Harmonic drive assembly with selective disconnect and reconnect

摘要

A selectively disconnectable and reconnectable harmonic drive assembly of a rotary actuator is provided. The drive assembly includes a harmonic wave generator configured to rotate and disconnect and reconnect a harmonic drive of the actuator by moving radially inward to allow the disconnect of a flex spline from a ring gear and radially outward to allow the reconnect of the flex spline to the ring gear. With respect to the disconnect, roller bearings and a disconnect spring are configured to push the wave generator axially when a solenoid is activated, allowing the roller bearings to move radially inward. This movement releases an outward force on the flex spline, disconnecting the flex spline from the ring gear. The solenoid is deactivated so that a ball-lock sleeve is forced axially by a ball-lock-sleeve-return spring, and ball bearings are forced radially into a groove in a locked “disconnect” position.

主权项

1. A selectively disconnectable and reconnectable harmonic drive assembly comprising:
a flex spline; a ring gear that is configured to be disconnected from and reconnected to the flex spline; and a harmonic wave generator that is configured to rotate about a rotational axis and move substantially radially with respect to the axis to allow the disconnect and reconnect; wherein the wave generator is configured to move substantially radially inward to allow the disconnect and radially outward to allow the reconnect.