Abstract: A motion reducing device, adapted to be attached to the frame of and driven by an electric motor, includes a rigid disk provided with a planar toothed ring portion which is meshed with a sector of a toothed ring portion of a flexible disk radially secured to the driven shaft. The pitch of the ring portion is slightly different from that of the planar toothed ring portion. The driving shaft is coaxial with the driven shaft and has radially secured to it another disk parallel to the rigid disk and carrying a roller which causes sequentially a sector of the toothed ring portion to yield in a direction parallel to the common axis thereby driving the other shaft. The device is housed in a sealed lubricant containing cylindrical box having an integral bottom secured to the frame of the motor and through which passes the motor shaft, the box being closed at the opposite end by the above mentioned rigid disk.

Abstract: A gear wheel shaft assembly in which the gear wheel (4) is pressed against an end plane (8) of a shaft (1) by a central bolt (5) through the gear wheel. The end plane is situated at a smaller radius than a shaft bearing (2). The cooperating surfaces (8,9) may be sand blasted.

Abstract: A linearly reciprocable actuator is reciprocated by a mechanism which includes a rotatable part which is operably connected to the actuator to produce linear movement of the actuator in response to rotation of the rotatable part. A fine drive motor is operably connected to the rotatable part for rotating the rotatable part in a precisely controlled manner. The fine drive mechanism is operably disconnectable from the rotatable part to permit the latter to be rotatable independently of the fine drive motor. A coarse drive mechanism is connected to the rotatable part independently of the fine drive motor for rotating the rotatable part in a coarser manner than the fine drive motor when the fine drive motor is operably disconnected from the rotatable part.

Abstract: A playback industrial robot comprises at least one driving device provided with an electric motor having a motor shaft. The driving device comprises a reduction gear mechanism for reducing a rotational speed of the motor shaft of the motor, an output shaft for operating the robot, a clutch mechanism which is in a disengaged state when the output shaft rotates in a teaching mode so that the reduction gear mechanism does not act as a load, a mechanism for putting the clutch mechanism in an engaged state depending on supply and cutting off of the supply of compressed fluid when the teaching mode is started, and a case for accommodating the motor, the output shaft and the above mechanisms. The clutch mechanism comprises a movable clutch member applied with a rotary force depending on forward and backward rotations of the motor and guide members arranged in parallel to the output shaft at positions separated from a center of the output shaft toward an outer peripheral direction thereof.

Abstract: This invention relates to reduction in frictional torque of a harmonic drive type transmission apparatus having a circular spline, a flexspline, and a wave generator. A wave generator bearing of the wave generator has a retainer for holding a number of balls which roll between the inner and outer races to be in contact with an inner race and an outer race and to be separated from each other in the circumferential direction. The ball retainer has a number of radial pockets for storing the balls. Each pocket is formed into a shape forming a narrow (in the circumferential direction) opening portion at the inner race side and a wide (in the circumferential direction) opening portion at the outer race side. The balls are in contact with the opening portion at the inner race side in the pockets at the minor axis positions of a drive cam, and the balls are in contact with substantially the central portion of the pocket inner surface at the major axis positions of the cam.

Abstract: A multi-articulated robot is disclosed which comprises a base; a first arm rotatably supported to said base; a second arm rotatably supported at a forward end of the first arm; a work shaft provided at a forward end of the second arm; belts provided below the first arm and the second arm, respectively; a motor provided at the base for driving the work shaft; a hollow shaft fixed to the base, the hollow shaft rotatably supporting the first arm, and the motor being fixed to the hollow shaft; a rotary shaft rotatably supported in opposition to an output shaft of the motor, the rotary shaft projecting into a space defined below the hollow shaft; a declerator interposed between the rotary shaft and the output shaft of the motor and a pulley provided at a projecting end of the rotary shaft, one of the belts being laid around the pulley. The belt laid around the pulley is of the endless type.

Abstract: A wave gear drive comprises a rigid gear, a flexible gear engaging at a plurality of bulged regions thereof with the rigid gear, and a wave generator for causing the flexible gear to perform wave motion. The number of gear teeth between adjacent bulged regions differs between the two gears and the relative motion between the two gears is caused by shifting of the engagement regions. The teeth of the two gears are formed to satisfy the conditions that the shapes of imaginary rolling contact plate which performs the same motion as the aforementioned relative motion are determined to correspond to the loci described on planes fixed on the respective teeth by the respective momentary centers of relative tooth motion and that the common normal of the respective teeth at the meshing point passes through the momentary contact point of the rolling contact plates.

Abstract: A sealed joint having two adjacent, axially aligned sleeves separated by a rotating seal, one joint being movable with respect to the other. The joints contain a tubular passageway surrounded by a motor and a harmonic drive. A tachometer and a brake help to control the motor and a position encoder measures rotational motion between the sleeves. All components are mounted in sealed relation with respect to the outside of the sleeves. A sealable port communicates with the interior of the tubular passageway for each sleeve so that control cables and fluid conduits may pass into the joint through one port, along the tubular passageway and out of the other port.

Abstract: A slow speed pinion drive has a reduction gear box interposed between a prime mover and a pinion mounted on a pinion shaft and meshing with a gear ring on a slowly rotating machine. The prime mover is connected to the gear box through a flexible connection while the gear box is mounted directly on the pinion shaft and is supported by the pinion shaft and by an adjustable prop disposed in eccentric fashion to the pinion shaft.

Abstract: A planetary gear drive comprising two adjacent central gears with different numbers of substantially wedge-shaped teeth which form virtual tooth gaps with one another and define a virtual crown curve and a planetary gear having teeth which are pressed into said virtual tooth gaps by a rotating element. With a difference of four in the numbers of teeth of the central gears, the center of curvature of the virtual crown curve and the radii of the root circles are such that in a predetermined engagement region the entry and exit angles and the radial speed of the teeth of the planetary gear remain substantially constant, and the flank angles of the central gears differ by at least about twice the entry angle. With a difference of two in the numbers of teeth of the central gears, the virtual crown curve largely extends out of the teeth after a 90.degree. rotation, and the engagement region lies in the region of the minimum change of the entry and exit angles.

Abstract: A method of making an elliptoidal internal journal type wave generator for use with a flexspline, the latter having internal spline teeth, an outer diameter (O.D.) designated two times the radius (R), and a radial deflection (d) for spline meshing at minor axis localities with diametrically opposed spline teeth of at least one rigid circular spline, the method comprising:a. providing a circular wave generator ring with a radially inner wall diameter (I.D.) equal to twice R plus three times d, and a ring thickness 1.3 to 1.4 times the inner wall I.D.;b. opening the ring by forming only one gap at least eight times d in circumferential dimension;c. radially reducing the ring portion diametrically opposite to the gap to enhance radial flexibility of the ring while still enabling it to maintain its I.D. dimension;d.

Abstract: A high-torque high-ratio transmission comprises a housing provided with a rigid annular surface with teeth juxtaposed with the teeth of a flexible element connected to a slow shaft. The fast shaft has a flange provided with a groove of varying depth in which an array of balls is guided, the balls pressing the flexible element against the housing crown of teeth as the rapid shaft is rotated. The flange of the rapid shaft can be braced by another set of balls on the opposite side thereof.

Abstract: A shaft seal assembly wherein the end portions of two coaxial shafts carry two components of a torque transmitting unit. One component is a disc which is eccentrically secured to the end portion of the respective shaft and extends into an eccentric circular recess of the other component which is coaxially affixed to the end portion of the associated shaft. A cup-shaped sealing element is installed in the recess to separate the two components from each other, and its annular portion is sealingly affixed to one end portion of a bellows whose other end portion is sealingly secured to one end wall of a housing. The shaft which carries the one component is rotatably journalled in the one end wall and the other shaft is rotatably journalled in a second end wall of the housing.

Abstract: A harmonic drive apparatus includes a circular spline having a number of internal teeth, a radially flexible cylindrical flexspline having outer spline teeth engageable with the internal teeth of the circular spline, and a wave generator disposed within the flexspline in engagement therewith. The circular spline, the flexspline, and the wave generator are rotatable around a rotational axis. The number of the external spline teeth of the flexspline is less than the number of the internal spline teeth of the circular spline. The wave generator has a cam section which generates a circumferential wave of radial deflection of the flexspline for causing the external spline teeth thereof to locally engage with the internal spline teeth of the circular spline. The cam section has elasticity in its radial direction sufficient for biasing the flexspline against the circular spline to absorb any play between the flexspline and the circular spline.

Abstract: A flexible wrist mechanism for industrial robots, manipulators and the like, the wrist mechanism having in series two or more wrist articulates each consisting of at least a first wrist element located on a drive side and a second wrist element located on a driven side swingably relative to the first wrist element, characterized in that the wrist mechanism includes a coupling shaft disposed perpendicular to the axes of the first and second wrist elements and connecting the first and second elements pivotally relative to each other; a reducer interposed between the second wrist element and the coupling shaft to restrict the pivoting angle of the second wrist element relative to the first wrist element; and a rotation transfer mechanism rotationally connecting the coupling shafts of adjacent wrist articulates.

Abstract: A joint type robot comprises a fixed bed, a swivel base on the fixed bed, a motor base on the swivel base, an upper arm capable of elevating on the motor base, a front arm capable of elevating at the tip of the upper arm, a wrist at the tip of the front arm, and so forth. The upper arm extends rearward beyond the center axis of rotation of its elevating motion. The rearwardly extending portion can enter a notch of the motor base. A driving motor for turning the swivel base is disposed at a position deviated from the center axis of rotation and in parallel with the center axis of rotation. The pair of driving motors for the upper and front arms are mounted on the motor base parallel to each other yet oriented in opposite directions to keep the robot as small as possible. The wrist driving motors are mounted on the upper arm in similar fashion. All the features of the robot are designed to keep the robot as small and as light as possible.

Abstract: A harmonic gear apparatus includes a tubular circular spline having a multiplicity of teeth on an inner periphery thereof, and a flexible spline disposed in the circular spline and having a multiplicity of teeth on an outer periphery thereof, the number of which is smaller than that of the circular spline. A flexion generating member rotatably mounted on a rotary shaft is rotatably disposed in the flexible spline. A generally annular flexible supporting member supports one end of the flexible spline in such a manner that the flexible spline is able to flex in a radial direction but has a significant rigidity in the circumferential direction. When the spline is flexed while the flexion generation member rotates in the flexible spline, some of its teeth engage with some of the teeth of the circular spline thereby rotating the circular spline.

Abstract: The strain-wave transmission according to the invention is provided, for purposes of sealing between input and output parts on both sides of the strain-wave generator, with an overlying cup-shaped jacket which is stiffened from within against bulging by a likewise cup-shaped support member open toward the pressure side. For the purpose of sealing, the frontal edges of the strain wheel and of the support members are nonrotatably and sealingly interconnected and the input-side support member is flanged onto the housing cover via a tube. The elimination of a differential pressure in the frontal regions of the strain wheel enables a flexible structure of the support member and an overall lower bulging stress with a more favorable stress distribution, thus allowing the use of more readily deformable wall thicknesses and a more reliable sealing with improved life span.

Abstract: A reduction gear equipped with a wave generator nearly elliptical in shape, two circular splines with differing numbers of internal teeth, a flex spline which partially meshes with the internal teeth of each of the circular splines and which is deformable in the radial direction and a bearing deformable in the radial direction, which, placed between the wave generator and the flex spline, renders both members relatively slidable, with notches which permit partial deformation of the bearing (6) or the flex spline provided in the wave generator or circular splines at positions corresponding to the balls of the aforementioned bearing, whereby backlash is eliminated and its positive operation is assured.

Abstract: An apparatus as described for transmitting rotational energy from a prime mover having a first shaft to a torque load driven by a second shaft through a spur gear train. A splined shaft (30) having a sun gear (32) at one end is coupled to the prime mover. The sun gear (32) meshes spur-wise with three compound star gears (50). These star gears are positioned at approximately the same distance from the axis of the splined shaft. The star gears (50) drive a second sun gear (56) carried at the end of a second quill shaft (54) which is adapted to be connected to the torque load. Preferably the sun gears and the star gears are fully crowned and machined to have a high contact ratio such that at least two pairs of gear teeth of each mesh are substantially in contact at all times. Because one end of each quill shaft is supported by the compound star gears, the pitch circles of the associated sun gear and star gears are substantially tangent to each other thereby minimizing vibration, noise, and stress.

Abstract: A drive mechanism especially useful in assemblage with a harmonic drive transmission for providing a desired rotational input to the wave generator of the harmonic drive transmission, and allows for a wide speed range selection while minimizing component wear, instability, and heat generation problems. Such a harmonic drive assembly is particularly useful in powering a controlled infeed or chill stand in a printing press and permits the precise adjustment of the tension of the continuous paper web moving through such a press. The drive mechanism supplies rotational movement from the input shaft of the harmonic drive transmission to the wave generator tuner shaft and includes pulley means operatively coupled to the input shaft, an arm assembly mounted for pivotal movement about the tuner shaft, and a positioning mechanism for precisely pivoting the arm assembly as desired.

Abstract: The present invention provides a wrist mechanism with three degrees of freedom for an industrial robot, which is compactly formed and to which a tool is mounted. The first degree of freedom is associated with a first input shaft for rotating a wrist portion at a low speed. The second and third degrees of freedom are associated with rotating the tool or tilting the wrist. In order to attain these motions, second and third input shafts concentrically arranged relative to the first input shaft are used for transmitting motion to, through bevel gears, speed reduction mechanisms each symmetrically disposed at right and left sides, and the outputs therefrom are used to drive the tool and wrist.

Abstract: Drive units for effecting torque-transmission via a non-rotating sealing tube are provided for various fields of use where a positive sealing is required for a shaft that passes through an aperture (e.g. a propeller shaft transmission). The shaft (4), rotatable about an axis (5), is freely mounted in a bearing bush in an aperture (3) in a wall (2) of a housing (1) that can take many forms. The other end of the shaft (4) is located in a blind-bearing. An intermediate eccentric portion (6) is provided on the shaft, which passes through an eccentric aperture (8) in a main eccentric. A non-rotating sealing tube (7) passes through this aperture, surrounding the portion (6), and is sealed by diaphragms, bellows or flexible hoses extending from each end to the related end of the shaft, where a static seal is formed.

Abstract: 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.

Abstract: There is disclosed an improved "harmonic screw" type actuator wherein rotary motion of the power input component is converted into linear motion of the output component by means of a strain wave imposed upon a flexible sleeve member of the assembly, which is flexed into intermittent screw engagement by a member which is motor-driven to rotate relative to the periphery of the flexible sleeve; thereby causing progressively advancing/retreating inter-engagements of thread-like surfaces formed on the axially stationary and axially movable components of the system. A variety of automatic "fail-safe" provisions are included as well as means for manual operation in power loss situations.

Abstract: An industrial robot is constituted by a plurality of series connected arm units each composed of a driving unit from among a plurality of driving units having different driving powers and different driving speeds, a joint unit from among a plurality of joint units having different driving speeds and power transmitting capacities, and an arm from among a plurality of arms having different sizes and load capacities. The joint units, driving units and arms each have connecting surfaces thereon having positioning parts and setting-fixing parts in a predetermined pattern for enabling the joint units, driving units and arms to be detachably connected to other joint units, driving units and arms at corresponding connecting surfaces to form arm units with the desired joint units, driving units and arms. The joint units each have a stationary frame and a follower frame rotatably connected to each other and driving power transmitting mechanism connected between said frames and including reduction gears.

Abstract: Gearbox comprising a first clutch-hub having gear-teeth and a coaxial hollow wheel also with gear-teeth, connected to, but not rotating upon, a second clutch hub, and also having a planetary gear in part engagement with the gear-teeth and an adjustable transmission-shaft. The latter is adapted to be adjusted, by means of an adjusting device, in such a manner that the clutch-hub and the hollow wheel rotate selectively, either at rotational speeds between which there is a predetermined difference, or in synchronism. In a known gearbox of this kind, the planetary gear is arranged eccentrically upon the transmission-shaft, causing relatively considerable imbalance and relatively high bearing loads at high rotational speeds. In order to overcome this problem, and to achieve a simple design, especially of the transmission shaft, the invention proposes that the first clutch-hub comprise a radially spaced, internally toothed ring, creating an annular space.

Abstract: A harmonic drive motion transmitting mechanism having a housing encircling a circular spline within which is journalled a flexspline. The flexspline has an annular array of gear teeth thereon, which flexspline has an inner bore having a diameter defined as D. The circular spline also has an annular array of gear teeth mateable with those of the flexspline. A wave generator is mounted within the flexspline. The flexspline has a lip which extends longitudinally beyond the distal edge of its annular array of gear teeth by 10% to 40%D. The lip is of radially thickening dimensions from immediately adjacent the outer edge of the annular array of gear teeth thereon, and from a thickness of about 1%D up to a thickness of about 3%D at the distal edge of said flexspline, to minimize the skewing of the ellipsoidal deflection wave of the flexspline.

Abstract: A drive for an extruder worm centered on an axis has a substantially closed housing axially juxtaposed with the worm, an input shaft extending along and rotatable in the housing about the axis, exposed axially at an input side of the housing, and adapted to be coupled to a drive motor, and an output shaft rotatable in the housing about the axis, exposed at an input side of the housing, and adapted to be coupled directly to the worm. An axial-thrust bearing is braced between the output shaft and the housing. A planetary transmission centered on the axis between the input and output shafts in the housing has a sun gear rotationally coupled to the input shaft, a ring gear spaced radially outward from the sun gear, a plurality of planet gears meshing with the sun and ring gears, and a planet carrier carrying the planet gears and rotationally fixed to the output shaft. The shafts, sun gear, and carrier are formed at the axis with coaxial axially throughgoing passages.

Abstract: A manipulator apparatus comprises an elongated member having a number of arm sections interconnected by rotary actuators and supported by a vertical member rotatably mounted on a console. The other end of the elongated member terminates in a terminal motion actuator adapted to support an article handling member. Each rotary actuator comprises a stepping motor coupled to a harmonic drive device, wherein control pulses fed into the stepping motor will initiate motion which is reduced by the harmonic drive device and then imparted to the respective arm section. The vertical member is similarly controlled. The terminal motion actuator comprises a stepping motor rotatably supported by a rotary actuator comprising a combination of a stepping motor and a harmonic drive device. The terminal motion actuator has mounting means for supporting article handling members. The vertical member is rotatably supported in such manner that free play is totally eliminated.

Abstract: A robot forearm has a pivotally mounted proximal end, a distal portion axially rotatable with respect to the remainder of the forearm, and a wrist connected to the distal portion and being angularly tiltable with respect thereto. A gear on the distal end of a first output shaft rotatably mounted in the remaining portion of the forearm drives a tilt gear assembly mounted in the distal portion of the forearm to tilt the wrist. A second output shaft concentric with the first shaft is connected to the distal portion of the forearm for imparting rotation thereto. Motors mounted in the forearm are coupled to the ouput shafts through concentric input shafts and harmonic speed reducing drives. The drives are axially spaced and concentric and are coupled to the output shafts by flexible cup-like members. Encoders connected to the second output shaft and the tilt gear assembly encode the position of those elements and produce corresponding feedback signals which are used to control the motors.

Abstract: A high precision, high pressure, volumetric metering pump in which the driving motor is reciprocated by rotation of a ball screw, the drive motor assembly being integral with the driving and pumping shaft, is disclosed.

Abstract: A double eccentric wave generator assembly for a harmonic drive type transmission having a circular spline and a flexible spline coaxially mounted each having matable gear teeth, a deflection means mounted within said flexspline, said deflection means comprising a pair of wave generating discs journalled on eccentric hubs on a sleeve. The discs are non-parallel with one another so as to present an outer periphery which is parallel to the flexspline when it is coned during deflection thereof. A third disc is disposed on the sleeve to provide shape control to the flexspline during rotation thereof.

Abstract: One embodiment of a harmonic-drive device insertable, e.g., into a clutch housing having elevated fluid pressures comprises a cup-shaped member with a flexible cylindrical inserted in a casing and rigidly connected thereto, the cup member bearing at its end a pair of substantially cylindrical supports in which a drive shaft is rotatably journaled. The shaft bears a mechanical wave generator which deforms the middle portion of the cup wall into an elliptical cross-section, whereby splines on opposite sides of the cup wall are shifted to mesh with inwardly projecting teeth of a pair of rings, one ring having teeth greater in number than the splines and being attached to a motion-output component rotatably and slidably secured to the cup casing. The supports in the cup are tapered to a minimum diameter at their inner ends substantially equal to the minor axis of the elliptical cross-section.

Abstract: A drive apparatus for elevators and the like utilizes a traction-type speed change gear to transmit power with little noise and vibrations from an electric drive motor to the drive sheave of an elevator. An abnormality detection device is provided to detect when slippage occurs in the speed change gear, and a control device activated by the abnormality detection device is provided to bring the elevator to a safe emergency stop when such slippage occurs.

Abstract: This invention relates to a motor control unit and a feedback arrangement to minimize the effects of backlash in a rotary output system. The system includes a source of energy. The motor control has a directional control element moveable from a null position. The motor control unit is coupled to the source of energy and to a motor which in turn is coupled to the rotary output and to a second input of a differential harmonic drive that has first and second inputs and an output. The first input of the differential harmonic drive is coupled to a rotational command input unit and the differential harmonic drive output is drivingly coupled to the moveable direction control element. In response to a given rotational command input when the second input is in an initial static position, whereupon the motor is coupled to the source of energy through the motor control unit, the rotary output is driven a precise number of revolutions dependent upon the given rotational command input.

Abstract: The invention relates to a planetary gear having two adjacent identical central wheels of different pitch and a planet wheel whose pitch is equal to that of a virtual tooth row formed by the central wheel teeth. The teeth of the planet wheel extend into the tooth gaps between the virtual tooth rows. The planet wheel is guided and driven by a rotary disk. At least two of the three wheels have pivotable teeth. The teeth of both the central wheels and the planet wheel are of substantially triangular cross section with plane tooth profiles. It is a main objective of the invention to provide a planetary gear permitting the flank angles of the virtual tooth gaps to be adapted to the profile angle of the planet wheel teeth, in particular, in order to transmit large torques and/or also in order to achieve low speed ratios. According to the invention, the pivotable teeth of at least one central wheel are arranged on journals.

Abstract: A wrist mechanism for an industrial robot having a robot casing, robot arms capable of extending from and contracting to the robot casing, a robot hand for gripping a workpiece, and a wrist arranged between the robot arms and the robot hand, comprises: two reduction gears with a high reduction ratio connected respectively to each of two high speed rotational driving motors, the two reduction gears cooperating with one another for generating two individual reduced rotational outputs, and; two transmitting mechanisms, connectable to the hand, for transmitting respectively the two reduced rotational outputs to the hand, thereby causing respectively rotational motion and swinging motion of the hand.

Abstract: A motion transmitting means comprising an eccentrically supported carrier means which upon rotation of the eccentric, orbits such that devices carried thereby in equal spacing engage the teeth of a concentric and fixed internal toothed gear means, the load carrying engagement being substantially of an arc of approximately 90.degree. of the teeth, and means to translate orbiting motion to rotary output motion. The number of gear teeth exceeds by one or more the number of devices which engage the gear teeth.

Abstract: One embodiment of a harmonic-drive device insertable, e.g., into a clutch housing having elevated fluid pressures comprises a cup-shaped member with a flexible cylindrical inserted in a casting and rigidly connected thereto, the cup member bearing at its end a pair of substantially cylindrical supports in which a drive shaft is rotatably journaled. The shaft bears a mechanical wave generator which deforms the middle portion of the cup wall into an elliptical cross-section, whereby splines on opposites sides of the cup wall are shifted to mesh with inwardly projecting teeth of a pair of rings, one ring having teeth greater in number than the splines and being attached to a motion-output component rotatably and slidably secured to the cup casing. The supports in the cup are tapered to a minimum diameter at their inner ends substantially equal to the minor axis of the elliptical cross-section.

Abstract: 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.

Abstract: A planocentric gear drive has an eccentrically floating driving gear for simultaneously engaging a stator gear and a rotatable output gear to rotate the output gear through relatively small angular increments. The stator and output gears have different numbers of teeth and are mounted coaxially for engaging the driving gear on a common axial line of contact wherein the stator and output gear teeth are in local axial alignment at the line of contact. The driving gear is attracted into meshing engagement with the stator and output gears by a circumferentially arranged plurality of electromagnets energizable in sequence to rotate the driving gear eccentrically in steps about the stator and output gears. During this eccentric rotation, the common axial line of contact revolves in steps about the stator and output gears, with the output gear rotating through small angular increments to permit the stator and output gear teeth to remain in axial alignment at the revolving line of contact.

Abstract: A digital stepping motor having a rigid tubular rotor arranged within a stator, in a housing, the stator having an arrangement of spline teeth adjacent one end thereof on a portion of the housing. The rotor has an array of spline teeth disposed at one end thereof, and a deflectable diaphragm at the other end thereof. The deflectable diaphragm is fixedly attached to an output shaft. The tubular rotor has an axis of rotation which is slightly skewed with respect to the axis of rotation of the output shaft during energization of the motor when the rotor is attracted to the stator. The stator comprises a plurality of equi-angularly spaced coils, the sequential energization of which causes sequential circumferential engagement of corresponding external and internal spline teeth between the rotor and the spline teeth on the end cap, creating an orbiting motion within the rotor, and a subsequent rotation of the output shaft.

Abstract: 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.

Abstract: A platen variable apparatus is disclosed for rotatably adjusting a platen in step increments and in fine amounts in a typewriter. The apparatus includes an individual hub member rotatably mounted on a platen extension and having teeth thereon intermeshed with teeth of a flexspline fixed on the platen extension. A coarse adjusting member is fixedly coupled on the platen extension for positively rotating the platen in step increments controlled by a detent. A rotatable fine adjusting wheel has an internal wave generator surface that cooperates with the flexspline for moving the flexspline relative to the hub member which adjusts the platen in fine amounts.

Abstract: Rotary drive apparatus includes coaxial inner and outer shaft portions. One portion supports a pair of bearings on axes offset from the shaft axis. The other portion supports rotatable bearing rings offset from the shaft and bearing axes, but in alignment with the bearings. A flexible sealing member is oriented between the two shaft portions and is non-rotatable. Band contact between the bearings, the flexible sealing member, and the rings due to Hertzian stress results in absorption of stress forces over a wide area, thus reducing wear.

Abstract: Planetary gearing includes a toothed gear, a pair of toothed central gear meshing with the toothed planet gear and having a respectively different number of teeth forming virtual tooth rows one with the other, and a cam disc rotatable about an axis and operatively connected with the toothed planet gear for guiding and driving the same, all of the gears having teeth of substantially triangular cross section and flat tooth flanks, each of the virtual tooth rows having tooth gap points disposed on a closed virtual addendum curve having a center of mass located on the axis of rotation of the cam disc, the teeth of the planetary gear flatly engaging on both sides thereof the flanks of at least one of the virtual tooth rowa, the one virtual tooth row having a pitch equal to that of the tooth row of the planet gear so that, in a limiting case, all of the teeth except for the difference in the numbers of teeth of the central gears are in force-transmitting engagement.

Abstract: Self-contained modular joint adapted to interconnect two machine elements to permit a relative rotation of less than one revolution therebetween, wherein the first element comprises a strap consisting of a pair of wing-like extensions encompassing the second element in such a manner that said second element can pivot between said two wing extensions, each wing extension of said strap being provided with a bore concentric to the axis of said relative rotation, said bore being adapted to be engaged by members of revolution each adapted to center and position in the axial direction an inner race of rolling contact bearings capable of absorbing axial and radial efforts, the outer race of each one of said bearings being carried by a member of revolution centered and secured to said second element so as to constitute between said two elements a joint free of both axial and radial play, wherein one of said two members of revolution secured to said second element has fitted thereon the toothed annulus of a reduction

Abstract: A screw extruder for molding plastics material having an extruding means mounted on a column standing on a pedestal: the extruding means consisting of a prime mover; an extruding unit, separated from the prime mover, having a screw unit equipped with a screw and a speed reduction unit composed of a planetary gear which transmits power to the screw unit, the reduction unit having an input shaft and output shaft aligned with the screw in turn, the output shaft being formed with a piercing hole extending therethrough, and the input shaft being formed with a piercing hole extending therethrough and communicating with the hole of the output shaft; and a transmission assembly for transmitting power from the prime mover to the reduction unit. The extruder is stable free from troubles such as turning over during the operation and transportation thereof and is easy to remove the screw from the screw unit in order to clean the inside thereof.

Abstract: A transmission system includes an electrical power unit having a rotor mounted on a shaft which rotates at a predetermined speed and a stator defining a gap with the rotor, and a step-down speed-reducing unit. The speed-reducing unit includes a flexible sleeve extending through the gap and having adjacent one axial end of the rotor a first set of teeth, an eccentric element mounted on the shaft axially adjacent the rotor for rotation within the sleeve so as to impart the eccentricity of the eccentric element to the flexible sleeve as the shaft rotates, and an annular member having a second set of teeth which mesh with the first set, the numbers of teeth in the two sets being different from one another.