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Apparatus for controlling a rotary shaft relative to a reference includes a strain wave drive having a specially shaped deformable ring gear for minimum stress. The wave generator part of the drive is normally caused to rotate with the input and output shafts connected to the drive\s ring gears so t

Apparatus for controlling a rotary shaft relative to a reference includes a strain wave drive having a specially shaped deformable ring gear for minimum stress. The wave generator part of the drive is normally caused to rotate with the input and output shafts connected to the drive\s ring gears so that the two shafts are effectively keyed together. A tractive-type clutch assembly permits the wave generator to be rotated in one direction or the other relative to the deformable gear shaft so that the phase angle of the two shafts can be adjusted at a slow rate of speed dependent on the gear ratio of the drive. Also a tractive-type planetary assembly may be coupled between the clutch assembly and the wave generator so that the phase change may be accomplished at a plurality of speeds.

대표청구항 ▼

Apparatus for controlling the phase or speed of a rotary shaft relative to another element comprising A. the strain wave drive including (1) a rigid ring gear, (2) a first shaft connected to the rigid gear, (3) a deformable ring gear, (4) a second shaft connected to the deformable gear, (5) a strain

Apparatus for controlling the phase or speed of a rotary shaft relative to another element comprising A. the strain wave drive including (1) a rigid ring gear, (2) a first shaft connected to the rigid gear, (3) a deformable ring gear, (4) a second shaft connected to the deformable gear, (5) a strain wave generator engaging the deformable gear, and (6) means for rotatively mounting the rigid gear and the deformable gear coaxially to one another so that said gears are in toothed engagement around at least parts of their peripheries; B. means for rotatively coupling the wave generator to the second one of said shafts so that said gears rotate in unison whereby said shafts are effectively rotatively keyed together, and C. means for dynamically rotating the wave generator through any selected angle in one direction or the other relative to said one shaft at a first rate so as to cause said one shaft to be advanced or retarded in phase relative to the other shaft at a second rate less than the first rate.