Articulating marine step arrangement and actuator arrangement

Abstract

An articulating step arrangement for a marine vehicle includes a rotary actuator configured to couple to a surface of a marine vehicle, the rotary actuator comprising a housing assembly, a motor contained within the housing assembly, and a worm gear assembly contained within the housing assembly and operably coupled to the motor. An arm includes a first end and a second end, wherein the first end of the arm is operably coupled to the worm gear assembly, a link includes a first end and a second end, wherein the first end of the link is pivotally coupled to the rotary actuator, and a step member is pivotally coupled to the second end of the arm and the second end of the link, wherein the step member is operable between a retracted position and an extended position via the worm gear assembly.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims benefit to U.S. Provisional Patent Application No. 63 / 698,742, filed Sep. 25, 2024, entitled “ARTICULATING MARINE STEP ARRANGEMENT AND ACTUATOR ARRANGEMENT,” the entire disclosure of which is incorporated herein by reference.BACKGROUND OF THE DISCLOSURE

[0002] The present disclosure generally relates to a marine step arrangement and in particular to an articulating marine step arrangement where a step is actuated by a rotary actuator for multiple uses in the marine market, including an articulated step application, a rod rack application, and the like.SUMMARY OF THE DISCLOSURE

[0003] One example as shown and described herein includes an articulating step arrangement for a marine vehicle having a pair of rotary actuators configured to couple to a surface of a marine vehicle, each rotary actuator of the pair of rotary actuators including a housing assembly, a motor positioned within the housing assembly and having a motor shaft rotatable about an input axis, a gear assembly including a worm gear driven by the motor shaft and a wheel gear driven by the worm gear, and a clutch plate rotatably coupled to the housing assembly and rotatable about an output axis, the clutch plate defining one or more attachment points. A step assembly includes a pair of arms each defining a first end coupled to the one or more attachment points of the clutch plate of one of the pair of rotary actuators and a second end, a pair of links each defining a first end pivotally coupled to one of the pair of rotary actuators and a second end, and a step member pivotally coupled to the second end of each of the pair of arms and the second end of each of the pair of links such that the step member is movable between a retracted position and an extended position.

[0004] Another example as shown and described herein may further or alternatively include an articulating step arrangement for a marine vehicle having a rotary actuator configured to couple to a surface of a marine vehicle, the rotary actuator comprising a housing assembly, a motor contained within the housing assembly, and a worm gear assembly contained within the housing assembly and operably coupled to the motor. An arm includes a first end and a second end, wherein the first end of the arm is operably coupled to the worm gear assembly, a link includes a first end and a second end, wherein the first end of the link is pivotally coupled to the rotary actuator, and a step member is pivotally coupled to the second end of the arm and the second end of the link, wherein the step member is operable between a retracted position and an extended position via the worm gear assembly.

[0005] Yet another example as shown and described herein may further or alternatively include an articulating step arrangement for a marine vehicle having a first rotary actuator configured to be coupled to a surface of a marine vehicle, the first rotary actuator including a motor cover containing a motor, a housing containing a worm gear assembly including a worm gear operably coupled to the motor and a wheel gear engaging the worm gear, and a clutch plate operably coupled to the wheel gear and rotatably coupled to the housing, wherein the clutch plate is rotatably drivable by the motor via the worm gear assembly, and wherein the motor cover is hermetically sealed to the housing and the clutch plate is hermetically sealed to the housing. A step assembly has an arm including a first end operably coupled to the clutch plate, and a second end, a link including a first end pivotally actuable with respect to the housing and a second end, and a step member pivotally coupled to the second end of the arm and the second end of the link, such that the step member is movable between a retracted position and an extended position.BRIEF DESCRIPTION OF THE DRAWINGS

[0006] FIG. 1 is a side perspective view of a rotary actuator for multiple marine applications;

[0007] FIG. 2 is a side perspective view of a drive train of the rotary actuator;

[0008] FIG. 3 is a cross-sectional, side perspective view of the rotary actuator;

[0009] FIG. 4 is a cross-sectional perspective end view of the rotary actuator;

[0010] FIG. 5 is a side perspective view of a housing of the rotary actuator where the housing is partially hidden to show a wheel gear and a clutch of the drive train of the rotary actuator;

[0011] FIG. 6 is a perspective view of the rotary actuator where the housing is hidden to show components of the drive train of the rotary actuator;

[0012] FIG. 7 is an exploded perspective view of the rotary actuator;

[0013] FIG. 8 is a top perspective view of the rotary actuator, wherein the motor cover is partially hidden;

[0014] FIG. 9 is a perspective view of the housing of the rotary actuator;

[0015] FIG. 10 is a side perspective view of the rotary actuator where the housing is hidden to show the worm gear and the wheel gear, where the wheel gear is partially hidden to show a pair of clutches of the drive train of the rotary actuator;

[0016] FIG. 11 is a side perspective view of an articulated step arrangement mounted under a gunwale of a marine vessel with a step in a retracted position, the articulated step arrangement including two rotary actuators;

[0017] FIG. 12 is a side perspective view of the articulated step arrangement mounted under the gunwale of the marine vessel with the step in an extended position, the articulated step arrangement including two rotary actuators;

[0018] FIG. 13 is a side perspective view of the articulated step arrangement mounted under the gunwale of the marine vessel with the step in a retracted position, the articulated step arrangement including one rotary actuator;

[0019] FIG. 14 is a side perspective view of an articulating rod rack arrangement including a rod rack and two rotary actuators, where the rod rack is shown in a fully lowered position, a fully raised position, and an intermediate position;

[0020] FIG. 15 is a line graph showing the relationship between an angular velocity of a one-start worm gear assembly and a torque output of the one-start worm gear assembly, where the rotary actuator has a 50:1 gear ratio; and

[0021] FIG. 16 is a side perspective view of the rotary actuator integrated within the articulated step arrangement mounted under the gunwale of the marine vessel, where the rotary actuator includes a manual drive port.DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0022] For purposes of description herein, the terms “upper,”“lower,”“right,”“left,”“rear,”“front,”“vertical,”“horizontal,” and derivatives thereof shall relate to the invention as oriented in FIGS. 1 and 11. Unless stated otherwise, the term “front” shall refer to the surface of the element closer to an intended viewer of the mirror element, and the term “rear” shall refer to the surface of the element further from the intended viewer of the mirror element. However, it is to be understood that the invention may assume various alternative orientations, except where expressly specified to the contrary. It is also to be understood that the specific devices and processes illustrated in the attached drawings, and described in the following specification are simply exemplary embodiments of the inventive concepts defined in the appended claims. Hence, specific dimensions and other physical characteristics relating to the embodiments disclosed herein are not to be considered as limiting, unless the claims expressly state otherwise.

[0023] Referring now to FIG. 1, reference numeral 10 generally designates a rotary actuator for use within an articulating step arrangement 158 (FIG. 11) as described below. The rotary actuator 10 generally includes a motor cover 12 and a housing 14. Together, the motor cover 12 and the housing 14 form a housing assembly 15. Connected to the housing 14 is a clutch plate 16 configured to rotate with respect to the housing 14. The motor cover 12 has an attachment end 18 coupled to the housing 14 and a free end 20 protruding from the housing 14. The clutch plate 16 is rotatable about an output axis 22 that is substantially perpendicular to an input axis 24 of a motor 26, the motor 26 being disposed within the motor cover 12. The output axis 22 is further offset from the input axis 24. The clutch plate 16 has several attachment points 28 that may receive a variety of components, such as marine step linkages, Bimini top components, rod rack arms, bulwark components, and other apparatuses as described below. Generally, the clutch plate 16 may freely rotate zero to 360 degrees or more. In alternative embodiments, rotation of the clutch plate 16 may be manually or electronically limited to a narrower rotational range.

[0024] The coupling of the housing 14 and the attachment end 18 of the motor cover 12 creates a sealed connection provided by a sealant to retain lubrication in the housing 14 and / or to prevent water intrusion into the rotary actuator 10. The attachment end 18 of the motor cover 12 may define threads configured to secure to the housing 14. The housing 14 generally comprises two housing halves 32, which are also coupled together using sealant to form a sealed connection. When the housing halves 32 are coupled, the housing 14 defines an attachment port 34 that receives the attachment end 18 of the motor cover 12. The sealant used in the constructions described herein may include but is not limited to an elastomeric seal, an O-ring, and / or a liquid sealant such as Aviation Form-A-Gasket No. 3 Sealant, as available from Permatex®.

[0025] Referring to FIGS. 2 and 3, the rotary actuator 10 includes a drive train 35. To maximize the available torque of the rotary actuator 10, a gear reduction assembly 36 is coupled to the motor 26, and the gear reduction assembly 36 is connected to a worm gear assembly 38. The motor 26 and the gear reduction assembly 36 may be provided as a single, integrated unit or as multiple separate components. As illustrated, the motor 26 and the gear reduction assembly 36 are combined into a single, integrated unit, forming a gearmotor 40.

[0026] The gear reduction assembly 36 may include a variety of different gear ratios and in response can vary the power output of the drive train 35 for a given angular velocity. Alternatively, the angular velocity can be varied in response to an alteration of the gear ratio of the gear reduction assembly 36. The gear reduction assembly 36 may be a two-stage planetary gear assembly, a three-stage planetary gear assembly, or a further-staged assembly based on the use case of the rotary actuator 10. For example, a gear reduction ratio for marine boarding step arrangements may be 12.5:1; a gear reduction ratio for articulated rod rack arrangements may be 25:1; and a gear reduction ratio for powered door or bulwark arrangements may be 50:1.

[0027] The worm gear assembly 38 includes a worm gear 42 and a wheel gear 44. The worm gear 42 is situated between two flanged bearings 46, 48, has one or more helical teeth 50, and generally has between one and six starts. The worm gear 42 also has a first worm end 52 and a second worm end 54. The wheel gear 44 has slanted teeth 56 configured to receive the helical teeth 50 of the worm gear 42 as the worm gear 42 rotates. The rotation of the worm gear 42 occurs along the input axis 24, which runs along the worm gear 42 and through the flanged bearings 46, 48. The input axis 24 is substantially coaxial to the axis of rotation of a motor shaft 58 of the motor 26. According to some aspects, the first worm end 52 of the worm gear 42 is either directly connected to the motor shaft 58 of the motor 26 or coupled to the motor shaft 58 via an adapter piece 60. The coaxial relationship between the input axis 24 and the axis of rotation of the motor shaft 58 is not required for the rotary actuator 10.

[0028] In a use case where the prevention of back driving of the drive train 35 of the rotary actuator 10 is preferred, the wheel gear 44 may have fifty or more slanted teeth 56. In the rotary actuator 10 illustrated in FIG. 2, the wheel gear 44 has fifty slanted teeth 56. The wheel gear 44 also defines an opening 62 along the output axis 22 about which the wheel gear 44 rotates. A clutch 64 is coupled to the wheel gear 44 and is disposed within the opening 62 such that the clutch 64 rotates coaxially with the wheel gear 44. The opening 62 of the wheel gear 44 has an engagement mechanism 66 to couple the wheel gear 44 and the clutch 64, which may include internal fingers, hex grooves, double hex grooves, or spline grooves. The clutch 64 is further configured to engage with the clutch plate 16 such that the clutch plate 16 is rotatably coupled to the housing 14.

[0029] With reference to FIGS. 2 and 3, the wheel gear 44 is encapsulated with the housing 14 such that the wheel gear 44 does not intersect the input axis 24. The motor 26 sits within the motor cover 12. The motor 26 is connected to the gear reduction assembly 36 that is in turn connected to the adapter piece 60. The adapter piece 60 is also connected to the worm gear 42 such that rotation of the worm gear 42 is driven by the actuation of the motor 26. When the motor cover 12 is coupled to the housing 14, the gearmotor 40 is disposed within the motor cover 12, and the adapter piece 60 is partially disposed in both the motor cover 12 and the housing 14. It is contemplated that the adapter piece 60 may be fully disposed in either the housing 14 or the motor cover 12. In some constructions, the gear reduction assembly 36 or the worm gear 42 may be partially encapsulated in the motor cover 12 and the housing 14.

[0030] Referring now to FIGS. 3-5, the rotary actuator 10 is shown having a pair of clutches 68, 70 and a pair of clutch plates 72, 74. The pair of clutches 68, 70 includes a first clutch 68 and a second clutch 70, and the pair of clutch plates 72, 74 includes a first clutch plate 72 and a second clutch plate 74. The pair of clutches 68, 70 are disposed within the opening 62 of the wheel gear 44 on opposing sides of a rotation plane 76 of the wheel gear 44. Further from the rotation plane 76 are the pair of clutch plates 72, 74. The first clutch 68 and the first clutch plate 72 are disposed on a first side 78 of the wheel gear 44, while the second clutch 70 and the second clutch plate 74 are disposed on a second side 80 of the wheel gear 44. The first clutch plate 72 is coupled to the first clutch 68, and the second clutch plate 74 is coupled to the second clutch 70. The first clutch 68 is configured to engage to and disengage from the first clutch plate 72 in response to the rotation of the wheel gear 44 and torque loads applied to the first clutch plate 72. Similarly, the second clutch 70 is configured to engage to and disengage from the second clutch plate 74 in response to the rotation of the wheel gear 44 and torque loads applied to the second clutch plate 74.

[0031] According to some aspects, the clutch plates 72, 74 are not directly coupled to the wheel gear 44. The pair of clutches 68, 70 are received by an output shaft 82 and are secured on the output shaft 82 by a pair of opposing securement pins 84 coupled to the output shaft 82. The securement pins 84 may be a three-millimeter alignment pin. Notably, the exact dimensions of the securement pins 84 may vary.

[0032] Referring to FIGS. 4-6, the clutches 68, 70 are configured to engage the clutch plates 72, 74. When the motor 26 of the rotary actuator 10 is activated, the motor shaft 58 drives the worm gear assembly 38. The clutches 68, 70 rotate with the wheel gear 44 and engage the clutch plates 72, 74, and the wheel gear 44 drives the clutch plates 72, 74 as a result. In some instances, the clutches 68, 70 are clutch discs or friction discs, and incorporate Belleville washers 85, respectively, to bias the clutches 68, 70 toward the clutch plates 72, 74, respectively. Notably, the clutches 68, 70 herein are not limited to such configurations. For example, the exclusion of the clutches 68, 70 in the drive train 35 may be preferred.

[0033] The wheel gear 44 is rotatably coupled to the housing 14 via two annular bearings 86, 88. Particularly, a first annular bearing 86 is disposed on the first side 78 of the wheel gear 44 between the wheel gear 44 and the housing 14, and a second annular bearing 88 is disposed on the second side 80 of the wheel gear 44 between the wheel gear 44 and the housing 14. The annular bearings 86, 88 are respectively separated from the clutch plates 72, 74 by a pair of worm gaskets 90, respectively. The pair of worm gaskets 90 provide a water-tight seal between the clutch plates 72, 74 and the housing 14, respectively, such that the connection between the clutch plates 72, 74 and the housing 14 has an ingress protection rating of at least IP66. In alternative embodiments, the connection between the clutch plates 72, 74 and the housing 14 may have an ingress protection rating of IP67 or IP68.

[0034] The housing halves 32 (FIG. 5) of the housing 14 are generally coupled together to encapsulate the wheel gear assembly 38 and the first and second clutches 68, 70. The housing halves 32 are connected using fasteners and / or a sealant. The housing halves 32 are further configured to couple to the motor cover 12 and the first and second clutch plates 72, 74. One or more ports 92 are also optionally defined by the housing 14 which may be utilized for the attachment of mechanical components in certain applications.

[0035] With reference to FIGS. 5-7, a side plate 94 is disposed on the side of the housing 14. The side plate 94 covers a side cavity 96 in which a sensor 98 is disposed. The side plate 94 is coupled to the housing 14 via fasteners and / or a sealant. For example, a screw, such as a hex screw, may be used to couple the housing halves 32 and / or the side plate 94 to the housing 14. If liquid sealant is used, the liquid sealant is disposed along points of contact between the housing halves 32 and / or between the side plate 94 and the housing 14, creating a sealed connection having an ingress protection rating of at least IP66. In some instances, the sealed connection between the housing halves 32 and / or between the side plate 94 and the housing 14 may have an ingress protection rating of IP67 or IP68. Liquid sealant, such as Permatex #3, may be used. The attachment end 18 of the motor cover 12 may define threads that are received by the housing 14. Here, a gasket and / or a liquid sealant, such as Permatex #3, may be used to create a sealed connection between the motor cover 12 and the housing 14 with an ingress protection rating of at least IP66.

[0036] The sensor 98 is disposed within the side cavity 96 of the housing 14 to detect a rotational position of the first clutch plate 72. The first clutch plate 72 has a perimeter 100 that includes a flange 102 extending toward the housing 14. The flange 102 extends into a detection path 104 of the sensor 98 when the flange 102 is in a base position. The flange 102 is configured to move into and out of the detection path 104 of the sensor 98 in response to rotation of the first clutch plate 72. The first clutch plate 72 is rotatable between a stowed position of zero degrees to a deployed position that can be a rotation of one to 360 or more degrees. For example, one rotational range between the stowed position and the deployed position for articulated steps or powered seats may be 30 to 135 degrees. In other applications, such as a lead / ball screw or belt drive for powered doors, the range of rotation of the first clutch plate 72 may be many revolutions of the first clutch plate 72. In some instances, there may be more than one flange 102 included on the perimeter 100 of the first clutch plate 72. The direction of the detection path 104 is not limited to a vertical direction. The second clutch plate 74 may have a similar construction relative to the first clutch plate 72. In some instances, the rotary actuator 10 may include multiple sensors 98 disposed proximate each of the first side 78 of the wheel gear 44 and the second side 80 of the wheel gear 44.

[0037] Referring still to FIGS. 5-7, the flange 102 may include a flag 106 signaling a home position of the clutch plate 16. The flag 106 may include an IP67 switch, a magnetic reed switch, or an inductive proximity switch, for example. The flag 106 may be machined into the flange 102 or may be fixed to the flange 102. The rotary actuator 10 may include end of stroke signaling or rely solely on a torque limiting clutch or a current limiting device to prevent damage at the end of an operation of the rotary actuator 10. In applications including end of stroke signaling, the rotary actuator 10 may acquire one or more end of stroke signals from the sensor 98.

[0038] The flanged bearings 46, 48 are fixed within the housing 14 and are axially aligned with the input axis 24 of the worm gear 42, the flanged bearings 46, 48 each having a thrust bearing surface 108. Bearings of a plain bearing type or Delrin bearing type may be used for the flanged bearings 46, 48. An inner flanged bearing 46 is disposed at the first worm end 52 proximate the motor cover 12, and an outer flanged bearing 48 is disposed at the second worm end 54 proximate an end 110 of the housing 14 opposite the motor cover 12. The inner and outer flanged bearings 46, 48 are further configured to receive the worm gear 42, enabling rotation of the worm gear 42 with respect to the housing 14, the worm gear 42 rotating about the input axis 24. To prevent wear, a hardened washer 112 is disposed between the outer flanged bearing 48 and the helical teeth 50 of the worm gear 42 and receives the worm gear 42. The flanged bearings 46, 48 further retain the worm gear 42 at a position proximate to the wheel gear 44 such that the slanted teeth 56 of the wheel gear 44 receive the helical teeth 50 of the worm gear 42. Notably, additional bearings may be respectively disposed between the inner flanged bearing 46 and the worm gear 42 and between the outer flanged bearing 48 and the worm gear 42.

[0039] Referring now to FIGS. 7 and 8, the rotary actuator 10 is configured to operate on common direct current system voltages and may also communicate with digital switching systems pursuant to the NMEA 2000 standard. The articulation and control of the actuation of the rotary actuator 10 may be controlled by a switch, controller area network controller, and / or a multifunction display. In applications utilizing more than one rotary actuator 10, operation of the rotary actuators 10 may be tied together to perform common functions, achieve motor synchronization, and allow simultaneous monitoring. To achieve methods of communication, articulation, and control, the rotary actuator 10 includes a control board 114 disposed within a control compartment 116 in the housing 14. The control board 114 disposed in the control compartment 116 of the housing 14 may enable one or more of these desired methods, the combination of which may vary between applications. Utilizing internal sensors and controls, the control board 114 may be in communication with a control module or other actuators to perform functions including sequencing, position limiting, and / or force limiting.

[0040] The control compartment 116 may further house wiring for electronic arrangements such as the motor 26, an encoder, and end of stroke switches. The control compartment 116 is configured to couple to an external surface, creating a water-tight seal between the control compartment 116 and an environment external to the rotary actuator 10. Particularly, the control compartment 116 defines a perimeter 118 with a groove 120 running along the perimeter 118 of the control compartment 116. The groove 120 is configured to receive a gasket to assist with creating a sealed connection between the housing 14 and an external surface, providing the control compartment 116 with an ingress protection rating of IP66, IP67, or IP68. In some embodiments, the gasket may include an O-ring.

[0041] With further reference to FIGS. 7-8, the motor 26 is disposed within the motor cover 12. The motor 26 is coupled to the gear reduction assembly 36, and the gear reduction assembly 36 is in turn coupled to the adapter piece 60, wherein the adapter piece 60 is coupled to the worm gear 42 of the worm gear assembly 38. The gear reduction assembly 36 is coupled to a motor adaptor 124. The motor adaptor 124 is configured to connect to a variety of motors and gear reduction assemblies via fasteners, such as studs or threaded cap screw fasteners, for example. An outer diameter 126 of the motor adaptor 124 may further define threads configured to couple to threads of the motor cover 12. In such constructions, the motor adaptor 124 is in turn coupled to the housing 14. A sealant may also be used to create a sealed connection between the motor adaptor 124 and the motor cover 12 and a sealed connection between the motor adaptor 124 and the housing 14. If an O-ring, seal, or gasket is used to seal the connection of the motor adaptor 124 and the motor cover 12, the motor cover 12 may further define a seal groove to receive the O-ring, seal, or gasket.

[0042] According to some aspects, a pair of intermediate plates 130 are coupled to the pair of clutches 68, 70, respectively, and respectively positioned on the first side 78 of the wheel gear 44 and the second side 80 of the wheel gear 44. Each of the intermediate plates 130 axially receives the output shaft 82 and is configured to rotate about the output axis 22. Furthermore, each of the intermediate plates 130 is connected to one of the first clutch plate 72 and the second clutch plate 74 such that the intermediate plate 130 and one of the clutch plates 72, 74 rotate about the output axis 22 together with the same angular velocity.

[0043] Referring to FIGS. 5-7, the housing 14 of the rotary actuator 10 is configured to receive port liners 132 within the ports 92 of the housing 14. As illustrated, the housing 14 defines two ports 92, each port 92 receiving two port liners 132. Accordingly, four port liners 132 are disposed in the housing 14. Each port liner 132 includes one insertion end 134 and one flanged end 136 that restrains the depth at which the port liner 132 may be inserted into the port 92 of the housing 14. Each housing half 32 includes two port liners 132. It is contemplated that the number of ports 92 and the dimensions of the port liners 132 may vary between constructions.

[0044] Referring now to FIGS. 7-9, the housing 14 includes the control compartment 116, the side cavity 96, and a primary cavity 138 configured to house the worm gear assembly 38. The control compartment 116 is configured to sealably couple to an external surface. The primary cavity 138 is configured to sealably couple to the clutch plates 72, 74. The side cavity 96 is configured to sealably couple to the side plate 94. In some instances, the housing 14 may also include auxiliary cavities in various locations about the housing 14 for accessing mounted switches, wiring, and / or mounting hardware. Auxiliary covers can further be used to sealably couple to the auxiliary cavities, creating a sealed connection with an ingress protection rating of at least IP66. A sealant may be used for the sealed connection between an auxiliary cavity and an auxiliary cover to achieve at least an IP66 ingress protection rating. Each of the control compartment 116, side cavity 96, primary cavity 138, and auxiliary cavities may define through ports therein to enable the passage of electronic wiring and similar components through the housing 14.

[0045] The housing 14 has a contour designed to limit pinch points and prevent access to open gear faces. The housing 14, illustrated in FIG. 9, defines a head 146, a neck 148, and a base 150. The head 146 of the housing 14 is substantially cylindrical in shape and includes filleted edges 152. The neck 148 of the housing 14 has a cross-section that is primarily rectangular in shape, having filleted corners 154. The base 150 of the housing 14 has a rectangular cross-section that is larger than the cross-section of the neck 148, the base 150 also having filleted corners 154. The housing 14 may be made of material including but not limited to stainless steel.

[0046] Referring to FIGS. 4 and 10, a combination of one of the pair of clutches 68, 70 and one of the Belleville washers 85 forms a clutch assembly 156. The clutch assembly 156 relies on force generated by the Belleville washers 85, which are in contact with the wheel gear 44, to drive rotation of one of the clutch plates 72, 74. Each of the pair of clutches 68, 70 may be a torque limiting clutch in some instances, such as those where an undesired amount of force and / or torque may be applied to the rotary actuator 10. The pair of clutches 68, 70 may further be made of a variety of materials, including stainless steel, titanium, brass, steel, or aluminum. Furthermore, the pair of clutches 68, 70 may be laser-cut or stamped sheet metal and may have a variety of friction coefficients and mechanical properties. The Belleville washers 85 may be substituted with alternative springs, and the number of Belleville washers 85 in the clutch assembly 156 may vary. Each of the Belleville washers 85 may also be a series of internally splined, hex, or pinned discs positioned between one of the pair of clutches 68, 70 and the wheel gear 44.

[0047] With reference to FIGS. 11 and 12, one or more rotary actuators 10 may be incorporated within an articulated step arrangement 158. As illustrated, the articulated step arrangement 158 is a twin actuator arrangement 204 that includes a movable step 160, a first rotary actuator 162 and a second rotary actuator 164. The movable step 160 defines a step surface 166 that extends between an inner side 167a and an outer side 167b. The movable step 160 is supported by a first support member 168 and a second support member 170. The movable step 160 is rotatably coupled to the first and second rotary actuators 162, 164 with a pair of arms 172, 174 and a pair of links 176, 178. The pair of arms 172, 174 includes a first arm 172 and a second arm 174, and the pair of links 176, 178 includes a first link 176 and a second link 178. On a first side 180 of the movable step 160, an interior clutch plate 16 of the first rotary actuator 162 is coupled to a first end 182 of the first arm 172, and the first support member 168 is pivotally coupled to a second end 184 of the first arm 172. As illustrated, the pair of arms 172, 174 are arcuate in shape, have substantially equal lengths, and define a plurality of through holes 186. One of the ports 92 of the first rotary actuator 162 is pivotally coupled to a first end 188 of the first link 176, and a second end 190 of the first link 176 is pivotally coupled to the first support member 168. The pair of links 176, 178 are also arcuate in shape and are positioned above the arms 172, 174 with respect to a vessel 192 when the movable step 160 is in an extended position 212, as discussed further below.

[0048] On a second side 194 of the movable step 160, an interior clutch plate 16 of the second rotary actuator 164 is coupled to a first end 196 of the second arm 174, and the second member 170 of the movable step 160 is pivotally coupled to a second end 198 of the second arm 174. Furthermore, one of the ports 92 of the second rotary actuator 164 is pivotally coupled to a first end 200 of the second link 178, and a second end 202 of the second link 178 is pivotally coupled to the second member 170.

[0049] Many components of the articulated step arrangement 158, such as the support members 168, 170, the pair of arms 172, 174, the pair of links 176, 178, and other components may be laser cut tubing, the tubing being a durable material such as aluminum or stainless steel. In alternative embodiments, carbon fiber steps and rails are also contemplated, as well as teak / EVA / Acrylic / carbon treads and stab-in handrails.

[0050] Referring still to FIGS. 11 and 12, the first and second rotary actuators 162, 164 are provided to simultaneously drive the movable step 160, and the control board 114 of each of the first and second rotary actuators 162, 164 is in communication with the other of the first and second rotary actuators 162, 164 and / or a stand-alone control area network (CAN) controller and / or a multi-function display. As with other applications, the control board 114 and / or control module may enable digital current control of torque output of the first and second rotary actuators 162, 164.

[0051] The movable step 160 is operable between a retracted position 206 (FIG. 11) and an extended position 212 (FIG. 12). The first and second rotary actuators 162, 164 are secured to a marine surface 208 under a gunwale 210 of the vessel 192. When the movable step 160 is in the retracted position 206 and the interior clutch plates 16 of the first and second rotary actuators 162, 164 are rotated in a first direction 214 (FIG. 13), the pair of arms 172, 174 and the pair of links 176, 178 pivot the movable step 160 from the retracted position 206 toward the extended position 212. When the movable step 160 is in the extended position 212, the inner side 167a of the step surface 166 is situated proximate the marine surface 208. The movable step 160 may also then be pivoted from the extended position 212 toward the retracted position 206 in response to rotation of the interior clutch plates 16 of the first and second rotary actuators 162, 164 in a second direction 216. When the movable step 160 is in the retracted position 206, the step surface 166 substantially faces the marine surface 208.

[0052] With further reference to FIGS. 11 and 12, the first ends 188, 200 of the pair of links 176, 178 are situated below the second ends 190, 202 of the pair of links 176, 178 in the retracted position 206. Similarly, the first ends 182, 196 of the pair of arms 172, 174 are situated below the second ends 184, 198 of the pair of arms 172, 174 in the retracted position 206. Furthermore, when the movable step 160 is in the extended position 212, the second end 190 of the first link 176 is further from the output axes 22 of the first and second rotary actuators 162, 164 than the second end 184 of the first arm 172. When the movable step 160 is in the retracted position 206, the second end 190 of the first link 176 is situated closer to the output axes 22 of the first and second rotary actuators 162, 164 than the second end 184 of the first arm 172. Similarly, when the movable step 160 is in the extended position 212, the second end 202 of the second link 178 is further from the output axes 22 of the first and second rotary actuators 162, 164 than the second end 198 of the second arm 174. When the movable step 160 is in the retracted position 206, the second end 202 of the second link 178 is situated closer to the output axes 22 of the first and second rotary actuators 162, 164 than the second end 198 of the second arm 174. This configuration enables the movable step 160 to rotate with respect to the vessel 192 upon rotation of the interior clutch plates 16 of the first and second rotary actuators 162, 164.

[0053] Referring to FIG. 13, the rotary actuator 10 is utilized in a single actuator arrangement 218 for the articulated step arrangement 158. The rotary actuator 10 is secured to the marine surface 208 of the vessel 192. On a drive side 220 of the movable step 160, which is illustrated as the second side 194 of the movable step 160, the first end 196 of the second arm 174 is coupled to the clutch plate 16 of the rotary actuator 10, and the second end 198 of the second arm 174 is pivotally coupled to the second support member 170. The first end 200 of the second link 178 is pivotally coupled to one of the ports 92 of the rotary actuator 10, and the second end 202 of the second link 178 is pivotally coupled to the second support member 170 at a connection location further from the rotary actuator 10 than the second end 198 of the second arm 174 when the movable step 160 is in the extended position 212. This configuration of the second link 178 and the second arm 174 pivots the movable step 160 between the retracted position 206 of the movable step 160 and the extended position 212 of the movable step 160 in response to rotation of the clutch plate 16 of the rotary actuator 10.

[0054] The movable step 160 also includes a driven side 222, which is illustrated as the first side 180 of the movable step 160 in FIG. 13. A support bracket 224 and a rotary bearing 226 are provided at the driven side 222 of the movable step 160, the support bracket 224 securing to the marine surface 208 and the rotary bearing 226 disposed on the support bracket 224. The driven side 222 of the movable step 160 is pivotally coupled to the support bracket 224 via the rotary bearing 226 and therefore is pivotally coupled to the marine surface 208. The driven side 222 of the movable step 160 includes the first link 176 and the first arm 172 to assist with operating the movable step 160 between the extended position 212 and the retracted position 206. The first end 182 of the first arm 172 is pivotally coupled to the support bracket 224 via the rotary bearing 226, while the second end 184 of the first arm 172 is pivotally coupled to the movable step 160. The first end 188 of the first link 176 is pivotally coupled to a bracket port 227 defined by the support bracket 224, where the bracket port 227 is spaced from the rotary bearing 226, and the second end 190 of the first link 176 is pivotally coupled to the movable step 160.

[0055] With reference to FIGS. 11-13, each of the pair of links 176, 178 includes a notch 228 configured to receive one of the pair of arms 172, 174. The notch 228 of the first link 176 is configured to receive the second end 184 of the first arm 172, and the notch 228 of the second link 178 is configured to receive the second end 198 of the second arm 174 when the movable step 160 is in the extended position 212. The notch 228 acts as a mechanical stop to prevent the movable step 160 from extending past a desired position, which may be the extended position 212, and / or to prevent the clutch plate 16 of the rotary actuators 162, 164 from rotating past a desired rotational angle.

[0056] Referring now to FIG. 14, the rotary actuator 10 is utilized in a twin actuator arrangement 204 for an articulated arrangement 230. The articulated rod rack arrangement 230 includes a pair of rack arms 232, where each of the pair of rack arms 232 is coupled to an interior clutch plate 16 of one of the first and second rotary actuators 162, 164. The articulated rod rack arrangement 230 is configured to rotate a rod rack 234 between one or more positions, including a fully lowered position A, a fully raised position B, and an intermediate position C.

[0057] Referring now to FIG. 15, the illustrated equations describe the relationship between the angular velocity of the worm gear 42 and the torque output of the worm gear 42, given that the worm gear assembly 38 is a one-start assembly, and the gearmotor 40 has a 50:1 gear ratio. The torque output of the rotary actuator 10 may further depend on a variety of other variables, notable variables including gear efficiency of the worm gear assembly 38 and whether the worm gear assembly 38 is polished or not polished.

[0058] Referring now to FIG. 16, the housing 14 of the rotary actuator 10 also defines a manual drive port 236 exposing the outer flanged bearing 48, the outer flanged bearing 48 being configured to receive an adjustment device. A user may manipulate the outer flanged bearing 48 with the adjustment device and cause rotation of the clutch plate 16 via rotation of the drive train 35 without actuation of the rotary actuator 10, thereby providing a manual override.

[0059] The rotary actuator 10 and the various arrangements described herein feature a compact, efficient, and streamlined construction that is configured to withstand wet environments. For example, the one or more rotary actuators 10 provided in a given arrangement, such as the articulated step arrangement 158, may have an ingress protection (IP) rating of IP66, IP67, or IP68. Features of the drive train 35 of the rotary actuator 10, including the worm gear assembly 38, provide variability in torque and speed of the rotary actuator(s) 10 at the clutch plate(s) 16. Wireless and / or wired electrical connection abilities make the one or more rotary actuators 10 and / or the arrangements described herein versatile across applications and convenient to use.

[0060] In the foregoing description, it will be readily appreciated by those skilled in the art that modifications may be made to the embodiments as disclosed herein without departing from the concepts as disclosed herein.

[0061] For purposes of this disclosure, the term “coupled” (in all of its forms, couple, coupling, coupled, etc.) generally means the joining of two components (electrical or mechanical) directly or indirectly to one another. Such joining may be stationary in nature or movable in nature. Such joining may be achieved with the two components (electrical or mechanical) and any additional intermediate members being integrally formed as a single unitary body with one another or with the two components. Such joining may be permanent in nature or may be removable or releasable in nature unless otherwise stated.

[0062] It is also important to note that the construction and arrangement of the elements of the disclosure, as shown in the exemplary embodiments, are illustrative only. Although only a few embodiments of the present innovations have been described in detail in this disclosure, those skilled in the art who review this disclosure will readily appreciate that many modifications are possible (e.g., variations in sizes, dimensions, structures, shapes, and proportions of the various elements, values of parameters, mounting arrangements, use of materials, colors, orientations, etc.) without materially departing from the novel teachings and advantages of the subject matter recited. For example, elements shown as integrally formed may be constructed of multiple parts, or elements shown as multiple parts may be integrally formed, the operation of the interfaces may be reversed or otherwise varied, the length or width of the structures and / or members or connector or other elements of the system may be varied, the nature or number of adjustment positions provided between the elements may be varied. It should be noted that the elements and / or assemblies of the system may be constructed from any of a wide variety of materials that provide sufficient strength or durability, in any of a wide variety of colors, textures, and combinations. Accordingly, all such modifications are intended to be included within the scope of the present innovations. Other substitutions, modifications, changes, and omissions may be made in the design, operating conditions, and arrangement of the desired and other exemplary embodiments without departing from the spirit of the present innovations.

[0063] It will be understood that any described processes or steps within described processes may be combined with other disclosed processes or steps to form structures within the scope of the present disclosure. The exemplary structures and processes disclosed herein are for illustrative purposes and are not to be construed as limiting.

Examples

Embodiment Construction

[0022]For purposes of description herein, the terms “upper,”“lower,”“right,”“left,”“rear,”“front,”“vertical,”“horizontal,” and derivatives thereof shall relate to the invention as oriented in FIGS. 1 and 11. Unless stated otherwise, the term “front” shall refer to the surface of the element closer to an intended viewer of the mirror element, and the term “rear” shall refer to the surface of the element further from the intended viewer of the mirror element. However, it is to be understood that the invention may assume various alternative orientations, except where expressly specified to the contrary. It is also to be understood that the specific devices and processes illustrated in the attached drawings, and described in the following specification are simply exemplary embodiments of the inventive concepts defined in the appended claims. Hence, specific dimensions and other physical characteristics relating to the embodiments disclosed herein are not to be considered as limiting, un...

CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims benefit to U.S. Provisional Patent Application No. 63 / 698,742, filed Sep. 25, 2024, entitled “ARTICULATING MARINE STEP ARRANGEMENT AND ACTUATOR ARRANGEMENT,” the entire disclosure of which is incorporated herein by reference.BACKGROUND OF THE DISCLOSURE

[0002] The present disclosure generally relates to a marine step arrangement and in particular to an articulating marine step arrangement where a step is actuated by a rotary actuator for multiple uses in the marine market, including an articulated step application, a rod rack application, and the like.SUMMARY OF THE DISCLOSURE

[0003] One example as shown and described herein includes an articulating step arrangement for a marine vehicle having a pair of rotary actuators configured to couple to a surface of a marine vehicle, each rotary actuator of the pair of rotary actuators including a housing assembly, a motor positioned within the housing assembly and having a motor shaft rotatable about an input axis, a gear assembly including a worm gear driven by the motor shaft and a wheel gear driven by the worm gear, and a clutch plate rotatably coupled to the housing assembly and rotatable about an output axis, the clutch plate defining one or more attachment points. A step assembly includes a pair of arms each defining a first end coupled to the one or more attachment points of the clutch plate of one of the pair of rotary actuators and a second end, a pair of links each defining a first end pivotally coupled to one of the pair of rotary actuators and a second end, and a step member pivotally coupled to the second end of each of the pair of arms and the second end of each of the pair of links such that the step member is movable between a retracted position and an extended position.

[0004] Another example as shown and described herein may further or alternatively include an articulating step arrangement for a marine vehicle having a rotary actuator configured to couple to a surface of a marine vehicle, the rotary actuator comprising a housing assembly, a motor contained within the housing assembly, and a worm gear assembly contained within the housing assembly and operably coupled to the motor. An arm includes a first end and a second end, wherein the first end of the arm is operably coupled to the worm gear assembly, a link includes a first end and a second end, wherein the first end of the link is pivotally coupled to the rotary actuator, and a step member is pivotally coupled to the second end of the arm and the second end of the link, wherein the step member is operable between a retracted position and an extended position via the worm gear assembly.

[0005] Yet another example as shown and described herein may further or alternatively include an articulating step arrangement for a marine vehicle having a first rotary actuator configured to be coupled to a surface of a marine vehicle, the first rotary actuator including a motor cover containing a motor, a housing containing a worm gear assembly including a worm gear operably coupled to the motor and a wheel gear engaging the worm gear, and a clutch plate operably coupled to the wheel gear and rotatably coupled to the housing, wherein the clutch plate is rotatably drivable by the motor via the worm gear assembly, and wherein the motor cover is hermetically sealed to the housing and the clutch plate is hermetically sealed to the housing. A step assembly has an arm including a first end operably coupled to the clutch plate, and a second end, a link including a first end pivotally actuable with respect to the housing and a second end, and a step member pivotally coupled to the second end of the arm and the second end of the link, such that the step member is movable between a retracted position and an extended position.BRIEF DESCRIPTION OF THE DRAWINGS

[0006] FIG. 1 is a side perspective view of a rotary actuator for multiple marine applications;

[0007] FIG. 2 is a side perspective view of a drive train of the rotary actuator;

[0008] FIG. 3 is a cross-sectional, side perspective view of the rotary actuator;

[0009] FIG. 4 is a cross-sectional perspective end view of the rotary actuator;

[0010] FIG. 5 is a side perspective view of a housing of the rotary actuator where the housing is partially hidden to show a wheel gear and a clutch of the drive train of the rotary actuator;

[0011] FIG. 6 is a perspective view of the rotary actuator where the housing is hidden to show components of the drive train of the rotary actuator;

[0012] FIG. 7 is an exploded perspective view of the rotary actuator;

[0013] FIG. 8 is a top perspective view of the rotary actuator, wherein the motor cover is partially hidden;

[0014] FIG. 9 is a perspective view of the housing of the rotary actuator;

[0015] FIG. 10 is a side perspective view of the rotary actuator where the housing is hidden to show the worm gear and the wheel gear, where the wheel gear is partially hidden to show a pair of clutches of the drive train of the rotary actuator;

[0016] FIG. 11 is a side perspective view of an articulated step arrangement mounted under a gunwale of a marine vessel with a step in a retracted position, the articulated step arrangement including two rotary actuators;

[0017] FIG. 12 is a side perspective view of the articulated step arrangement mounted under the gunwale of the marine vessel with the step in an extended position, the articulated step arrangement including two rotary actuators;

[0018] FIG. 13 is a side perspective view of the articulated step arrangement mounted under the gunwale of the marine vessel with the step in a retracted position, the articulated step arrangement including one rotary actuator;

[0019] FIG. 14 is a side perspective view of an articulating rod rack arrangement including a rod rack and two rotary actuators, where the rod rack is shown in a fully lowered position, a fully raised position, and an intermediate position;

[0020] FIG. 15 is a line graph showing the relationship between an angular velocity of a one-start worm gear assembly and a torque output of the one-start worm gear assembly, where the rotary actuator has a 50:1 gear ratio; and

[0021] FIG. 16 is a side perspective view of the rotary actuator integrated within the articulated step arrangement mounted under the gunwale of the marine vessel, where the rotary actuator includes a manual drive port.DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0022] For purposes of description herein, the terms “upper,”“lower,”“right,”“left,”“rear,”“front,”“vertical,”“horizontal,” and derivatives thereof shall relate to the invention as oriented in FIGS. 1 and 11. Unless stated otherwise, the term “front” shall refer to the surface of the element closer to an intended viewer of the mirror element, and the term “rear” shall refer to the surface of the element further from the intended viewer of the mirror element. However, it is to be understood that the invention may assume various alternative orientations, except where expressly specified to the contrary. It is also to be understood that the specific devices and processes illustrated in the attached drawings, and described in the following specification are simply exemplary embodiments of the inventive concepts defined in the appended claims. Hence, specific dimensions and other physical characteristics relating to the embodiments disclosed herein are not to be considered as limiting, unless the claims expressly state otherwise.

[0023] Referring now to FIG. 1, reference numeral 10 generally designates a rotary actuator for use within an articulating step arrangement 158 (FIG. 11) as described below. The rotary actuator 10 generally includes a motor cover 12 and a housing 14. Together, the motor cover 12 and the housing 14 form a housing assembly 15. Connected to the housing 14 is a clutch plate 16 configured to rotate with respect to the housing 14. The motor cover 12 has an attachment end 18 coupled to the housing 14 and a free end 20 protruding from the housing 14. The clutch plate 16 is rotatable about an output axis 22 that is substantially perpendicular to an input axis 24 of a motor 26, the motor 26 being disposed within the motor cover 12. The output axis 22 is further offset from the input axis 24. The clutch plate 16 has several attachment points 28 that may receive a variety of components, such as marine step linkages, Bimini top components, rod rack arms, bulwark components, and other apparatuses as described below. Generally, the clutch plate 16 may freely rotate zero to 360 degrees or more. In alternative embodiments, rotation of the clutch plate 16 may be manually or electronically limited to a narrower rotational range.

[0024] The coupling of the housing 14 and the attachment end 18 of the motor cover 12 creates a sealed connection provided by a sealant to retain lubrication in the housing 14 and / or to prevent water intrusion into the rotary actuator 10. The attachment end 18 of the motor cover 12 may define threads configured to secure to the housing 14. The housing 14 generally comprises two housing halves 32, which are also coupled together using sealant to form a sealed connection. When the housing halves 32 are coupled, the housing 14 defines an attachment port 34 that receives the attachment end 18 of the motor cover 12. The sealant used in the constructions described herein may include but is not limited to an elastomeric seal, an O-ring, and / or a liquid sealant such as Aviation Form-A-Gasket No. 3 Sealant, as available from Permatex®.

[0025] Referring to FIGS. 2 and 3, the rotary actuator 10 includes a drive train 35. To maximize the available torque of the rotary actuator 10, a gear reduction assembly 36 is coupled to the motor 26, and the gear reduction assembly 36 is connected to a worm gear assembly 38. The motor 26 and the gear reduction assembly 36 may be provided as a single, integrated unit or as multiple separate components. As illustrated, the motor 26 and the gear reduction assembly 36 are combined into a single, integrated unit, forming a gearmotor 40.

[0026] The gear reduction assembly 36 may include a variety of different gear ratios and in response can vary the power output of the drive train 35 for a given angular velocity. Alternatively, the angular velocity can be varied in response to an alteration of the gear ratio of the gear reduction assembly 36. The gear reduction assembly 36 may be a two-stage planetary gear assembly, a three-stage planetary gear assembly, or a further-staged assembly based on the use case of the rotary actuator 10. For example, a gear reduction ratio for marine boarding step arrangements may be 12.5:1; a gear reduction ratio for articulated rod rack arrangements may be 25:1; and a gear reduction ratio for powered door or bulwark arrangements may be 50:1.

[0027] The worm gear assembly 38 includes a worm gear 42 and a wheel gear 44. The worm gear 42 is situated between two flanged bearings 46, 48, has one or more helical teeth 50, and generally has between one and six starts. The worm gear 42 also has a first worm end 52 and a second worm end 54. The wheel gear 44 has slanted teeth 56 configured to receive the helical teeth 50 of the worm gear 42 as the worm gear 42 rotates. The rotation of the worm gear 42 occurs along the input axis 24, which runs along the worm gear 42 and through the flanged bearings 46, 48. The input axis 24 is substantially coaxial to the axis of rotation of a motor shaft 58 of the motor 26. According to some aspects, the first worm end 52 of the worm gear 42 is either directly connected to the motor shaft 58 of the motor 26 or coupled to the motor shaft 58 via an adapter piece 60. The coaxial relationship between the input axis 24 and the axis of rotation of the motor shaft 58 is not required for the rotary actuator 10.

[0028] In a use case where the prevention of back driving of the drive train 35 of the rotary actuator 10 is preferred, the wheel gear 44 may have fifty or more slanted teeth 56. In the rotary actuator 10 illustrated in FIG. 2, the wheel gear 44 has fifty slanted teeth 56. The wheel gear 44 also defines an opening 62 along the output axis 22 about which the wheel gear 44 rotates. A clutch 64 is coupled to the wheel gear 44 and is disposed within the opening 62 such that the clutch 64 rotates coaxially with the wheel gear 44. The opening 62 of the wheel gear 44 has an engagement mechanism 66 to couple the wheel gear 44 and the clutch 64, which may include internal fingers, hex grooves, double hex grooves, or spline grooves. The clutch 64 is further configured to engage with the clutch plate 16 such that the clutch plate 16 is rotatably coupled to the housing 14.

[0029] With reference to FIGS. 2 and 3, the wheel gear 44 is encapsulated with the housing 14 such that the wheel gear 44 does not intersect the input axis 24. The motor 26 sits within the motor cover 12. The motor 26 is connected to the gear reduction assembly 36 that is in turn connected to the adapter piece 60. The adapter piece 60 is also connected to the worm gear 42 such that rotation of the worm gear 42 is driven by the actuation of the motor 26. When the motor cover 12 is coupled to the housing 14, the gearmotor 40 is disposed within the motor cover 12, and the adapter piece 60 is partially disposed in both the motor cover 12 and the housing 14. It is contemplated that the adapter piece 60 may be fully disposed in either the housing 14 or the motor cover 12. In some constructions, the gear reduction assembly 36 or the worm gear 42 may be partially encapsulated in the motor cover 12 and the housing 14.

[0030] Referring now to FIGS. 3-5, the rotary actuator 10 is shown having a pair of clutches 68, 70 and a pair of clutch plates 72, 74. The pair of clutches 68, 70 includes a first clutch 68 and a second clutch 70, and the pair of clutch plates 72, 74 includes a first clutch plate 72 and a second clutch plate 74. The pair of clutches 68, 70 are disposed within the opening 62 of the wheel gear 44 on opposing sides of a rotation plane 76 of the wheel gear 44. Further from the rotation plane 76 are the pair of clutch plates 72, 74. The first clutch 68 and the first clutch plate 72 are disposed on a first side 78 of the wheel gear 44, while the second clutch 70 and the second clutch plate 74 are disposed on a second side 80 of the wheel gear 44. The first clutch plate 72 is coupled to the first clutch 68, and the second clutch plate 74 is coupled to the second clutch 70. The first clutch 68 is configured to engage to and disengage from the first clutch plate 72 in response to the rotation of the wheel gear 44 and torque loads applied to the first clutch plate 72. Similarly, the second clutch 70 is configured to engage to and disengage from the second clutch plate 74 in response to the rotation of the wheel gear 44 and torque loads applied to the second clutch plate 74.

[0031] According to some aspects, the clutch plates 72, 74 are not directly coupled to the wheel gear 44. The pair of clutches 68, 70 are received by an output shaft 82 and are secured on the output shaft 82 by a pair of opposing securement pins 84 coupled to the output shaft 82. The securement pins 84 may be a three-millimeter alignment pin. Notably, the exact dimensions of the securement pins 84 may vary.

[0032] Referring to FIGS. 4-6, the clutches 68, 70 are configured to engage the clutch plates 72, 74. When the motor 26 of the rotary actuator 10 is activated, the motor shaft 58 drives the worm gear assembly 38. The clutches 68, 70 rotate with the wheel gear 44 and engage the clutch plates 72, 74, and the wheel gear 44 drives the clutch plates 72, 74 as a result. In some instances, the clutches 68, 70 are clutch discs or friction discs, and incorporate Belleville washers 85, respectively, to bias the clutches 68, 70 toward the clutch plates 72, 74, respectively. Notably, the clutches 68, 70 herein are not limited to such configurations. For example, the exclusion of the clutches 68, 70 in the drive train 35 may be preferred.

[0033] The wheel gear 44 is rotatably coupled to the housing 14 via two annular bearings 86, 88. Particularly, a first annular bearing 86 is disposed on the first side 78 of the wheel gear 44 between the wheel gear 44 and the housing 14, and a second annular bearing 88 is disposed on the second side 80 of the wheel gear 44 between the wheel gear 44 and the housing 14. The annular bearings 86, 88 are respectively separated from the clutch plates 72, 74 by a pair of worm gaskets 90, respectively. The pair of worm gaskets 90 provide a water-tight seal between the clutch plates 72, 74 and the housing 14, respectively, such that the connection between the clutch plates 72, 74 and the housing 14 has an ingress protection rating of at least IP66. In alternative embodiments, the connection between the clutch plates 72, 74 and the housing 14 may have an ingress protection rating of IP67 or IP68.

[0034] The housing halves 32 (FIG. 5) of the housing 14 are generally coupled together to encapsulate the wheel gear assembly 38 and the first and second clutches 68, 70. The housing halves 32 are connected using fasteners and / or a sealant. The housing halves 32 are further configured to couple to the motor cover 12 and the first and second clutch plates 72, 74. One or more ports 92 are also optionally defined by the housing 14 which may be utilized for the attachment of mechanical components in certain applications.

[0035] With reference to FIGS. 5-7, a side plate 94 is disposed on the side of the housing 14. The side plate 94 covers a side cavity 96 in which a sensor 98 is disposed. The side plate 94 is coupled to the housing 14 via fasteners and / or a sealant. For example, a screw, such as a hex screw, may be used to couple the housing halves 32 and / or the side plate 94 to the housing 14. If liquid sealant is used, the liquid sealant is disposed along points of contact between the housing halves 32 and / or between the side plate 94 and the housing 14, creating a sealed connection having an ingress protection rating of at least IP66. In some instances, the sealed connection between the housing halves 32 and / or between the side plate 94 and the housing 14 may have an ingress protection rating of IP67 or IP68. Liquid sealant, such as Permatex #3, may be used. The attachment end 18 of the motor cover 12 may define threads that are received by the housing 14. Here, a gasket and / or a liquid sealant, such as Permatex #3, may be used to create a sealed connection between the motor cover 12 and the housing 14 with an ingress protection rating of at least IP66.

[0036] The sensor 98 is disposed within the side cavity 96 of the housing 14 to detect a rotational position of the first clutch plate 72. The first clutch plate 72 has a perimeter 100 that includes a flange 102 extending toward the housing 14. The flange 102 extends into a detection path 104 of the sensor 98 when the flange 102 is in a base position. The flange 102 is configured to move into and out of the detection path 104 of the sensor 98 in response to rotation of the first clutch plate 72. The first clutch plate 72 is rotatable between a stowed position of zero degrees to a deployed position that can be a rotation of one to 360 or more degrees. For example, one rotational range between the stowed position and the deployed position for articulated steps or powered seats may be 30 to 135 degrees. In other applications, such as a lead / ball screw or belt drive for powered doors, the range of rotation of the first clutch plate 72 may be many revolutions of the first clutch plate 72. In some instances, there may be more than one flange 102 included on the perimeter 100 of the first clutch plate 72. The direction of the detection path 104 is not limited to a vertical direction. The second clutch plate 74 may have a similar construction relative to the first clutch plate 72. In some instances, the rotary actuator 10 may include multiple sensors 98 disposed proximate each of the first side 78 of the wheel gear 44 and the second side 80 of the wheel gear 44.

[0037] Referring still to FIGS. 5-7, the flange 102 may include a flag 106 signaling a home position of the clutch plate 16. The flag 106 may include an IP67 switch, a magnetic reed switch, or an inductive proximity switch, for example. The flag 106 may be machined into the flange 102 or may be fixed to the flange 102. The rotary actuator 10 may include end of stroke signaling or rely solely on a torque limiting clutch or a current limiting device to prevent damage at the end of an operation of the rotary actuator 10. In applications including end of stroke signaling, the rotary actuator 10 may acquire one or more end of stroke signals from the sensor 98.

[0038] The flanged bearings 46, 48 are fixed within the housing 14 and are axially aligned with the input axis 24 of the worm gear 42, the flanged bearings 46, 48 each having a thrust bearing surface 108. Bearings of a plain bearing type or Delrin bearing type may be used for the flanged bearings 46, 48. An inner flanged bearing 46 is disposed at the first worm end 52 proximate the motor cover 12, and an outer flanged bearing 48 is disposed at the second worm end 54 proximate an end 110 of the housing 14 opposite the motor cover 12. The inner and outer flanged bearings 46, 48 are further configured to receive the worm gear 42, enabling rotation of the worm gear 42 with respect to the housing 14, the worm gear 42 rotating about the input axis 24. To prevent wear, a hardened washer 112 is disposed between the outer flanged bearing 48 and the helical teeth 50 of the worm gear 42 and receives the worm gear 42. The flanged bearings 46, 48 further retain the worm gear 42 at a position proximate to the wheel gear 44 such that the slanted teeth 56 of the wheel gear 44 receive the helical teeth 50 of the worm gear 42. Notably, additional bearings may be respectively disposed between the inner flanged bearing 46 and the worm gear 42 and between the outer flanged bearing 48 and the worm gear 42.

[0039] Referring now to FIGS. 7 and 8, the rotary actuator 10 is configured to operate on common direct current system voltages and may also communicate with digital switching systems pursuant to the NMEA 2000 standard. The articulation and control of the actuation of the rotary actuator 10 may be controlled by a switch, controller area network controller, and / or a multifunction display. In applications utilizing more than one rotary actuator 10, operation of the rotary actuators 10 may be tied together to perform common functions, achieve motor synchronization, and allow simultaneous monitoring. To achieve methods of communication, articulation, and control, the rotary actuator 10 includes a control board 114 disposed within a control compartment 116 in the housing 14. The control board 114 disposed in the control compartment 116 of the housing 14 may enable one or more of these desired methods, the combination of which may vary between applications. Utilizing internal sensors and controls, the control board 114 may be in communication with a control module or other actuators to perform functions including sequencing, position limiting, and / or force limiting.

[0040] The control compartment 116 may further house wiring for electronic arrangements such as the motor 26, an encoder, and end of stroke switches. The control compartment 116 is configured to couple to an external surface, creating a water-tight seal between the control compartment 116 and an environment external to the rotary actuator 10. Particularly, the control compartment 116 defines a perimeter 118 with a groove 120 running along the perimeter 118 of the control compartment 116. The groove 120 is configured to receive a gasket to assist with creating a sealed connection between the housing 14 and an external surface, providing the control compartment 116 with an ingress protection rating of IP66, IP67, or IP68. In some embodiments, the gasket may include an O-ring.

[0041] With further reference to FIGS. 7-8, the motor 26 is disposed within the motor cover 12. The motor 26 is coupled to the gear reduction assembly 36, and the gear reduction assembly 36 is in turn coupled to the adapter piece 60, wherein the adapter piece 60 is coupled to the worm gear 42 of the worm gear assembly 38. The gear reduction assembly 36 is coupled to a motor adaptor 124. The motor adaptor 124 is configured to connect to a variety of motors and gear reduction assemblies via fasteners, such as studs or threaded cap screw fasteners, for example. An outer diameter 126 of the motor adaptor 124 may further define threads configured to couple to threads of the motor cover 12. In such constructions, the motor adaptor 124 is in turn coupled to the housing 14. A sealant may also be used to create a sealed connection between the motor adaptor 124 and the motor cover 12 and a sealed connection between the motor adaptor 124 and the housing 14. If an O-ring, seal, or gasket is used to seal the connection of the motor adaptor 124 and the motor cover 12, the motor cover 12 may further define a seal groove to receive the O-ring, seal, or gasket.

[0042] According to some aspects, a pair of intermediate plates 130 are coupled to the pair of clutches 68, 70, respectively, and respectively positioned on the first side 78 of the wheel gear 44 and the second side 80 of the wheel gear 44. Each of the intermediate plates 130 axially receives the output shaft 82 and is configured to rotate about the output axis 22. Furthermore, each of the intermediate plates 130 is connected to one of the first clutch plate 72 and the second clutch plate 74 such that the intermediate plate 130 and one of the clutch plates 72, 74 rotate about the output axis 22 together with the same angular velocity.

[0043] Referring to FIGS. 5-7, the housing 14 of the rotary actuator 10 is configured to receive port liners 132 within the ports 92 of the housing 14. As illustrated, the housing 14 defines two ports 92, each port 92 receiving two port liners 132. Accordingly, four port liners 132 are disposed in the housing 14. Each port liner 132 includes one insertion end 134 and one flanged end 136 that restrains the depth at which the port liner 132 may be inserted into the port 92 of the housing 14. Each housing half 32 includes two port liners 132. It is contemplated that the number of ports 92 and the dimensions of the port liners 132 may vary between constructions.

[0044] Referring now to FIGS. 7-9, the housing 14 includes the control compartment 116, the side cavity 96, and a primary cavity 138 configured to house the worm gear assembly 38. The control compartment 116 is configured to sealably couple to an external surface. The primary cavity 138 is configured to sealably couple to the clutch plates 72, 74. The side cavity 96 is configured to sealably couple to the side plate 94. In some instances, the housing 14 may also include auxiliary cavities in various locations about the housing 14 for accessing mounted switches, wiring, and / or mounting hardware. Auxiliary covers can further be used to sealably couple to the auxiliary cavities, creating a sealed connection with an ingress protection rating of at least IP66. A sealant may be used for the sealed connection between an auxiliary cavity and an auxiliary cover to achieve at least an IP66 ingress protection rating. Each of the control compartment 116, side cavity 96, primary cavity 138, and auxiliary cavities may define through ports therein to enable the passage of electronic wiring and similar components through the housing 14.

[0045] The housing 14 has a contour designed to limit pinch points and prevent access to open gear faces. The housing 14, illustrated in FIG. 9, defines a head 146, a neck 148, and a base 150. The head 146 of the housing 14 is substantially cylindrical in shape and includes filleted edges 152. The neck 148 of the housing 14 has a cross-section that is primarily rectangular in shape, having filleted corners 154. The base 150 of the housing 14 has a rectangular cross-section that is larger than the cross-section of the neck 148, the base 150 also having filleted corners 154. The housing 14 may be made of material including but not limited to stainless steel.

[0046] Referring to FIGS. 4 and 10, a combination of one of the pair of clutches 68, 70 and one of the Belleville washers 85 forms a clutch assembly 156. The clutch assembly 156 relies on force generated by the Belleville washers 85, which are in contact with the wheel gear 44, to drive rotation of one of the clutch plates 72, 74. Each of the pair of clutches 68, 70 may be a torque limiting clutch in some instances, such as those where an undesired amount of force and / or torque may be applied to the rotary actuator 10. The pair of clutches 68, 70 may further be made of a variety of materials, including stainless steel, titanium, brass, steel, or aluminum. Furthermore, the pair of clutches 68, 70 may be laser-cut or stamped sheet metal and may have a variety of friction coefficients and mechanical properties. The Belleville washers 85 may be substituted with alternative springs, and the number of Belleville washers 85 in the clutch assembly 156 may vary. Each of the Belleville washers 85 may also be a series of internally splined, hex, or pinned discs positioned between one of the pair of clutches 68, 70 and the wheel gear 44.

[0047] With reference to FIGS. 11 and 12, one or more rotary actuators 10 may be incorporated within an articulated step arrangement 158. As illustrated, the articulated step arrangement 158 is a twin actuator arrangement 204 that includes a movable step 160, a first rotary actuator 162 and a second rotary actuator 164. The movable step 160 defines a step surface 166 that extends between an inner side 167a and an outer side 167b. The movable step 160 is supported by a first support member 168 and a second support member 170. The movable step 160 is rotatably coupled to the first and second rotary actuators 162, 164 with a pair of arms 172, 174 and a pair of links 176, 178. The pair of arms 172, 174 includes a first arm 172 and a second arm 174, and the pair of links 176, 178 includes a first link 176 and a second link 178. On a first side 180 of the movable step 160, an interior clutch plate 16 of the first rotary actuator 162 is coupled to a first end 182 of the first arm 172, and the first support member 168 is pivotally coupled to a second end 184 of the first arm 172. As illustrated, the pair of arms 172, 174 are arcuate in shape, have substantially equal lengths, and define a plurality of through holes 186. One of the ports 92 of the first rotary actuator 162 is pivotally coupled to a first end 188 of the first link 176, and a second end 190 of the first link 176 is pivotally coupled to the first support member 168. The pair of links 176, 178 are also arcuate in shape and are positioned above the arms 172, 174 with respect to a vessel 192 when the movable step 160 is in an extended position 212, as discussed further below.

[0048] On a second side 194 of the movable step 160, an interior clutch plate 16 of the second rotary actuator 164 is coupled to a first end 196 of the second arm 174, and the second member 170 of the movable step 160 is pivotally coupled to a second end 198 of the second arm 174. Furthermore, one of the ports 92 of the second rotary actuator 164 is pivotally coupled to a first end 200 of the second link 178, and a second end 202 of the second link 178 is pivotally coupled to the second member 170.

[0049] Many components of the articulated step arrangement 158, such as the support members 168, 170, the pair of arms 172, 174, the pair of links 176, 178, and other components may be laser cut tubing, the tubing being a durable material such as aluminum or stainless steel. In alternative embodiments, carbon fiber steps and rails are also contemplated, as well as teak / EVA / Acrylic / carbon treads and stab-in handrails.

[0050] Referring still to FIGS. 11 and 12, the first and second rotary actuators 162, 164 are provided to simultaneously drive the movable step 160, and the control board 114 of each of the first and second rotary actuators 162, 164 is in communication with the other of the first and second rotary actuators 162, 164 and / or a stand-alone control area network (CAN) controller and / or a multi-function display. As with other applications, the control board 114 and / or control module may enable digital current control of torque output of the first and second rotary actuators 162, 164.

[0051] The movable step 160 is operable between a retracted position 206 (FIG. 11) and an extended position 212 (FIG. 12). The first and second rotary actuators 162, 164 are secured to a marine surface 208 under a gunwale 210 of the vessel 192. When the movable step 160 is in the retracted position 206 and the interior clutch plates 16 of the first and second rotary actuators 162, 164 are rotated in a first direction 214 (FIG. 13), the pair of arms 172, 174 and the pair of links 176, 178 pivot the movable step 160 from the retracted position 206 toward the extended position 212. When the movable step 160 is in the extended position 212, the inner side 167a of the step surface 166 is situated proximate the marine surface 208. The movable step 160 may also then be pivoted from the extended position 212 toward the retracted position 206 in response to rotation of the interior clutch plates 16 of the first and second rotary actuators 162, 164 in a second direction 216. When the movable step 160 is in the retracted position 206, the step surface 166 substantially faces the marine surface 208.

[0052] With further reference to FIGS. 11 and 12, the first ends 188, 200 of the pair of links 176, 178 are situated below the second ends 190, 202 of the pair of links 176, 178 in the retracted position 206. Similarly, the first ends 182, 196 of the pair of arms 172, 174 are situated below the second ends 184, 198 of the pair of arms 172, 174 in the retracted position 206. Furthermore, when the movable step 160 is in the extended position 212, the second end 190 of the first link 176 is further from the output axes 22 of the first and second rotary actuators 162, 164 than the second end 184 of the first arm 172. When the movable step 160 is in the retracted position 206, the second end 190 of the first link 176 is situated closer to the output axes 22 of the first and second rotary actuators 162, 164 than the second end 184 of the first arm 172. Similarly, when the movable step 160 is in the extended position 212, the second end 202 of the second link 178 is further from the output axes 22 of the first and second rotary actuators 162, 164 than the second end 198 of the second arm 174. When the movable step 160 is in the retracted position 206, the second end 202 of the second link 178 is situated closer to the output axes 22 of the first and second rotary actuators 162, 164 than the second end 198 of the second arm 174. This configuration enables the movable step 160 to rotate with respect to the vessel 192 upon rotation of the interior clutch plates 16 of the first and second rotary actuators 162, 164.

[0053] Referring to FIG. 13, the rotary actuator 10 is utilized in a single actuator arrangement 218 for the articulated step arrangement 158. The rotary actuator 10 is secured to the marine surface 208 of the vessel 192. On a drive side 220 of the movable step 160, which is illustrated as the second side 194 of the movable step 160, the first end 196 of the second arm 174 is coupled to the clutch plate 16 of the rotary actuator 10, and the second end 198 of the second arm 174 is pivotally coupled to the second support member 170. The first end 200 of the second link 178 is pivotally coupled to one of the ports 92 of the rotary actuator 10, and the second end 202 of the second link 178 is pivotally coupled to the second support member 170 at a connection location further from the rotary actuator 10 than the second end 198 of the second arm 174 when the movable step 160 is in the extended position 212. This configuration of the second link 178 and the second arm 174 pivots the movable step 160 between the retracted position 206 of the movable step 160 and the extended position 212 of the movable step 160 in response to rotation of the clutch plate 16 of the rotary actuator 10.

[0054] The movable step 160 also includes a driven side 222, which is illustrated as the first side 180 of the movable step 160 in FIG. 13. A support bracket 224 and a rotary bearing 226 are provided at the driven side 222 of the movable step 160, the support bracket 224 securing to the marine surface 208 and the rotary bearing 226 disposed on the support bracket 224. The driven side 222 of the movable step 160 is pivotally coupled to the support bracket 224 via the rotary bearing 226 and therefore is pivotally coupled to the marine surface 208. The driven side 222 of the movable step 160 includes the first link 176 and the first arm 172 to assist with operating the movable step 160 between the extended position 212 and the retracted position 206. The first end 182 of the first arm 172 is pivotally coupled to the support bracket 224 via the rotary bearing 226, while the second end 184 of the first arm 172 is pivotally coupled to the movable step 160. The first end 188 of the first link 176 is pivotally coupled to a bracket port 227 defined by the support bracket 224, where the bracket port 227 is spaced from the rotary bearing 226, and the second end 190 of the first link 176 is pivotally coupled to the movable step 160.

[0055] With reference to FIGS. 11-13, each of the pair of links 176, 178 includes a notch 228 configured to receive one of the pair of arms 172, 174. The notch 228 of the first link 176 is configured to receive the second end 184 of the first arm 172, and the notch 228 of the second link 178 is configured to receive the second end 198 of the second arm 174 when the movable step 160 is in the extended position 212. The notch 228 acts as a mechanical stop to prevent the movable step 160 from extending past a desired position, which may be the extended position 212, and / or to prevent the clutch plate 16 of the rotary actuators 162, 164 from rotating past a desired rotational angle.

[0056] Referring now to FIG. 14, the rotary actuator 10 is utilized in a twin actuator arrangement 204 for an articulated arrangement 230. The articulated rod rack arrangement 230 includes a pair of rack arms 232, where each of the pair of rack arms 232 is coupled to an interior clutch plate 16 of one of the first and second rotary actuators 162, 164. The articulated rod rack arrangement 230 is configured to rotate a rod rack 234 between one or more positions, including a fully lowered position A, a fully raised position B, and an intermediate position C.

[0057] Referring now to FIG. 15, the illustrated equations describe the relationship between the angular velocity of the worm gear 42 and the torque output of the worm gear 42, given that the worm gear assembly 38 is a one-start assembly, and the gearmotor 40 has a 50:1 gear ratio. The torque output of the rotary actuator 10 may further depend on a variety of other variables, notable variables including gear efficiency of the worm gear assembly 38 and whether the worm gear assembly 38 is polished or not polished.

[0058] Referring now to FIG. 16, the housing 14 of the rotary actuator 10 also defines a manual drive port 236 exposing the outer flanged bearing 48, the outer flanged bearing 48 being configured to receive an adjustment device. A user may manipulate the outer flanged bearing 48 with the adjustment device and cause rotation of the clutch plate 16 via rotation of the drive train 35 without actuation of the rotary actuator 10, thereby providing a manual override.

[0059] The rotary actuator 10 and the various arrangements described herein feature a compact, efficient, and streamlined construction that is configured to withstand wet environments. For example, the one or more rotary actuators 10 provided in a given arrangement, such as the articulated step arrangement 158, may have an ingress protection (IP) rating of IP66, IP67, or IP68. Features of the drive train 35 of the rotary actuator 10, including the worm gear assembly 38, provide variability in torque and speed of the rotary actuator(s) 10 at the clutch plate(s) 16. Wireless and / or wired electrical connection abilities make the one or more rotary actuators 10 and / or the arrangements described herein versatile across applications and convenient to use.

[0060] In the foregoing description, it will be readily appreciated by those skilled in the art that modifications may be made to the embodiments as disclosed herein without departing from the concepts as disclosed herein.

[0061] For purposes of this disclosure, the term “coupled” (in all of its forms, couple, coupling, coupled, etc.) generally means the joining of two components (electrical or mechanical) directly or indirectly to one another. Such joining may be stationary in nature or movable in nature. Such joining may be achieved with the two components (electrical or mechanical) and any additional intermediate members being integrally formed as a single unitary body with one another or with the two components. Such joining may be permanent in nature or may be removable or releasable in nature unless otherwise stated.

[0062] It is also important to note that the construction and arrangement of the elements of the disclosure, as shown in the exemplary embodiments, are illustrative only. Although only a few embodiments of the present innovations have been described in detail in this disclosure, those skilled in the art who review this disclosure will readily appreciate that many modifications are possible (e.g., variations in sizes, dimensions, structures, shapes, and proportions of the various elements, values of parameters, mounting arrangements, use of materials, colors, orientations, etc.) without materially departing from the novel teachings and advantages of the subject matter recited. For example, elements shown as integrally formed may be constructed of multiple parts, or elements shown as multiple parts may be integrally formed, the operation of the interfaces may be reversed or otherwise varied, the length or width of the structures and / or members or connector or other elements of the system may be varied, the nature or number of adjustment positions provided between the elements may be varied. It should be noted that the elements and / or assemblies of the system may be constructed from any of a wide variety of materials that provide sufficient strength or durability, in any of a wide variety of colors, textures, and combinations. Accordingly, all such modifications are intended to be included within the scope of the present innovations. Other substitutions, modifications, changes, and omissions may be made in the design, operating conditions, and arrangement of the desired and other exemplary embodiments without departing from the spirit of the present innovations.

[0063] It will be understood that any described processes or steps within described processes may be combined with other disclosed processes or steps to form structures within the scope of the present disclosure. The exemplary structures and processes disclosed herein are for illustrative purposes and are not to be construed as limiting.

Examples

Embodiment Construction

[0022]For purposes of description herein, the terms “upper,”“lower,”“right,”“left,”“rear,”“front,”“vertical,”“horizontal,” and derivatives thereof shall relate to the invention as oriented in FIGS. 1 and 11. Unless stated otherwise, the term “front” shall refer to the surface of the element closer to an intended viewer of the mirror element, and the term “rear” shall refer to the surface of the element further from the intended viewer of the mirror element. However, it is to be understood that the invention may assume various alternative orientations, except where expressly specified to the contrary. It is also to be understood that the specific devices and processes illustrated in the attached drawings, and described in the following specification are simply exemplary embodiments of the inventive concepts defined in the appended claims. Hence, specific dimensions and other physical characteristics relating to the embodiments disclosed herein are not to be considered as limiting, un...

Claims

1. An articulating step arrangement for a marine vehicle, comprising:a pair of rotary actuators configured to couple to a surface of a marine vehicle, each rotary actuator of the pair of rotary actuators comprising:a housing assembly;a motor positioned within the housing assembly and having a motor shaft rotatable about an input axis;a gear assembly including a worm gear driven by the motor shaft and a wheel gear driven by the worm gear; anda clutch plate rotatably coupled to the housing assembly and rotatable about an output axis, the clutch plate defining one or more attachment points; anda step assembly, comprising:a pair of arms each defining a first end coupled to the one or more attachment points of the clutch plate of one of the pair of rotary actuators and a second end;a pair of links each defining a first end pivotally coupled to one of the pair of rotary actuators and a second end; anda step member pivotally coupled to the second end of each of the pair of arms and the second end of each of the pair of links such that the step member is movable between a retracted position and an extended position.

2. The articulating step arrangement of claim 1, wherein the housing assembly, one of the pair of arms, one of the pair of links, and the step member cooperate to form a four-bar linkage.

3. The articulating step arrangement of claim 1, wherein the housing assembly defines a control compartment defining a perimeter and a seal extending along the perimeter, and wherein the perimeter of the control compartment is sealably coupled to the surface of the marine vehicle, thereby hermetically sealing the control compartment.

4. The articulating step arrangement of claim 3, wherein one of the pair of links includes a relief that receives the first end of one of the pair of arms when the step member is in the extended position, thereby preventing the step member from rotating from the retracted position beyond the extended position.

5. The articulating step arrangement of claim 4, wherein the relief is downwardly opening when the step member is in the extended position.

6. The articulating step arrangement of claim 1, wherein at least one of the pair of links abuts at least one of the pair of arms when the step member is in the extended position.

7. The articulating step arrangement of claim 1, wherein the input axis of each of the motors is substantially vertically oriented when the pair of rotary actuators are coupled to the surface of the marine vehicle.

8. The articulating step arrangement of claim 1, wherein the output axis extends orthogonally relative to the input axis.

9. The articulating step arrangement of claim 1, wherein the step member includes an upwardly facing support surface to support a user thereon, and wherein a majority of the support surface is positioned outboard of the second end of each of the pair of arms and the second end of each of the pair of links when the step member is in the extended position.

10. An articulating step arrangement for a marine vehicle, comprising:a rotary actuator configured to couple to a surface of a marine vehicle, the rotary actuator comprising:a housing assembly;a motor contained within the housing assembly; anda worm gear assembly contained within the housing assembly and operably coupled to the motor;an arm including a first end and a second end, wherein the first end of the arm is operably coupled to the worm gear assembly;a link including a first end and a second end, wherein the first end of the link is pivotally coupled to the rotary actuator; anda step member pivotally coupled to the second end of the arm and the second end of the link, wherein the step member is operable between a retracted position and an extended position via the worm gear assembly.

11. The articulating step arrangement of claim 10, wherein the link abuts the arm when the step member is in the extended position.

12. The articulating step arrangement of claim 11, wherein the link includes a notch that receives the second end of the arm when the step member is in the extended position.

13. The articulating step arrangement of claim 12, wherein the notch is downwardly opening when the step member is in the extended position.

14. The articulating step arrangement of claim 10, further comprising:a clutch plate operably coupled to the worm gear assembly, wherein the first end of the arm is coupled to the worm gear assembly via the clutch plate.

15. The articulating step arrangement of claim 14, wherein the clutch plate is sealably and rotatably coupled to the housing assembly.

16. The articulating step arrangement of claim 10, wherein the first end of the link is pivotally coupled to the housing assembly.

17. The articulating step arrangement of claim 10, wherein the motor includes an input shaft having a longitudinal axis that is substantially vertically oriented when the rotary actuator is coupled to the surface of the marine vehicle.

18. An articulating step arrangement for a marine vehicle, comprising:a first rotary actuator configured to be coupled to a surface of a marine vehicle, the first rotary actuator comprising:a motor cover containing a motor;a housing containing a worm gear assembly including a worm gear operably coupled to the motor and a wheel gear engaging the worm gear; anda clutch plate operably coupled to the wheel gear and rotatably coupled to the housing, wherein the clutch plate is rotatably drivable by the motor via the worm gear assembly;wherein the motor cover is hermetically sealed to the housing and the clutch plate is hermetically sealed to the housing; anda step assembly comprising:an arm including a first end operably coupled to the clutch plate, and a second end;a link including a first end pivotally actuable with respect to the housing and a second end; anda step member pivotally coupled to the second end of the arm and the second end of the link, such that the step member is movable between a retracted position and an extended position.

19. The articulating step arrangement of claim 18, further comprising:a second rotary actuator similar in construction to the first rotary actuator, wherein the step member is positioned between the first and second rotary actuators.

20. The articulating step arrangement of claim 18, wherein a longitudinal axis of an input shaft of the motor extends substantially vertically when the first rotary actuator is coupled to the surface of the marine vehicle.

21. The articulating step arrangement of claim 18, wherein the step member includes an upwardly facing support surface, and wherein a majority of the upwardly facing support surface is located outboard of the second end of the arm and the second end of the link when the step member is in the extended position.

22. The articulating step arrangement of claim 18, wherein the link abuts the arm when the step member is in the extended position.

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