shape.

[0009] In some embodiments, the techniques described herein relate to a clock spring assembly, wherein the conductors within the clock spring are geometrically configured or electrically shielded to facilitate impedance matching or electromagnetic interference (EMI) protection of the electrical circuits within the clock spring.

[0010] In some embodiments, the technology described herein relates to an actuator assembly, where the rotating part is a rotor and the stationary part is a stator.

[0011] In some embodiments, the techniques described herein relate to an actuator assembly, wherein the clock spring is hidden from view from the outside of the actuator assembly.

[0012] In some embodiments, the techniques described herein relate to an actuator assembly, wherein the clock spring is electrically terminated to a motor controller located inside the actuator assembly.

[0013] In some embodiments, the technology described herein relates to an actuator assembly, wherein a signal is generated by an electrical device mounted on a rotating part, and a clock spring transmits the signal from the device to a controller mounted on a stationary part.

[0014] In some embodiments, the technology described herein relates to a first actuator assembly, wherein the clock spring is configured to transmit power signals or data signals from either a stationary or rotating portion of the first actuator assembly to a second actuator assembly.

[0015] In some embodiments, the technology described herein relates to a first actuator assembly, wherein an integrated clock spring is electrically connected to a second actuator assembly via an intermediate pin socket connection, an edge card connection, or jumper wires.

[0016] In some embodiments, the technique described herein further includes attaching a magnet to a portion of a clock spring assembly fixed to the moving part of an actuator, detecting the position of the magnet by a controller located on the fixed part of the actuator as the clock spring transitions between continuous positions, and estimating the position of the moving part of the actuator from the acquired position data.

[0017] In some embodiments, the techniques described herein relate to one or more actuator assemblies that implement a clock spring, wherein one or more actuator assemblies form part of a robotic limb.

[0018] In some embodiments, the technology described herein relates to a hinge for implementing a clock spring, the hinge for attaching a door or liftgate to a vehicle. [Brief explanation of the drawing]

[0019] Embodiments of the present disclosure will be described with reference to the accompanying drawings, in which similar reference numerals refer to similar elements.

[0020] [Figure 1A] Exemplary perspective views of clock spring assemblies according to several embodiments of the present disclosure are shown.

[0021] [Figure 1B] Another perspective view of the exemplary clock spring assembly shown in Figure 1A, according to some embodiments of the present disclosure, is shown.

[0022] [Figure 1C] Figure 1A shows an exploded view of an exemplary clock spring assembly according to some embodiments of the present disclosure.

[0023] [Figure 2A] The following illustrates exemplary movements related to the exemplary clock spring assembly shown in Figure 1A, according to several embodiments of the present disclosure.

[0024] [Figure 2B] Illustrative movements related to a conventional clock spring assembly are shown.

[0025] [Figure 3] Illustrative movements related to the exemplary clock spring assembly of FIG. 1A, according to some embodiments of the present disclosure, are shown.

[0026] [Figure 4A] An enlarged view of an exemplary implementation of a portion of a clock spring used by the exemplary clock spring assembly of FIG. 1A, according to some embodiments of the present disclosure, is shown.

[0027] [Figure 4B] A cross-sectional view of a portion of the clock spring of FIG. 4A, according to some embodiments of the present disclosure, is shown.

[0028] [Figure 4C] An enlarged view of an exemplary implementation of a portion of a clock spring used by the exemplary clock spring assembly of FIG. 1A, according to some embodiments of the present disclosure, is shown.

[0029] [Figure 4D] A cross-sectional view of a portion of the clock spring of FIG. 4C, according to some embodiments of the present disclosure, is shown.

[0030] [Figure 5A] Various exemplary implementations for electrical terminations of a clock spring assembly, according to some embodiments of the present disclosure, are shown. [Figure 5B] Various exemplary implementations for electrical terminations of a clock spring assembly, according to some embodiments of the present disclosure, are shown. [Figure 5C] Various exemplary implementations for electrical terminations of a clock spring assembly, according to some embodiments of the present disclosure, are shown. [Figure 5D] Several embodiments of this disclosure illustrate various exemplary implementations for the electrical termination of a clock spring assembly.

[0031] [Figure 6A] The following are cross-sectional views illustrating exemplary integration of a clock spring assembly in an actuator assembly according to several embodiments of the present disclosure.

[0032] [Figure 6B] Figure 6A shows an exploded view of an exemplary actuator assembly according to several embodiments of the present disclosure.

[0033] [Figure 7A] Exploded perspective views of exemplary integrated actuator assemblies according to several embodiments of the present disclosure are shown. [Figure 7B] Exploded perspective views of exemplary integrated actuator assemblies according to several embodiments of the present disclosure are shown. [Figure 8A] Exploded perspective views of exemplary integrated actuator assemblies according to several embodiments of the present disclosure are shown. [Figure 8B] Exploded perspective views of exemplary integrated actuator assemblies according to several embodiments of the present disclosure are shown.

[0034] [Figure 9] Figure 8B shows a cross-sectional view illustrating an exemplary integration in the actuator assembly according to several embodiments of the present disclosure.

[0035] [Figure 10] Figures 1A and 1B show cross-sectional views illustrating an actuator assembly, including an exemplary clock spring assembly and other components, according to some embodiments of the present disclosure.

[0036] [Figure 11A]This block diagram illustrates a conventional electrical connection between actuator assemblies using an external wire harness.

[0037] [Figure 11B] This figure shows a block diagram illustrating the connections between the actuator assemblies in Figures 7A and 7B according to some embodiments of the present disclosure.

[0038] [Figure 11C] This figure shows a block diagram illustrating the connections between the actuator assemblies in Figures 8A and 8B according to some embodiments of the present disclosure.

[0039] [Figure 12] This disclosure illustrates exemplary applications of a clock spring assembly in an automotive door hinge assembly according to several embodiments of this disclosure.

[0040] [Figure 13] This shows cross-sectional views of various clock spring assemblies according to several embodiments of the present disclosure, compared to current technology. [Modes for carrying out the invention]

[0041] While several embodiments, examples, and illustrations are disclosed below, it will be understood by those skilled in the art that the disclosure described herein extends beyond the specifically disclosed embodiments, examples, and illustrations to include other uses of the disclosure, as well as obvious modifications and equivalents thereof. Embodiments are described with reference to the accompanying drawings, and throughout, similar reference numerals refer to similar elements. The terms used in the descriptions presented herein are not intended to be construed in a restrictive or limiting manner, but are used solely in conjunction with the detailed descriptions of some specific embodiments of the disclosure. In addition, embodiments may have several novel features. No individual feature is necessary to carry out the disclosure described herein, nor does it have to bear its desired attribute alone.

[0042] Generally speaking, one or more aspects of the present disclosure relate to systems and methods employing one or more clock springs as a transmission harness. In some embodiments, the clock springs are positioned so as to be hidden from view. More specifically, some embodiments of the present disclosure disclose mechanisms and assemblies that utilize clock springs having a reconfigured geometric shape suitable for mating into existing empty spaces inside one or more components of a device (e.g., a robot actuator or joint, a vehicle door or liftgate hinge) for transmitting electrical signals and / or power. In some embodiments, the clock springs may be tightly integrated within the internal space of a robot actuator (e.g., a rotary actuator) to facilitate communication between components of an actuator (e.g., a rotor and a stator) or between devices (e.g., two different actuator controllers separated by a rotary joint). Advantageously, a compact and internally integrated clock spring provides a reliable mechanism for harness transmission without compromising the aesthetic appeal of the product (e.g., a robot). Furthermore, using internally integrated clock springs may achieve more efficient manufacturing compared to processes involving assembling wire bundles within the actuator. Therefore, rapid manufacturing and maintenance of robot groups can be achieved.

[0043] In addition, in some embodiments, the disclosed systems and methods employ a variety of materials for the internally integrated clock spring. In some embodiments, a flat flexible cable (FFC) may be used with the clock spring so that the clock spring can be bent at a desired angle. In addition and / or optionally, a flexible circuit (e.g., a flex printed circuit (FPC)) may be used to enable more complex circuit traces and shielding shapes (e.g., zigzag patterns, wavy patterns, or similar). Such configurations enable more precise impedance matching or control between circuits within the clock spring.

[0044] In some embodiments, one or more sensors may be further embedded in or integrated with the clock spring to facilitate various operations. For example, a magnet in the clock spring placed within the actuator may allow a controller on the stator to sense the change in the rotor's position as the rotor rotates.

[0045] Typically, clock springs can be used to transmit electrical signals between the steering wheel and steering column in a passenger vehicle. The clock spring can function by winding and unwinding a cable fixed to a moving component of the vehicle. This mechanism enables the transmission of power and signals through the rotational motion of the steering wheel, ensuring a continuous electrical connection. However, conventional clock springs are often large in size or geometric shape, making them unsuitable for compact integration or internal integration into assemblies (e.g., robot actuators) for signal transmission. For example, integrating a conventional steering wheel clock spring inside a rotary actuator the size of a human joint for signal transmission may not be feasible.

[0046] While wire bundles can be integrated into assemblies for transmitting electrical signals, such use of wire bundles can suffer from various drawbacks. For example, due to the presence of relatively high mechanical stress and their often probabilistic geometric arrangement, dynamic circular wire bundle segments used in liftgates or door hinges typically do not function properly when operating at much lower rotations per minute (RPM) compared to clock springs. Furthermore, integrating wire bundles into devices (e.g., robots, vehicles) can make the devices unsuitable for efficient mass production. For instance, assembly processes for some robots may involve passing long wire bundles through the center of an actuator until the wire bundle is attached to a target component. Such assembly processes can be inaccurate, cumbersome, and tedious, hindering efficient manufacturing and mass production.

[0047] To offer the advantage of unrestricted rotation at higher RPMs, slip rings utilizing brushes or sliding spring contacts for signal transmission across rotary joints may be employed. However, slip rings are considerably more expensive than clock springs. Therefore, the advantages offered by slip rings (e.g., less restricted or unlimited rotation range) may not justify the significantly increased BOM cost in applications where those features are not needed (e.g., robotic arms or humanoid robots where unlimited joint rotation is redundant).

[0048] To address at least some of the above-mentioned problems, some embodiments of the present disclosure disclose mechanisms and assemblies that utilize a clock spring having a reconfigured geometry suitable for mating into existing empty spaces within one or more components of a device that transmits electrical signals and / or power (e.g., a robot actuator or joint, a vehicle door or liftgate hinge). In some embodiments, the geometry of the clock spring may be reconfigured to allow the clock spring to be integrated within a rotary actuator. By reconfiguring the geometry of the clock spring and utilizing the often hollow packaging space within the rotor and stator of a motor, an internal integration mechanism for transmitting electrical signals between the stationary and rotating parts of an actuator is achieved. These electrical signals can enable continuous communication between components of the actuator, such as a motor controller mounted on the stator and a sensor mounted on the rotor, or between other components downstream of the actuator.

[0049] Advantageously, reconfigured clock springs can be particularly useful in fields such as robotics applications where they can replace external dynamic cable segments across many of the robot's rotary actuator joints. By utilizing reconfigured clock springs, the risk of cables becoming entangled with surrounding objects or being damaged during robot falls is reduced. In addition, minimizing external cables improves the robot's aesthetic appearance. Furthermore, in some embodiments, the series connection of multiple actuators to form robot limbs can be achieved without the need for wire harnesses. Moreover, compared to processes involving assembling wire bundles within actuators, more efficient manufacturing can be achieved using internally integrated clock springs. Thus, rapid manufacturing and maintenance of robotic swarms can be achieved.

[0050] As described above, a flat flexible cable (FFC) may be used with the clock spring so that the clock spring can be bent at a desired angle. In addition and / or optionally, flexible circuits (e.g., flex printed circuits (FPCs)) may be used to enable more complex circuit traces and shielding shapes (e.g., zigzag patterns, wavy patterns, or similar). Finely constructed FPC traces may also be used to facilitate more precise impedance matching or control between circuits within the clock spring. In some embodiments, one or more sensors may be further embedded in or integrated with the clock spring to facilitate various operations. For example, a magnet may be integrated with the clock spring located within the actuator so that a controller on the stator can sense the change in the rotor's position as the rotor rotates.

[0051] While various embodiments are described according to exemplary combinations of embodiments and features, those skilled in the art will understand that these examples and feature combinations are illustrative in nature and should not be construed as limiting. More specifically, embodiments of this application may be applicable to various types of devices under different circumstances, such as when integrated into a robot actuator, an automobile door hinge, or a general rotary joint. Furthermore, while specific architectures of actuator interfaces or assemblies for utilizing clock springs for electrical transmission are described, such exemplary actuator interface or assembly architectures should not be construed as limiting. Accordingly, those skilled in the art will understand that embodiments of this application are not necessarily limited to applications to specific types of actuator assemblies, actuator assembly infrastructure, or exemplary interactions between moving or stationary components of actuators or other devices.

[0052] Figure 1A shows a perspective view of an exemplary clock spring assembly 100 according to several embodiments of the present disclosure. As shown in Figure 1A, the clock spring assembly 100 includes a clock spring 103, an outer housing 101, an inner column 102, a paddle card 104, and a clip 105. In some embodiments, the outer housing 101 includes a heat stake 101a. In some embodiments, the clock spring 103 includes an exposed trace 103a, a branch 103c, and reinforcing members 103d and 103e.

[0053] Figure 1B shows another perspective view of an exemplary clock spring assembly 100 according to some embodiments of the present disclosure. As shown in Figure 1B, in some embodiments the clock spring assembly 100 includes a magnet 106, a retainer 107, and a bearing 108. In some embodiments the outer housing 101 includes a mounting tab 101b and a positioning slot 101c.

[0054] Figure 1C shows an exploded view of an exemplary clock spring assembly 100 according to several embodiments of the present disclosure. Figure 1C shows the outer housing 101, clock spring 103, paddle card 104, clip 105, magnet 106, retainer 107, and bearing 108 shown in Figures 1A and 1B. The clock spring 103 includes an exposed trace 103b. In some embodiments, the inner column 102 includes a rear portion 102a, a front portion 102b, one or more mounting tabs 102c, one or more heat stakes 102d, and one or more positioning slots 102e.

[0055] The clock spring 103 may be used to transmit signals and / or power. In some embodiments, the clock spring 103 may consist of one or more flat cables having different functions. In an exemplary clock spring assembly 100, a first cable is used to transmit power (e.g., high-current DC power), a second cable is the return ground of the first cable (e.g., high-current DC ground), and a third cable is used to transmit signals (e.g., electrical control signals). Each cable may consist of one or more conductors (referred interchangeably to as traces in this disclosure), depending on the requirements for use. Depending on the configuration of the entire flat cable, the conductors may be shielded. In some embodiments, the clock spring 103 may include exposed traces 103a (shown in Figure 1A) which can be used for electrical termination by means such as hot bar soldering.

[0056] The ends of the dynamic portions of each cable within the clock spring 103 can be secured to the outer housing 101 and the inner column 102. In some embodiments, the clock spring cables can be mechanically restrained to the outer housing 101 and the inner column 102 by a series of heat stakes 101a and 102d. In some embodiments, the outer housing 101 may include mounting tabs 101b and positioning slots 101c (shown in Figure 1B) for mounting and / or positioning the clock spring assembly 100 against surrounding components (e.g., the stator of a rotary actuator not shown in Figure 1A).

[0057] The inner column 102 may be positioned within the outer housing 101. In some embodiments, the inner column 102 may include a rear portion 102a and a front portion 102b (shown in Figure 1C) which are attached by mounting tabs 102c to sandwich a portion of the clock spring 103 exiting the inner column 102. In some embodiments, the inner column 102 may also include a positioning slot 102e for mounting and / or positioning the clock spring assembly 100 against surrounding components (e.g., the rotor of a rotary actuator, not shown in Figure 1A). In some embodiments, a clip 105 may be used to further relieve strain on the clock spring 103 as it exits the inner column 102.

[0058] In some embodiments, the ends of one or more cables within the clock spring 103 (in the exemplary clock spring assembly 100, the signal flat cables are mounted on the inner column) can be separated into two parts, each having its own distinct termination method. One part, including an exposed trace 103b (shown in Figure 1C), can be hotbar soldered to a paddle card 104. The paddle card 104 can be further connected to an edge card type connector located outside the rotary actuator. The other part can branch 103c through a branch to an exposed trace that is in contact with a rigid reinforcement 103d. In some embodiments, the reinforcement 103d can interface with a zero-insertion-force (ZIF) type connector mounted on a sensor PCBA inside the actuator rotor. In some embodiments, a rigid reinforcement 103e with bolt holes can be bonded 103c to the branch to help provide strain relief for the ZIF connection.

[0059] In some embodiments, the magnet 106 may be used to precisely locate the inner column 102 relative to the outer housing 101. In some embodiments, the retainer 107 is sized and shaped to precisely position the magnet 106 relative to the inner column 102. In some embodiments, a bearing 108 may be press-fitted between the retainer 107 and the outer housing 101 to maintain concentricity and ensure smooth rotational motion of the clock spring assembly 100.

[0060] Figure 2A shows exemplary packaging relating to the clock spring 103, inner column 102, and outer housing 101 according to several embodiments of the present disclosure. More specifically, Figure 2A shows the movement of the clock spring 103, which is implemented by a single flat cable, as the inner column 102 rotates 90 degrees relative to the outer housing 101. In some embodiments, the outer housing 101 may be mounted on or be part of the stator, and the inner column 102 may be mounted on or be part of the rotor.

[0061] In position 202A, the inner column 102 may be in its initial position, and the clock spring 103 is wound in a specific configuration within the outer housing 101.

[0062] At position 204A, the inner column 102 has been rotated 90 degrees counterclockwise from position 202A to arrive at position 204A. The rotation of the inner column 102 causes the clock spring 103 to be wound up and / or shifted within the outer housing 101.

[0063] At position 206A, the inner column 102 has been rotated 90 degrees counterclockwise from position 204A to reach position 206A. The rotation of the inner column 102 causes the clock spring 103 to be further wound and / or shifted within the outer housing 101.

[0064] At position 208A, the inner column 102 has been rotated 90 degrees counterclockwise from position 206A to arrive at position 208A. The rotation of the inner column 102 causes the clock spring 103 to be further wound and / or shifted within the outer housing 101.

[0065] Figure 2B shows exemplary motion related to a conventional clock spring assembly including a clock spring 253, an outer housing 251, and an inner column 252. More specifically, Figure 2B shows the toroidal shape factor obtained by the clock spring 253 and the associated assembly.

[0066] In position 202B, the inner column 102 may be in its initial position, and the clock spring 103 is wound in a specific configuration within the outer housing 101.

[0067] At position 204B, the inner column 102 has been rotated 90 degrees counterclockwise from position 202B to arrive at position 204B. The rotation of the inner column 102 causes the clock spring 103 to be wound up and / or shifted within the outer housing 101.

[0068] At position 206B, the inner column 102 has been rotated 90 degrees counterclockwise from position 204B to reach position 206B. The rotation of the inner column 102 causes the clock spring 103 to be further wound and / or shifted within the outer housing 101.

[0069] At position 208B, the inner column 102 has been rotated 90 degrees counterclockwise from position 206B to reach position 208B. The rotation of the inner column 102 causes the clock spring 103 to be further wound and / or shifted within the outer housing 101.

[0070] In contrast to the toroidal shape factor used by the clock spring 253 in Figure 2B, the clock spring 103 of the clock spring assembly 100 is configured inside the inner diameter of the outer housing 101 in the compact configuration shown in Figure 2A. Compared to the clock spring 253 in Figure 2B, the mounting configuration in Figure 2A can effectively reduce the packaging space and increase the dynamic bending radius of the clock spring 103.

[0071] Figure 3 shows another example of packaging relating to the clock spring 103, inner column 102, and outer housing 101 according to some embodiments of the present disclosure. The mounting configuration shown in Figure 3 may be similar to or identical to the mounting configuration in Figure 2A, except that the clock spring 103 shown in Figure 3 includes a plurality of flat cables stacked on top of each other. Figure 3 shows that the inner column 102 may rotate between positions 302, 304, 306, and 308 to cause the clock spring 103 to wind up and / or shift within the outer housing 101.

[0072] As shown in Figures 2A and 3, a continuous electrical connection between the rotating part and the stationary part of the actuator assembly can be maintained via the clock spring 103 as the rotating part moves relative to the stationary part. For example, as described above, Figure 2A shows the changing geometric shape of the clock spring 103 as the inner column 102 rotates continuously through various positions 202A, 204A, 206A, and 208A. As the inner column 102 rotates, the rotation of the inner column 102 causes the clock spring 103 to be tightly wound or unwound, depending on the direction of rotation. Due to the flexible nature of the clock spring 103, it may be possible to bend, twist, wind up, and / or unwind without breaking. Thus, the continuous electrical connection between the inner column 102 and the outer housing 101 may remain intact while the clock spring 103 changes position. A hard stop may be implemented to limit the range of motion between the outer housing 101 and the inner column 102, thereby preventing excessive tension or buckling of the clock spring 103.

[0073] Figure 4A shows a single flat cable implementation configuration of the clock spring 103 as a flat flexible cable (FFC) 400a. In some embodiments, the FFC used to fabricate the clock spring 103 may consist of multiple linear extruded conductor strips laminated between layers of insulating film that provide both electrical connectivity and mechanical durability. The linear FFC can then be folded into its final shape according to the geometric requirements of the clock spring assembly. Figure 4A shows exemplary FFCs in both the folded state (FFC 400a) and the unfolded state (FFC 400b). Some detail drawings show regions of interest with the upper insulating and shielding layers removed.

[0074] As shown in Figure 4A, in some embodiments, the flat cable 400a includes one or more fold lines 405, one or more exposed traces 406a, one or more exposed traces 407a, one or more holes 408a, and / or one or more holes 409a. In some embodiments, the flat cable 400a is folded around the fold line 405. In some embodiments, trace 407a may be used for ZIF connector termination, while trace 406a may be used for solder termination in some embodiments. In some embodiments, hole 408a may be used to mount a heat stake (e.g., heat stake 102d). In some embodiments, hole 409a may be used to align the flat cable 400a during soldering of the termination.

[0075] Figure 4B shows a partial cross-sectional view of a flat cable 400a. In some embodiments, the clock spring 103 includes one or more conductor strips 401a, one or more inner insulating film layers 402a and 402b, one or more outer insulating film layers 403a and 403b, and an optional adhesive-backed metal foil 404a. In some embodiments, the conductor strip 401a is laminated between the inner insulating film layers 402a and 402b. The optional adhesive-backed metal foil 404a may be wrapped around the outer insulating film layers 403a and 403b to shield the conductor strip 401a, thereby enabling electromagnetic interference (EMI) protection and / or improved impedance matching within the conductor strip 401a. For shielding termination, the shielding film may be electrically grounded to a designated conductor strip through holes in the insulating film layers 402a and 402b (not shown in Figures 4A and 4B), allowing those conductor strips to be effectively utilized as drain wires. The outer insulating film layers 403a and 403b may provide further protection for the conductor strip 401a and the shield 404a.

[0076] Figure 4C shows a single flat cable implementation configuration of the clock spring 103 as a flexible printed circuit (FPC) 400c. In some embodiments, the FPC 400c used to fabricate the clock spring 103 may consist of etched conductor traces laminated between layers of insulating film that provide both electrical connectivity and mechanical durability. Some detail drawings show the region of interest with the upper insulating and shielding layers removed. As shown in Figure 4C, the flat cable 400c includes one or more exposed traces 406c, one or more exposed traces 407c, one or more holes 408c and / or one or more holes 409c. In some embodiments, trace 407c may be used for ZIF connector termination, while trace 406c may be used for solder termination. In some embodiments, hole 408c may be used to mount a heat stake (e.g., heat stake 102d). In some embodiments, hole 409c may be used to align the flat cable 400c during soldering of the termination.

[0077] Figure 4D shows a partial cross-sectional view of the flat cable 400c. In some embodiments, the clock spring 103 includes one or more conductor traces 401c, one or more inner insulating film layers 402c and 402c, one or more outer insulating film layers 403c and 403d, an optional conductive ink 404c, a shielding trace 411, and a ground via 411a. In some embodiments, the conductor trace 401c is laminated between the inner insulating film layers 402c and 402d. The optional conductive ink 404c is deposited on the inner insulating film layers 402c and 402d and grounded to the shielding trace 411 via 411a to achieve 360-degree shielding of the conductor trace 401c, thus enabling electromagnetic interference (EMI) protection and / or improved impedance matching between the conductor traces 401c. For shielding termination, the shielding trace 411 may be terminated in the same manner as the conductor trace 401c. The outer insulating film layers 403c and 403d may provide further protection for the conductor trace 401c and the conductive ink 404c.

[0078] The two-dimensionally etched conductor traces 401c in FPC400c allow for more complex geometric shapes compared to the one-dimensionally extruded conductor strips 401a in FFC400a. Finer control over conductor width and pitch, or zigzag patterns, wavy patterns, or similar patterns, can enable more precise impedance matching between traces as needed. Enlarged pads in exposed areas (e.g., exposed traces 407c shown in Figure 4C) can enable more robust termination. Finally, due to the different manufacturing methods between the two implementation forms, FPC400c advantageously does not require the folds 405 present in flat cable 400a (e.g., flat flexible cable (FFC)) to achieve its final shape.

[0079] Figures 5A, 5B, 5C, and 5D illustrate exemplary implementations for terminating a flat cable (e.g., clock spring 103) of a clock spring assembly 500 according to several embodiments of the present disclosure. The clock spring assembly 500 may be the same as or similar to the clock spring assembly 100. More specifically, Figure 5A shows a hybrid termination of the clock spring 103 through direct soldering to a PCBA (e.g., a motor controller), as well as the terminations shown in Figures 5B and 5C. Figure 5B shows direct soldering to a paddle card. Figure 5C shows termination using a ZIF connector. Figure 5D shows direct soldering or welding to a connector terminal.

[0080] Figure 5A shows a controller PCBA 501A that can be soldered to the clock spring 103 of the clock spring assembly 500. As shown in Figure 5A, in some embodiments, the controller PCBA 501A includes a solder pad 502A, alignment holes 503A, and mounting holes 504A. In some embodiments, the clock spring assembly 500 includes a paddle card 104 with an exposed pad 104A and a reinforcing member 103d compatible with a ZIF connector 505. In some embodiments, the controller PCBA 501A provides motor control and power distribution functions for a rotary actuator. In some embodiments, the controller PCBA 501A can transmit or receive signals transmitted through the clock spring 103. In some embodiments, the solder pad 502A can be used to terminate the clock spring 103 on the surface of the controller PCBA 501A by a method such as hot bar soldering. In some embodiments, alignment holes 503A may be used to align the clock spring 103 with the solder pad 502A during termination. In some embodiments, mounting holes 504A may be used to mount the outer housing 101 to the controller PCBA 501A. In some embodiments, a paddle card 104 may be used to terminate the clock spring 103 on the inner column side by an exposed pad 104A that interfaces with the edge card connector. In some embodiments, a reinforcing member 103d may function as a rigid backing for exposed traces and interface with the ZIF connector 505.

[0081] Figure 5B shows a solder pad 501B that can be used to directly solder the clock spring 103 to the paddle card PCB 104.

[0082] Figure 5C shows a portion of the exposed trace 103a that has been implemented as an exposed trace backed by a rigid reinforcement 501C. The reinforcement 501C may then be used to interface with a ZIF connector 502C, which can then be a component of a PCBA (e.g., controller 501A).

[0083] Figure 5D shows a portion of the exposed trace 103a that is instead implemented as an exposed conductor 501D terminated to pin 502D and housing 503D. In some embodiments, conductor 501D may be soldered or welded to pin 502D, which may be used to interface with a plug-type connector (not shown in Figure 5D). Housing 503D may house pin 502D to interface with a plug-type connector.

[0084] Figure 6A shows a cross-sectional view illustrating an exemplary system 600 including actuator assemblies 600a and 600b. System 600 may be part of a robot. In some embodiments, actuator assemblies 600a and 600b may each be rotary actuators. As shown in Figure 6A, in some embodiments, actuator assembly 600a includes an outer housing 101, an inner column 102, a clock spring 103, a clock spring branch 603d, a clock spring branch 603e, a clock spring junction 603f, a stator 601, a rotor 602, a controller 501A, a solder pad 502A, a sensor 606, a sensor connector 606a, and / or a connector 608a. In some embodiments, actuator assembly 600b includes at least a controller 607 and a connector 608b. Actuator assemblies 600a and 600b may be connected via a cable 608.

[0085] In some embodiments, the clock spring 103 is soldered or connected to a controller 501A (e.g., controller PCBA) mounted on the stator 601. The outer housing 101 is mechanically constrained to the stator 601, and the inner column 102 is mechanically constrained to the rotor 602. The clock spring 103 may be used to transmit electrical signals and power between the stator 601 and the rotor 602. The clock spring 103 may be soldered or connected to the controller 501A via a solder pad 502A (e.g., a solder joint). Based on the signals and / or power received from the clock spring 103, the controller 501A may facilitate control functions and communication with other components or electronic devices (e.g., actuator assembly 600b).

[0086] As shown in Figure 6A, at least a portion of the controller 501A and the clock spring 103 may also be housed within a stator 601 that can accommodate other components. The clock spring assembly 100 may be the rotating part of the actuator assembly 600a and may be compactly integrated within the internal space of an actuator rotor 602 (often toroidal in shape) that can interface with the stator 601 and the clock spring 103. Clock spring branch 603d, clock spring branch 603e, and clock spring junction 603f can facilitate the distribution of signals and / or power transmitted by the clock spring 103 to various components within the system 600. In some embodiments, a connector 606a on a rotor-mounted sensor 606 may be connected to a clock spring branch 603e, thus facilitating communication between the sensor 606 and the motor controller 501A.

[0087] In some embodiments, the clock spring 103 can transmit signals and / or power to the actuator assembly 600b. More specifically, the clock spring 103 can transmit signals and / or power to the controller 607 of the actuator assembly 600b via a cable 608. The cable 608 may be a jumper cable. The cable 608 may be associated with connectors 608a and 608b for connecting the clock spring branch 603d of the actuator assembly 600a to the controller 607. Advantageously, such a connection may enable efficient communication and power transmission between the actuator assembly 600a and the actuator assembly 600b.

[0088] In some embodiments, the interface between the clock spring branch 603d emerging from the rotor 602a and connector 608a may be designated as the “output” connector. The interface between the controller 501A and connector 608b, which accepts the circuit from the branch 603d, may be designated as the “input” connector. In this nomenclature, the input connector is fixed to the stator, while the output connector is fixed to the rotor. Using this nomenclature as applied in Figure 6A, the output connector / rotor of actuator 600a is fixed to the input connector / stator of actuator 600b to prevent dynamic movement within the jumper cable 608.

[0089] Figure 6B shows an exploded view of one of the exemplary actuator assemblies 600a or 600b in Figure 6A. Figure 6B includes a clock spring assembly 100, a stator 601 including stator windings 601a, a rotor 602 including rotor magnets 602a, and a motor controller 501A. As shown in Figure 6B, the rotor 602 is assembled around the clock spring assembly 100. The rotor magnets 602a are consequently oriented concentrically within the stator windings 601a, which are housed within the stator 601 together with the motor controller 501A. The motor controller 501A may provide power distribution and control functions to the stator windings 601a.

[0090] Figure 7A shows an exploded view of an exemplary system 700, which includes a first actuator assembly 700A, a second actuator assembly 700B, and a third actuator assembly 700C, which can be electrically connected in series via cables or wires. In some embodiments, the system 700 may be part of a robotic limb. Each of actuator assemblies 700A, 700B, and 700C may be the same as or similar to actuator assemblies 600a and / or 600b in Figure 6A. As shown in Figure 7A, actuator assembly 700A includes a stator 701A, a connector 702A, a rotor 703A, and a connector 704A. Actuator assembly 700B includes a stator 701B, a connector 702B, a rotor 703B, and a connector 704B. The actuator assembly 700C includes a stator 701C, a connector 702C, a rotor 703C, and a connector 704C.

[0091] In some embodiments, connector 702A may be an input connector (e.g., stator-side connector) of actuator assembly 700A, and connector 704A may be an output connector (e.g., rotor-side connector) of actuator assembly 700A. Connector 702B may be an input connector (e.g., stator-side connector) of actuator assembly 700B, and connector 704B may be an output connector (e.g., rotor-side connector) of actuator assembly 700B. Connector 702C may be an input connector (e.g., stator-side connector) of actuator assembly 700C, and connector 704C may be an output connector (e.g., rotor-side connector) of actuator assembly 700C.

[0092] As shown in Figure 7A, connector 704A may be connected to a power source, signal source, and / or external components (not shown in Figure 7A) via cable assembly 708A. Connector 702A may be connected to connector 702B via cable assembly 708B, thereby enabling the transmission of power and / or signals between cable assembly 708A and actuator assembly 700B via a clock spring (e.g., a first clock spring) (hidden from view in Figure 7A) located within actuator assembly 700A. Connector 704B may be connected to connector 704C via cable assembly 708C, thereby enabling the transmission of power and / or signals between actuator assembly 700A and actuator assembly 700C via a clock spring (e.g., a second clock spring) (hidden from view in Figure 7A) located within actuator assembly 700B. Connector 702C may be connected to a power source, signal source, and / or external components (not shown in Figure 7A) via cable assembly 708D. Power and / or signal transmission between actuator assembly 700B and cable assembly 708D is enabled by a clock spring (e.g., a third clock spring) (hidden from view in Figure 7A) located within actuator assembly 700C.

[0093] Figure 7B shows a perspective view of an exemplary system 700 in an assembled state. Figure 7B shows a first actuator assembly 700A having a stator 701A and a rotor 703A, a second actuator assembly 700B having a stator 701B and a rotor 703B, a third actuator assembly 700C having a stator 701C and a rotor 703C, and cable assemblies 708A, 708B, 708C, and 708D. The rotor 703A of the first actuator assembly 700A and cable assembly 708A are assembled to form a first linkage mechanism. The stator 701A of the first actuator assembly 700A, the stator 701B of the second actuator assembly 700B, and cable assembly 708B are assembled to form a second linkage mechanism. The rotor 703B of the second actuator assembly 700B, the rotor 703C of the third actuator assembly 700C, and the cable assembly 708C are assembled to form a third linkage mechanism. The stator 701C of the third actuator assembly 700C and the cable assembly 708D are assembled to form a fourth linkage mechanism.

[0094] Advantageously, the system 700 may implement one or more motor controller architectures that allow components or electrical circuits (e.g., clock springs, controller PCBAs, or similar) to be connected in series to realize signal and / or power transmission. In some embodiments, the pass-through circuit associated with the clock spring deployed within the system 700 may not need to be electrically biased, thereby allowing multiple (e.g., two) stators (input-input connections as exemplified by actuator assemblies 700A and 700B) or rotors (output-output connections as exemplified by actuator assemblies 700B and 700C) to be mounted to one another, rather than a tight rotor-stator structure (input-output connections as exemplified by actuator assemblies 600A and 600B).

[0095] Figure 8A shows an exploded view of an exemplary system 800, which includes a first actuator assembly 800A having a stator 801A, a rotor 803A, and a connector 804A; a second actuator assembly 800B having a stator 801B, a rotor 803B, and a connector 804B; and a third actuator assembly 800C having a stator 801C, a connector 802C, a rotor 803C, and a connector 804C. In some embodiments, system 800 may be part of a robotic limb. Each of the actuator assemblies 800A, 800B, and 800C may be similar to assemblies 600A, 600B, 700A, 700B, and 700C, except that the output connector of one actuator can be directly connected to the input connector of the other actuator without requiring additional cable assemblies (cable 608, cable assemblies 708B and 708C).

[0096] As shown in Figure 8A, actuator assembly 800A may be connected to actuator assembly 800B through at least connector 804B (e.g., rotor-side or output-side connector). Actuator assembly 800C may be connected to actuator assembly 800B through at least connector 804C (e.g., rotor-side or output-side connector). Advantageously, connectors 804A, 804B, 802C, and 804C can facilitate the transmission of electrical signals and power between actuator assemblies 800A, 800B, and 800C, thereby enabling coordinated motion and control within system 800.

[0097] Figure 8B shows a perspective view of an exemplary system 800 in its assembled state. The rotor 803A of the first actuator assembly 800A forms the first linkage mechanism. The stator 801A of the first actuator assembly 800A and the rotor 803B of the second actuator assembly 800B are assembled to form the second linkage mechanism. The stator 801B of the second actuator assembly 800B and the rotor 803C of the third actuator assembly 800C are assembled to form the third linkage mechanism. The stator 801C of the third actuator assembly 800C forms the fourth linkage mechanism.

[0098] Figures 8A and 8B show that the output side of the clock spring (hidden from view in Figures 8A and 8B) can be directly connected to the controller in the subsequent actuator assembly using pin and socket connections or edge card type connections. These connections can eliminate the need for external cable harnesses (e.g., cable 608, cable assemblies 708B and 708C), simplifying the connection and reducing BOM costs, manufacturing complexity, and potential points of failure.

[0099] Figure 9 shows an exemplary integrated cross-sectional view of actuator assemblies 1100a and 1100b according to several embodiments of the present disclosure. Actuator assemblies 1100a and 1100b and their direct electrical interconnection strategies may be the same as or similar to those of actuator assemblies 800A, 800B, and 800C in Figures 8A and 8B. As shown in Figure 9, actuator assembly 1100a includes a stator 1101, a rotor 1102, a controller 501A, a solder pad 502A, a connector 1108a, an outer housing 101, an inner column 102, and a clock spring 103. Unless otherwise specified, the components in Figure 9 may be the same as or substantially similar to the similarly numbered components in Figure 6A. The connector 1108b on actuator assembly 1100b allows actuator assembly 1100a and actuator assembly 1100b to be directly connected to each other (e.g., without using a cable harness). Connector 1108a may allow actuator assembly 1100a to be directly connected to another actuator assembly (not shown in Figure 9).

[0100] Figure 10 shows a cross-sectional view of an actuator assembly 1200, including a clock spring assembly 100, a controller PCB 501A, a rotor 602, and a stator 601, according to some embodiments of the present disclosure. As shown in Figure 10, the clock spring assembly 100 includes an outer housing 101, an inner column 102, a clock spring 103, a magnet 106, and a bearing 108. The inner column 102 is fixed to the rotor 602. Figure 10 shows that the magnet 106, in cooperation with a magnetic sensor deployed on the controller PCB 501A, may be used to sense motion associated with the rotor 602, and therefore motion associated with the inner column 102, in order to provide the controller 501A with feedback on the position of the rotor 602.

[0101] Figure 11A shows a block diagram representing a conventional electrical connection between actuator assemblies using an external wire harness. As shown in Figure 11A, actuator assemblies 1410a, 1420a, and 1430a may be electrically connected through a wire harness 1440a located outside of actuator assemblies 1410a, 1420a, and 1430a. As shown in Figure 11A, the wire harness 1440a can transmit various signals (e.g., power, inter-controller signals, peripheral device signals) between components associated with actuator assemblies 1410a, 1420a, and 1430a (e.g., controllers and / or sensors).

[0102] Figures 11B and 11C represent block diagrams illustrating series connections between actuator assemblies (e.g., actuator assemblies including a clock spring assembly 100) according to several embodiments of the present disclosure. Figure 11B shows a block diagram representation of a system architecturally similar to system 700 in Figures 7A and 7B. As shown in Figure 11B, a clock spring (e.g., clock spring 103) may be integrated into actuator assemblies 1410b, 1420b, and 1430b to transmit various signals (e.g., power, inter-controller signals, peripheral device signals). This is in contrast to a wire harness 1440a deployed outside actuator assemblies 1410a, 1420a, and 1430a. As shown in Figure 11B, cable assemblies 708B and 708C are used to connect the actuator assemblies in Figure 11B.

[0103] Figure 11C shows a block diagram representation of the system 800 in Figures 8A and 8B. The exemplary implementation shown in Figure 11C may be similar to the implementation in Figure 11B, except that jumpers 708B and 708C are not used in Figure 11C. Rather, actuator assemblies 800A, 800B, and 800C are directly connected to each other through inter-actuator connectors (e.g., connectors 804B and 804C).

[0104] Advantageously, compared to the implementation configuration in Figure 11A, the implementation configurations in Figures 11B and 11C, which integrate the clock spring (e.g., clock spring 103) within the actuator assembly, can provide a reliable mechanism for transmitting electrical signals without compromising the aesthetic appeal of the product. Furthermore, compared to processes involving assembling wire bundles within the actuator, more efficient manufacturing can be achieved by using an internally integrated clock spring. Thus, rapid manufacturing and maintenance of robotic groups can be achieved.

[0105] Figure 12 shows an exemplary application of a clock spring assembly in an automotive door hinge assembly. Detailed and exploded views highlighting the integration of the clock spring assembly and the door hinge assembly are included. As shown in Figure 12, the clock spring assembly consists of an outer housing 1601, a cable assembly 1601a, an inner column 1602, and a cable assembly 1602a. Also shown are link mechanisms 1603, 1604, a door ring 1605, and a door 1606. The outer housing 1601 is fixed to the link mechanism 1603, which consequently fixes to the door ring 1605. The inner column 1602, as It is fixed to a link mechanism 1604 which is fixed to the door 1606. A dynamic clock spring (not shown in Figure 12) is terminated on the input side to a static cable assembly 1601a that exits the outer housing 1601 and transmits the electrical circuit to the rest of the vehicle (not shown in Figure 12). The clock spring is terminated on the output side to a static cable assembly 1602a that exits the inner column 1602 and transmits the electrical circuit to the door 1606. In some embodiments, the inner column 1602 may also function as a structural pin between the link mechanisms 1603 and 1604.

[0106] The exemplary clock spring assembly in Figure 12 enables the replacement of conventional power distribution means for automotive doors, liftgates, and other hinge assemblies. Specifically, dynamic cable bundles, often enclosed in rubber grommets for mechanical and environmental protection, can be used instead of clock springs discretely packaged within the assembly hinge. Such alternative configurations can improve system reliability by better protecting electrical circuits from external damage factors and reducing assembly errors associated with improper mechanical routing. In addition, the aesthetic appearance of the vehicle and the available packaging space for other components are improved.

[0107] Figure 13 shows cross-sectional views of clock spring assemblies 1300A, 1300B, and 1300C according to several embodiments of the present disclosure. More specifically, clock spring assembly 1300A shows a conventional steering wheel clock spring assembly configuration. Clock spring assemblies 1300B and 1300C may be the same as or similar to clock spring assembly 100.

[0108] As shown in Figure 13, the clock spring assembly 1300A is larger in size than the clock spring assemblies 1300B and 1300C. For example, the clock spring assembly 1300A may have a diameter of approximately 90 mm. In contrast, the clock spring assembly 1300B may have a diameter of approximately 35 mm, and the clock spring assembly 1300C may have a diameter of approximately 17 mm. In some embodiments, the clock spring assembly 1300B and clock spring assembly 1300C may support a similar or greater amount of current compared to the clock spring assembly 1300A. For example, the clock spring assembly 1300B may support or supply 20 amps, the clock spring assembly 1300C may support 7 amps, and the clock spring assembly 1300A may support 8 amps. As a trade-off with size, the clock spring assemblies 1300B and 1300C may have a smaller operating range than the clock spring assembly 1300A. For example, clock spring assembly 1300A has an operating range of 1440 degrees, clock spring assembly 1300B has an operating range of 270 degrees, and clock spring assembly 1300C has an operating range of 170 degrees.

[0109] Advantageously, compared to clock spring assembly 1300A, clock spring assemblies 1300B and 1300C can be more compactly integrated within the internal space of a device (e.g., a robot actuator or joint, a vehicle door or liftgate hinge), providing a reliable mechanism for harness transmission without compromising the aesthetic appeal of the product (e.g., a robot or vehicle).

[0110] The foregoing disclosure is not intended to limit the disclosure to the very form or specific field of use disclosed. Therefore, it is intended that various alternative embodiments and / or variations of the disclosure, whether expressly described or implied herein, are possible in light of the disclosure. Having described embodiments of the disclosure in this manner, those skilled in the art will recognize that modifications can be made in form and detail without departing from the scope of the disclosure. Therefore, the disclosure is limited only by the claims.

[0111] In the aforementioned specification, the disclosure has been described with reference to specific embodiments. However, as those skilled in the art will understand, the various embodiments disclosed herein can be modified or implemented in various other ways without departing from the spirit and scope of the disclosure. Therefore, this description should be considered illustrative and is intended to teach those skilled in the art how to create and use various embodiments of the disclosed display assemblies.

[0112] It should be understood that the forms of disclosure shown and described herein should be interpreted as representative embodiments. Equivalent elements, materials, processes, or steps may be substituted for those representatively shown and described herein. Furthermore, certain features of this disclosure may be used independently of the use of other features, as will become apparent to those skilled in the art after benefiting from this description of the disclosure. Expressions such as “including,” “comprising,” “incorporating,” “consisting of,” “have,” and “is” used to describe and claim this disclosure are intended to be interpreted in a non-exclusive manner, that is, to allow for the existence of items, components, or elements not expressly described herein. Singular references should be interpreted as relating to plurals as well. Furthermore, the various embodiments disclosed herein should be interpreted in an illustrative and descriptive sense and should not be interpreted as limiting the disclosure in any way.

[0113] All references to joining (e.g., attachment, fastening, joining, connection, etc.) are used solely to aid the reader's understanding of this disclosure and should not create any limitation with respect to the location, orientation, or use of the systems and / or methods disclosed herein. Therefore, where there is a reference to joining, it should be interpreted broadly. Furthermore, such references to joining do not necessarily imply that the two elements are directly connected to each other. In addition, but not limited to, all numerical terms such as “first,” “second,” “third,” “primary,” “secondary,” “main,” or any other common terms and / or numerical terms should also be interpreted solely as identifiers to aid the reader's understanding of the various elements, embodiments, variations, and / or modifications of this disclosure, and should not create any limitation with respect to the order or priority of any element, embodiment, variation, and / or modification compared to or with respect to any other element, embodiment, variation, and / or modification.

[0114] The exemplary algorithms described in relation to the embodiments disclosed herein may be implemented as electronic hardware (e.g., ASIC or FPGA devices), computer software running on computer hardware, or a combination of both. Furthermore, the various exemplary logic blocks and modules described in relation to the embodiments disclosed herein may be implemented or executed by machines designed to perform the functions described herein, such as processor devices, digital signal processors ("DSP"), application-specific integrated circuits ("ASIC"), field-programmable gate arrays ("FPGA") or other programmable logic devices, discrete gates or transistor logic, discrete hardware components, or any combination thereof. The device may be a microprocessor, but in alternative examples, the device may be a controller, microcontroller, or state machine, or a combination thereof. The device may include electrical circuits configured to process computer-executable instructions. In another embodiment, the device includes an FPGA or other programmable device that performs logical operations without processing computer-executable instructions. Devices can be implemented as combinations of computing devices, such as a combination of a DSP and a microprocessor, multiple microprocessors, one or more microprocessors combined with a DSP core, or any other such configuration. Although this specification primarily describes digital technologies, devices may also include primarily analog components. For example, some or all of the rendering techniques described herein can be implemented in analog circuits, or mixed analog and digital circuits.Computing environments can include, but are not limited to, any type of computer system based on a microprocessor, mainframe computer, digital signal processor, portable computing device, device controller, or in-device computing engine, to name a few.

[0115] It should also be understood that one or more of the elements shown in the drawings / figures may be implemented in a more separated or integrated manner to be useful for a particular application, or may be removed or rendered as non-functional in certain cases.

Claims

1. An actuator assembly for a device, Rotating part and A fixed part configured to interface with the rotating part, wherein the fixed part and the rotating part structurally form a space enclosed at least partially by the fixed part and the rotating part, A clock spring configured to transmit at least a power signal or a data signal from the rotating part to the stationary part, wherein the clock spring is molded to fit into the space, An actuator assembly comprising:

2. The actuator assembly according to claim 1, wherein the clock spring is made from one or more flat flexible cables (FFCs) or flexible circuits.

3. The actuator assembly according to claim 1, wherein at least a portion of the clock spring has a cylindrical shape.

4. The actuator assembly according to claim 1, wherein the conductors within the clock spring are geometrically reconfigured or electrically shielded to facilitate impedance matching or electromagnetic interference (EMI) protection of the electrical circuit within the clock spring.

5. The actuator assembly according to claim 1, wherein the rotating part is a rotor and the stationary part is a stator.

6. The actuator assembly according to claim 1, wherein the clock spring is hidden from view from the outside of the actuator assembly by the rotating part and the fixed part.

7. The actuator assembly according to claim 1, wherein the clock spring is electrically terminated to a motor controller inside the actuator assembly.

8. A second device mounted on the rotating part, A controller mounted on the aforementioned fixed part, Furthermore, The actuator assembly according to claim 1, wherein a signal is generated by the second device, and the clock spring transmits the signal from the second device to the controller.

9. The actuator assembly according to claim 1, wherein the clock spring is configured to transmit the power signal or the data signal from either the fixed portion or the rotating portion to another actuator assembly.

10. The actuator assembly according to claim 1, wherein the clock spring is electrically connected to a second actuator assembly via an intermediate pin socket connection, an edge card connection, or a jumper wire.

11. The actuator assembly according to claim 1, wherein the device is a robot, and the actuator assembly forms part of the limb of the robot.

12. The actuator assembly according to claim 1, wherein the clock spring is integrated with a hinge, and the hinge is used to mount a vehicle door or liftgate.

13. A method for signal or power transmission relating to an actuator or rotary joint assembly comprising a movable part, a fixed part, and a clock spring disposed between the movable part and the fixed part, A step of rotating the movable part from a first degree to a second degree, The step of rotating the moving part from the first degree to the second degree includes the step of moving the clock spring between continuous positions, A method wherein, when the clock spring transitions between the continuous positions, the moving part and the fixed part are continuously electrically connected to each other through the clock spring.

14. The method according to claim 13, wherein when the clock spring transitions between the continuous positions, the clock spring transmits power between the moving part and the fixed part.

15. The steps include attaching a magnet to the moving part, When the clock spring transitions between the continuous positions, the movement of the magnet is sensed in order to obtain position data of the controller placed on the fixed part. A step of determining the position of the moving part based on the position data, The method according to claim 13, further comprising:

16. The movable part, A fixed part configured to interface with the movable part, wherein the fixed part and the movable part structurally form a space enclosed at least partially by the fixed part and the movable part, A clock spring configured to transmit at least a signal between the movable part and the fixed part, wherein the clock spring is molded to fit into the space, A first actuator assembly comprising:

17. The first actuator assembly according to claim 16, wherein the clock spring is hidden from view by the moving part and the fixed part.

18. The first actuator assembly according to claim 16, wherein the clock spring is geometrically reconfigured to provide impedance matching between the moving portion and the stationary portion.

19. The first actuator assembly according to claim 16, wherein the clock spring is connected to the second actuator assembly via a pin socket connection, an edge card connection, or a jumper wire.

20. The first actuator assembly according to claim 19, wherein the clock spring transmits the signal from the moving part to the second actuator assembly via a pin socket connection, an edge card connection, or a jumper wire.

Images