Reverse gear drive and related systems, components, and methods

Abstract

The gearbox includes a first planetary gear system and a second planetary gear system. The gearbox further includes a first carrier of the first planetary gear system coupled to a second ring gear of the second planetary gear system. The gearbox also includes a first ring gear of the first planetary gear system coupled to a second carrier of the second planetary gear system. The gearbox further includes a first sun gear of the first planetary gear system coupled to a first output shaft. The gearbox also includes a second sun gear of the second planetary gear system coupled to a second output shaft.

Description

Technical Field

[0001] Claim of Priority This application claims the benefit of U.S. Provisional Patent Application No. 63 / 381,411, filed Oct. 28, 2022, under 35 U.S.C. § 119(e) of “COUNTER ROTATING GEAR DRIVE AND ASSOCIATED SYSTEMS, COMPONENTS, AND METHODS”, the disclosure of which is hereby incorporated herein by reference in its entirety.

[0002] Embodiments of the present disclosure generally relate to gear drives or gearboxes. In particular, embodiments of the present disclosure relate to counter-rotating gear drives or gearboxes, and associated systems, components, and methods.

Background Art

[0003] Gear drives or gearboxes are used to modify the force or energy input into the gear drive. For example, a gear drive can be used to produce a mechanical advantage, such as a force or torque amplifier. A relatively small force or torque can be input into the gear drive. The gear drive can include a plurality of gears of different sizes that mesh with each other through the engagement between the teeth of the plurality of gears and / or the shafts coupled between the gears such that the output from the gear drive can be a greater force or torque than the input force or torque. In another example, the gear drive can modify the rotational speed of the input. This input can be at a relatively low speed, and a plurality of gears of different sizes within the gear drive can make the output of the gear drive have a higher rotational speed than the input.

[0004] Gear drives and / or gearboxes are used in many different applications. For example, the transmissions and / or differentials in automobiles and other vehicles each use different types of gearboxes to gain mechanical advantages and / or speed differences, such as efficiently transmitting mechanical energy from a motor (e.g., internal combustion engine, electric motor, etc.) to the tires to move the vehicle. Gear drives and / or gearboxes can also be used in or in connection with electric generators to increase the amount of power generated by increasing the rotational speed of the input from a power input such as a wind turbine, steam turbine, or internal combustion engine to the rotor of the electric generator, thereby increasing the efficiency of the electric generator. [Overview of the project] [Means for solving the problem]

[0005] Embodiments of the present disclosure include a gearbox. The gearbox includes a first planetary gear system and a second planetary gear system. The gearbox further includes a first carrier of the first planetary gear system coupled to a second ring gear of the second planetary gear system. The gearbox also includes a first ring gear of the first planetary gear system coupled to a second carrier of the second planetary gear system. The gearbox further includes a first sun gear of the first planetary gear system coupled to a first output shaft. The gearbox also includes a second sun gear of the second planetary gear system coupled to a second output shaft.

[0006] Another embodiment of the present disclosure includes a method for transmitting motion. The method includes the step of receiving a rotational input in a first direction in a first carrier of a first planetary gear system. The method further includes the step of rotating a second ring gear through a first coupling between the first carrier and a second ring gear of a second planetary gear system. The method also includes the step of coupling the second carrier to the first ring gear through a second coupling between the first ring gear of the first planetary gear system and the second carrier of the second planetary gear system. The method further includes the step of rotating a first output shaft in a first direction through a first drive mesh between a first set of planetary gears coupled to the first carrier and a first sun gear, wherein the first output shaft is coupled to the first sun gear. The method also includes the step of rotating a second output shaft in a second direction opposite to a first direction through a second drive mesh between a second set of planetary gears coupled to a second carrier and a second sun gear, wherein the second output shaft is coupled to a second sun gear.

[0007] Another embodiment of the present disclosure includes a gear drive. The gear drive includes a first rotary input and a second rotary input. The gear drive further includes a first planetary gear system. The gear drive also includes a first carrier of the first planetary gear system coupled to the first rotary input. The gear drive further includes a first ring gear of the first planetary gear system coupled to a second rotary input. The gear drive also includes a first sun gear of the first planetary gear system coupled to a first output shaft.

[0008] The specifications are determined by the claims that specifically point to and explicitly claim embodiments of the present disclosure, but the advantages of embodiments of the present disclosure can be more readily identified from the following description of embodiments of the present disclosure when read in conjunction with the accompanying drawings. [Brief explanation of the drawing]

[0009] [Figure 1] This is a perspective view of a gear drive according to an embodiment of the present disclosure. [Figure 2]This is a perspective view of a gear drive according to an embodiment of the present disclosure. [Figure 3] This is a perspective view of a planetary gear system according to an embodiment of the present disclosure. [Figure 4] Figures 1 and 2 are cross-sectional views of the gear drive. [Figure 5] This figure shows an assembly including the gear drive shown in Figures 1 and 2, according to an embodiment of the present disclosure. [Figure 6] Figure 6A is a perspective view of the gear drive. Figure 6B is a cross-sectional view of the gear drive shown in Figure 6A. [Figure 7] Figure 7A is a perspective view of the gear drive. Figure 7B is a cross-sectional view of the gear drive shown in Figure 7A. [Figure 8] Figure 8A is a perspective view of the gear drive. Figure 8B is a cross-sectional view of the gear drive shown in Figure 8A. [Modes for carrying out the invention]

[0010] The figures presented herein are not intended to represent actual diagrams of any particular gear drive or its components, but are merely ideal representations used to illustrate exemplary embodiments. The drawings are not necessarily to scale.

[0011] When used herein, the term “about” when referring to a numerical value of a particular parameter encompasses the degree of the numerical value and the variance from that value that a person skilled in the art would understand to be within the tolerance range of the particular parameter. For example, “about” when referring to a numerical value may include additional numerical values ​​within the range of 90.0 percent to 110.0 percent of the numerical value, such as within the range of 95.0 percent to 105.0 percent of the numerical value, within the range of 97.5 percent to 102.5 percent of the numerical value, within the range of 99.0 percent to 101.0 percent of the numerical value, within the range of 99.5 percent to 100.5 percent of the numerical value, or within the range of 99.9 percent to 100.1 percent of the numerical value.

[0012] As used herein, the term “substantially” with reference to a given parameter means and includes the degree to which a person skilled in the art would understand that a given parameter, property, or condition satisfies a small degree of variation, such as being within the allowable manufacturing tolerance. For example, a substantially satisfied parameter may be satisfied at least about 90%, at least about 95%, at least about 99%, or even at least about 100 percent.

[0013] When used herein, terms indicating relationships such as “first,” “second,” “top,” and “bottom” are generally used for clarity and convenience in understanding this disclosure and the accompanying drawings, and do not imply, or rely on, any particular preference, orientation, or order, unless the context explicitly indicates otherwise.

[0014] As used herein, the term "and / or" means any and all combinations of one or more of the items described relating to the subject matter.

[0015] As used herein, the terms “vertical” and “horizontal” refer to the orientation depicted in the drawings. As described above, gear drives and / or gearboxes are used in many different applications. Mechanical advantages or speed modifications can be determined by the size differences between the gears of the associated gear drive. Size differences are often captured as differences in the number of teeth on each gear. For example, a large gear (e.g., a gear with a large diameter) and a small gear (e.g., a gear with a small diameter) may have substantially the same number of teeth. This can result in the large gear having more teeth than the small gear. The meshing of the teeth between the small and large gears can result in the small gear rotating multiple times for every rotation of the large gear. Therefore, if a rotating input is coupled to a large gear and an output is coupled to a small gear, the output will rotate multiple times for every rotation of the input. Similarly, the torque input to the small gear will be amplified at the output from the large gear due to the difference in diameter of the large gear, while the output from the large gear will have a lower rotational speed than the input.

[0016] As the size difference between gears increases, the size of the gear drive also increases, and a larger gear ratio results in a larger gear drive that can be difficult to install in smaller applications. Some types of gear assemblies can achieve a larger gear ratio in a smaller package. For example, planetary gear sets can achieve a larger gear ratio due to the meshing between multiple nested gears.

[0017] Figure 1 shows a gear drive 100. The gear drive 100 may be configured to receive a first input 102 and / or a second input 104, the first input 102 rotating in a first direction and the second input 104 rotating in a second opposite direction. In some embodiments, the gear drive 100 may be configured to receive a single input through the first input 102. The first input 102 may be a shaft coupled to an internal gear of the gear drive 100. The second input 104 may be coupled to a housing 108. The housing 108 may be configured to rotate independently of the first input 102.

[0018] The housing 108 may form an outer case configured to house (e.g., surround) the internal gears of the gear drive 100. The housing 108 may shield the internal gears from debris and other damaging elements. The housing 108 may also be configured to maintain internal fluids, such as lubricants (e.g., oil, grease, etc.), within the housing 108 in order to reduce wear on the internal gears, reduce friction losses in the internal gears, and extend the life of the internal gears. As will be described in more detail below, the housing 108 may be directly coupled to one or more of the internal gears in order to transmit motion to the internal gears and / or to fix the internal gears relative to other internal gears.

[0019] The gear drive 100 can be suspended from one or more brackets 106. The brackets 106 can be configured to attach and / or secure the gear drive 100 to a component that is stationary relative to the gear drive 100. For example, if the gear drive 100 is attached to an automobile or other vehicle, the brackets 106 can attach the gear drive 100 to a vehicle frame or body component that is stationary relative to the vehicle, and a moving component of the vehicle coupled to the first input portion 102 and / or the second input portion 104 can move or rotate relative to the relatively stationary component. The brackets 106 can be configured to facilitate rotation of the housing 108 relative to the brackets 106. For example, the housing 108 can be rotatably coupled to the brackets 106 through one or more bearings 110 (e.g., roller bearings, ball bearings, needle bearings, etc.).

[0020] FIG. 2 shows a perspective view of the output side of the gear drive 100. The gear drive 100 can include a first output portion 202 and a second output portion 204. The first output portion 202 and the second output portion 204 can rotate in opposite directions. The second output portion 204 can rotate in the same direction as the first input portion 102, and the first output portion 202 can rotate in the opposite direction. If the second input portion 104 is provided, the first output portion 202 can rotate in the direction of the second input portion 104. If the second input portion 104 is not provided, the first output portion 202 continues to rotate in a direction opposite to the direction of the first input portion 102. Thus, the gear drive 100 can output two individual reverse rotation outputs from a single input in a single direction.

[0021] The first output unit 202 and the second output unit 204 may exit the housing 108 through an opening 206 defined in an end face 208 of the housing 108. The end face 208 may be formed from an end plate 210 fixed to the housing 108. The end plate 210 may be removable to facilitate servicing of the internal gears of the gear drive 100 (e.g., component repair, component replacement, lubricant change, etc.). The end face 208 of the end plate 210 may be further configured to engage with another member, such as a generator or a brake device, to control the rotation of the housing 108 via the bearing 110. The brake device or the generator may be utilized to control the perceived gear ratio of the gear drive 100.

[0022] The internal gears of the gear drive 100 may be a planetary gear device. FIG. 3 shows a perspective view of a planetary gear device 300. The planetary gear device 300 includes a ring gear 306, planetary gears 304, and a sun gear 302. The planetary gears 304 may be coupled together by a carrier 310 such that the planetary gears 304 move together between the ring gear 306 and the sun gear 302. The carrier 310 may be coupled to each of the planetary gears 304 through a spindle 308. The planetary gears 304 may rotate about the spindle 308, and the carrier 310 rotates relative to the ring gear 306 and the sun gear 302. The ring gear 306 may include inward-facing teeth 314 that may mesh with the teeth 312 of the planetary gears 304. The teeth 312 of the planetary gears 304 may then mesh with the teeth 316 of the sun gear 302. Thus, the planetary gears 304 may transmit motion to at least one of the ring gear 306 and the sun gear 302. In some cases, the planetary gears 304 may transmit motion between the ring gear 306 and the sun gear 302.

[0023] Conventionally, one of the ring gear 306, carrier 310, or sun gear 302 is held stationary, and the other two of the ring gear 306, carrier 310, and sun gear 302 are mounted to the rotation input or rotation output. The gear ratio of the planetary gear system 300 is based on the difference between the number of teeth 314 (R) in the ring gear 306 and the number of teeth 316 (S) in the sun gear 302. The gear ratio also changes based on which of the ring gear 306, carrier 310, or sun gear 302 is held stationary. For example, if the ring gear 306 is held stationary, the gear ratio is:

[0024]

number

[0025] It will become. If the solar gear 302 were held stationary, the gear ratio would be:

[0026]

number

[0027] It will become. If the carrier 310 is held stationary, the gear ratio is,

[0028]

number

[0029] It will become. In some cases, all three components—ring gear 306, carrier 310, and sun gear 302—can rotate. For example, two inputs and / or two outputs may result in a single input coupled to one of the ring gear 306, carrier 310, or sun gear 302, with each of the two outputs coupled to the remaining ring gear 306, carrier 310, or sun gear 302. Alternatively, two inputs may be coupled to two of the ring gear 306, carrier 310, or sun gear 302, with one output coupled to the remaining ring gear 306, carrier 310, or sun gear 302. If all three components—ring gear 306, carrier 310, and sun gear 302—are rotating, the gear ratio can be larger. The relative rotation of each of the ring gear 306, carrier 310, and sun gear 302 is a function of the relative rotational speed of the other components. For example, if the ring gear 306 and the carrier 310 are coupled to separate inputs such as the first input 102 and the second input 104, respectively, the rotational speed of the sun gear 302 is determined as follows.

[0030]

number

[0031] Here, Ts is the rotational speed of the sun gear 302, Ty is the rotational speed of the carrier 310, and Tr is the rotational speed of the ring gear 306. If the ring gear 306 and the carrier 310 rotate in opposite directions, the ratio increases significantly. For example, rotating the ring gear 306 and the carrier 310 in opposite directions can result in a gear ratio greater than 9:1, such as a gear ratio greater than 10:1 or greater than 12:1. Therefore, rotating the ring gear 306 and the carrier 310 in opposite directions through separate inputs can increase the output speed of the sun gear 302 compared to conventional applications.

[0032] Figure 4 illustrates a cross-sectional view of the gear drive 100. The gear drive 100 may include a first planetary gear set 402 and a second planetary gear set 404. The first planetary gear set 402 and the second planetary gear set 404 may be axially aligned with input sections 102, 104 and output sections 202, 204. The first input section 102 may be coupled to a first carrier 422 of the first planetary gear set 402. In some embodiments, the first carrier 422 may be formed as part of the first input section 102. For example, the first input section 102 may be a shaft extending from the first carrier 422. Thus, the first carrier 422 and the associated first planetary gear 420 may rotate in substantially the same direction and at substantially the same speed as the first input section 102.

[0033] The first carrier 422 may be coupled to the second ring gear 406 of the second planetary gear system 404 via a first input coupler 426. The first input coupler 426 may be coupled to the first carrier 422 via a first spindle 418 extending through the first planetary gear 420. For example, the first input coupler 426 may be an extension of the internal portion of the first carrier 422 on the opposite side of the first planetary gear system 402 from the first input section 102. The first input coupler 426 may transmit rotation from the first input section 102 to the second ring gear 406, and the second ring gear 406 may rotate in substantially the same direction and at substantially the same speed as the first input section 102 and the first carrier 422.

[0034] The housing 108 can be coupled to the first ring gear 424 and the second carrier 408, and the first ring gear 424 and the second carrier 408 can be fixed to the housing 108. The second carrier 408 can maintain the second planetary gear 410 in a predetermined position relative to the housing 108 via the second spindle 412. The first output unit 202 can be coupled to the first sun gear 416 of the first planetary gear system 402, and the second output unit 204 can be coupled to the second sun gear 414 of the second planetary gear system 404. If the housing 108 remains in a predetermined position, the first input unit 102 can rotate the first sun gear 416 in the same direction as the first input unit 102 at a speed amplified by the gear ratio of (ring gear teeth + sun gear teeth): sun gear teeth of the first planetary gear system 402. The first input coupler 426 can also rotate the second ring gear 406, which can rotate the second sun gear 414 in the opposite direction to the first input 102 at a speed amplified by the gear ratio of the ring gear teeth to the sun gear teeth of the second planetary gear system 404. Thus, the first sun gear 416 and the second sun gear 414 can rotate in opposite directions when a single input is received from the first input 102. The first sun gear 416 can rotate the first output 202 in the direction of the first input 102 at a speed determined by the gear ratio of the first planetary gear system 402, and the second sun gear 414 can rotate the second output 204 in the opposite direction to the first input 102 at a speed determined by the gear ratio of the second planetary gear system 404.

[0035] As described above, the housing 108 may be coupled to the second input 104, and the housing 108 may rotate in the opposite direction to the first input 102. This allows the first ring gear 424 of the first planetary gear system 402 to rotate relative to the first carrier 422, and the second carrier 408 to rotate relative to the second ring gear 406. As described above, rotating the components of the planetary gear systems 402 and 404 can increase the mechanical advantages of the planetary gear systems 402 and 404. For example, if the first input 102 and the second input 104 each rotate in opposite directions at substantially the same speed, the gear ratio is,

[0036]

number

[0037] It will become. The housing 108, which rotates in the opposite direction to the first input unit 102, similarly maintains the reverse rotation of the second sun gear 414 relative to the first sun gear 416, and rotates in the opposite direction to the first output unit 202 and the second output unit 204. Furthermore, the first output unit 202 and the second output unit 204 can rotate at a higher speed ratio due to the increased gear ratio described above. The relative rotational speed between the first output unit 202 and the second output unit 204 can be approximately twice the rotational speed of each individual output unit 202, 204 due to the reverse rotation.

[0038] In some embodiments, the gear ratios of the first planetary gear set 402 and the second planetary gear set 404 may differ. As shown in Figure 4, the second sun gear 414 may have a larger diameter than the first sun gear 416. For example, a larger diameter for the second sun gear 414 may facilitate the first output section 202, which passes through the central portion of the second sun gear 414, reaching the first sun gear 416. An output bearing 428 may be located between the first output section 202 and the second output section 204. The output bearing 428 may reduce friction between the first output section 202 and the second output section 204, which may increase the efficiency of the gear drive 100 and reduce wear between the first output section 202 and the second output section 204.

[0039] The output sections 202 and 204 may be shafts configured to create interference connections with the respective sun gears 414 and 416. For example, the shafts may include splines (e.g., teeth) configured to mesh with complementary splines on the sun gears 414 and 416. In another embodiment, the shafts may have interference fits with the respective sun gears 414 and 416 such that compressive forces between the surface of the shaft and the respective sun gears 414 and 416 transmit rotation. In another embodiment, the shafts may be fixed to the sun gears 414 and 416 through hardware connections (e.g., bolts, pins, fasteners, screws, rivets, etc.) or through welded, brazed, or soldered connections.

[0040] Figure 5 shows an embodiment of a gear drive 100 configured to receive linear input motion. The gear drive 100 may be configured to receive oscillating linear motion from a vehicle suspension, a wave in a mass of water, etc., through one or more input arms 502. The input arms 502 may be coupled to the gear drive 100 through a first input bracket 504 and a second input bracket 506. For example, each of the input arms 502 may be coupled to a first input section 102 through a first input bracket 504. The first input bracket 504 may be coupled to the first input section 102 through a unidirectional bearing 508 (e.g., a sprag bearing) configured to transmit rotation in a first direction and rotate freely in a second direction, with rotation transmitted to the first input section 102 only in the first direction. Each of the input arms 502 may also be coupled to a second input section 104 (Figure 1) through a second input bracket 506. Similarly, the second input bracket 506 can be coupled to the second input section 104 (Figure 1) via a unidirectional bearing 508 facing the opposite direction, and the unidirectional bearing 508 transmits rotation to the second input section 104 (Figure 1) only in the second direction. Therefore, when the vibrational linear motion rotates the input arm 502 in the first direction, the input arm 502 transmits rotation to the first input section 102 while rotating freely around the second input section 104 (Figure 1), and when the vibrational linear motion rotates the input arm 502 in the second direction, the input arm 502 transmits rotation to the second input section 104 (Figure 1) while rotating freely around the first input section 102. Therefore, the vibrational motion can rotate the first input section 102 and the second input section 104 (Figure 1) in opposite directions, which can be amplified through the gear drive 100 as described above.

[0041] Embodiments of the present disclosure may enable the capture of oscillating motion and / or rotational motion in one or two directions and its transmission to two counter-rotating output units. The counter-rotating output units may increase the relative rotational speed between two components, such as the stator and rotor of an electric generator. The increased relative rotational speed may increase the output of the electric generator. In other embodiments, the counter-rotating output units may be used to drive counter-rotating components of a device, such as an impeller, head, bit, or paddle, through a single input.

[0042] Embodiments of the present disclosure may provide two counter-rotating inputs. As described above, counter-rotating inputs may provide a larger gear ratio in a relatively small gear drive having a planetary gear system. A larger gear ratio may facilitate the capture of energy from smaller motions and / or facilitate greater mechanical advantages generated from smaller forces.

[0043] In the embodiments shown above, the gear drive 100 includes two planetary gear units 402, 404. In some embodiments, the gear drive may include more than two planetary gear units, based on the desired gear ratio. The planetary gear units may be modular so that any number of planetary gear units can be incorporated into the gear drive to achieve the desired gear ratio.

[0044] Figure 6A shows a perspective view of the gear drive, and Figure 6B shows a cross-sectional view of the gear drive in Figure 6A. In Figures 6A and 6B, the gear drive 600 may include a bracket 602 (similar to the bracket 106 discussed above) for mounting the gear drive 600 to a component stationary to the gear drive 600. The gear drive 600 may include a housing 604 (similar to the housing 108 described above) which may form an outer case configured to house (e.g., surround) the internal gears of the gear drive 600.

[0045] In this embodiment, the gear drive 600 may include a first input section 606. The first input section may be a shaft coupled to an internal gear of the gear drive 600. A bearing 607 may be provided to facilitate the rotation of the first input section 606 relative to the bracket 602. The gear drive 600 may further include an intermediate member 608. The intermediate member 608 may be a shaft coupled to an internal gear of the gear drive 600. The intermediate member 608 may be positioned to align with the first input section 606. An additional bearing 607 may facilitate the rotation of the intermediate member 608 relative to the first input section 606.

[0046] The gear drive 600 may further comprise a first output section 610. The first output section 610 may be a shaft coupled to the internal gears of the gear drive 600. The first output section 610 may be aligned with the intermediate member 608 and the first input section 606. An additional bearing 607 may facilitate the rotation of the first output section 610 relative to the intermediate member 608. The gear drive 600 may also comprise a second output section 612. The second output section 610 may comprise a hollow shaft that surrounds the first output section 610 and is coupled to the internal gears of the gear drive 600. The second output section 612 may rotate independently of the first output section 610 via the bearing 607. The gear drive 600 may also comprise a third output section 614, which surrounds the second output section 612 and is configured to rotate independently of the second output section 612 via the bearing 607. The third output unit 614 can also be coupled to the internal gears of the gear drive 600.

[0047] As described above, the gear drive may have any number of planetary gears based on the desired gear ratio. In this embodiment, the gear drive 600 may comprise a first planetary gear 616, a second planetary gear 618, and a third planetary gear 620. The first planetary gear 616, the second planetary gear 618, and the third planetary gear 620 may be axially aligned with the first input 606, the intermediate member 608, and the output 610, 612, 614. The first and second planetary gears 616, 618 may be similar to the first and second planetary gears 402, 404 discussed above. In the gear drive 600, the third planetary gear 620 and the intermediate member 608 may be considered as modular members that can be added to the first and second planetary gears 616, 618 to achieve the desired gear ratio. Furthermore, although only the third planetary gear system 620 and the intermediate member 608 are shown in Figures 6A and 6B, additional modular members may be added to the gear drive depending on the desired gear ratio.

[0048] The first input section 606 may be coupled to the carrier 622 of the third planetary gear assembly 620. In some embodiments, the first input section 606 may be formed integrally with the carrier 622. The first input section 606 may be formed separately from the carrier 622, press-fitted into the carrier 622, or coupled to the carrier 622 in other ways, such as via fasteners, welding or other suitable joining methods. The carrier 622 is attached to the planetary gear 624 of the third planetary gear assembly 620 via a spindle. The teeth of the planetary gear 624 may mesh with the internal teeth of the ring gear 626 of the third planetary gear assembly 620, and may mesh with the teeth of the sun gear 628 of the third planetary gear assembly 620.

[0049] The sun gear 628 of the third planetary gear assembly 620 may be coupled to an intermediate member 608. The intermediate member 608 may be further coupled to a carrier 630 of the first planetary gear assembly 616. The carrier 630 may support a planetary gear 632 and may also have a coupler 634 connecting the carrier 630 to the ring gear 636 of the second planetary gear assembly 618, or may be connected to the coupler 634. The teeth of the planetary gear 632 may mesh with the inner teeth of the ring gear 639 of the first planetary gear assembly 616. The ring gear 639 may be coupled to a housing 604 and therefore may rotate with the housing 604 (or may be fixed with the housing 604). The teeth of the planetary gear 632 may also mesh with the teeth of the sun gear 638 of the first planetary gear assembly 616. The solar gear 638 of the first planetary gear device 616 can also be coupled to the first output unit 610 of the gear drive 600 to rotate the first output unit 610.

[0050] The ring gear 636 of the second planetary gear assembly 618 may have internal teeth that mesh with a planetary gear 642 associated with the carrier 640. The planetary gear 642 may mesh with a sun gear 644 of the second planetary gear assembly 618. The sun gear 644 may be coupled to a second output unit 612 to rotate the second output unit 612. The above-described connections between the first input unit 606, the intermediate member 608, and the first to third planetary gear assembly 616, 618, and 620 may enable the first output unit 610 and the second output unit 612 to rotate in opposite directions based on a rotational input to the first input unit 606.

[0051] The carrier 640 of the second planetary gear unit 618 may be coupled to the third output unit 614. The third output unit 614 may be coupled to the housing 604, and therefore the third output unit may be operable to rotate with the housing 604 (or remain fixed with the housing 604). In this embodiment, by utilizing a modular third planetary gear unit 620, the gear ratio between the first input unit 606 and the first and second output units 610, 612, which rotate in the opposite direction, can be increased by a desired amount. In other embodiments, additional modular planetary gear units may be added based on the desired gear ratio.

[0052] Figure 7A shows a perspective view of the gear drive, and Figure 7B shows a cross-sectional view of the gear drive of Figure 7A. In this embodiment, the gear drive 700 may include a reverse-rotating input that can be operated to drive an output to supply power to a generator. The gear drive 700 may include a bracket 702 that can be operated to mount the gear drive 700 to a component stationary to the gear drive 700. The gear drive 700 also includes a housing 704 (similar to the housing 108 described above) which may form an outer case configured to house (e.g., surround) the internal gears of the gear drive 700.

[0053] The reverse-rotating input section of the gear drive 700 may comprise a first input section 706 and a second input section 708. The first input section 706 may comprise a shaft coupled to the internal gears of the gear drive 700. The second input section 708 may comprise a hollow shaft configured to surround the first input section 706 and capable of operating to rotate independently of the first input section 706 via a bearing 707. The second input section 708 may be coupled to the internal gears of the gear drive 700. The gear drive 700 may further comprise a first output section 710 and a second output section 712. The first output section 710 may comprise a shaft, and the second output section 712 may comprise a hollow shaft configured to surround the first output section 710. The first output section 710 may rotate independently of the second output section 712 via a bearing 707. The first output section 710 may be coupled to the internal gears of the gear drive 700. The second output unit 712 may be coupled to the housing 704 so as to rotate with the housing 704 (or remain stationary with the housing 704).

[0054] In this embodiment, the gear drive may comprise a first planetary gear set 716 and a second planetary gear set 718. The first and second planetary gear sets 716, 718 may be axially aligned with the first and second input sections 706, 708 and the first and second output sections 710, 712. The first and second planetary gear sets 716, 718 may be similar to the first and second planetary gear sets 402, 404 discussed above.

[0055] The first input section 706 may be coupled to the sun gear 720 of the first planetary gear assembly 716. In some embodiments, the first input section 706 may be formed integrally with the sun gear 720. In some embodiments, the first input section 706 may be formed separately from the sun gear 720, press-fitted onto the sun gear 720, or coupled to the sun gear 720 in other ways, such as via fasteners, welding or other suitable joining methods. The sun gear 720 may mesh with the planet gear 722 of the first planetary gear assembly 716. The planet gear 722 may be coupled to the carrier 724 of the first planetary gear assembly by a spindle. In this embodiment, the first output section 710 may be coupled to the carrier 724 of the first planetary gear assembly 716. The carrier 724 may be further coupled to the ring gear 728 of the second planetary gear assembly 718 via a coupler 726.

[0056] The ring gear 728 of the second planetary gear system 718 may mesh with the planetary gear 730 of the second planetary gear system 718. The planetary gear 730 may mesh with the sun gear 732 of the second planetary gear system 718. The second input section 708 may be coupled to the sun gear 732 of the second planetary gear system 718.

[0057] It should be noted that the above-described features of the gear drive 700 are substantially the same as those of the gear drive 100 illustrated in Figure 4. However, the gear drive 700 is capable of operating in the opposite direction compared to the gear drive 100. In other words, the first and second inputs 706 and 708 of the gear drive 700 correspond to the first and second outputs 202 and 204 of the gear drive 100. Similarly, the first and second outputs 710 and 712 of the gear drive 700 correspond to the first and second inputs 102 and 104 of the gear drive 100. This makes it possible for the gear drive (e.g., gear drive 100 or gear drive 700) to operate in either direction. By operating the gear drive in one direction, the gear drive can "gear down" from the input to the output, and by operating the gear drive in the opposite direction, the gear drive can "gear up" from the input to the output.

[0058] In this embodiment, the gear drive 700 may further comprise an electric generator 734 which may be operable to provide resistance to one or more components of the gear drive 700 in order to dynamically control the gear ratio of the gear drive 700. The generator 734 may comprise a rotor 736. The rotor may be coupled to a second output unit 712, which is coupled to a housing 704. Thus, the rotor may be operable to rotate together with the housing 704. The generator 734 may further comprise a stator coil 738. Thus, the generator 734 may provide resistance to the rotation of the second output unit 712 and the housing 704 in order to dynamically control the gear ratio of the gear drive 700.

[0059] Figures 7A and 7B illustrate an embodiment having one generator coupled to the output of a gear drive, but it may also be beneficial to use more than one generator to control the gear ratio of the gear drive. Figure 8A shows a perspective view of the gear drive 800, and Figure 8B shows a cross-sectional view of the gear drive 800 of Figure 8A. The gear drive 800 may also include a bracket 802 (similar to the bracket 106 discussed above) for mounting the gear drive 800 to a component stationary to the gear drive 800. The gear drive 800 may also include a housing 804 (similar to the housing 108 discussed above) which may form an outer case configured to house (e.g., surround) the internal gears of the gear drive 800.

[0060] The gear drive 800 may include a first input section 806. The first input section may be a shaft coupled to an internal gear of the gear drive 800. The gear drive 800 may further include a second input section 808 coupled to an internal gear of the gear drive 800. The second input section 808 may be axially aligned with the first input section 806 and may include a hollow shaft that surrounds the first input section 806 and is configured to rotate independently of the first input section 806 via a bearing 807.

[0061] The gear drive 800 may further comprise a first output section 812. The first output section 812 may be a shaft coupled to the internal gears of the gear drive 800. The first output section 812 may be axially aligned with the first and second input sections 806, 808. The gear drive 800 may further comprise a second output section 814. The second output section 814 may comprise a hollow shaft that is axially aligned with and surrounds the first output section 812 and rotates independently of the first output section 812 via a bearing 807.

[0062] The gear drive 800 may have several planetary gear sets depending on the desired gear ratio. In this embodiment, the gear drive 800 may include a first planetary gear set 818 and a second planetary gear set 820. The first and second planetary gear sets 818, 820 may be axially aligned with the first and second input sections 806, 808 and the first and second output sections 812, 814. The first and second planetary gear sets 818, 820 may be similar to the first and second planetary gear sets 402, 404 discussed above.

[0063] The first input section 806 may be coupled to the carrier 822 of the first planetary gear assembly 818. In some embodiments, the first input section 806 may be formed integrally with the carrier 822. The first input section 806 may be formed separately from the carrier 822, press-fitted into the carrier 822, or coupled to the carrier 822 in other ways, such as via fasteners, welding or other suitable joining methods. The carrier 822 may include a coupler 824 coupled to the ring gear 826 of the second planetary gear assembly 820. The carrier 822 may support the planetary gears 828 of the first planetary gear assembly 818 via a spindle.

[0064] Planetary gear 828 can mesh with ring gear 829 of the first planetary gear device 818. Ring gear 829 can be coupled to housing 804 so that ring gear 829 rotates together with housing 804. Second input unit 808 can be coupled to housing 804 and therefore to ring gear 829 so that second input unit 808 rotates together with housing 804 and ring gear 829 of the first planetary gear device 818. Planetary gear 828 can further mesh with sun gear 830 of the first planetary gear device 818. Sun gear 830 can be coupled to first output unit 812 to rotate the first output unit 812.

[0065] The ring gear 826 of the second planetary gear system 820 may mesh with the planetary gear 832 of the second planetary gear system 820. The planetary gear 832 may be supported by the carrier 836 via a spindle. The planetary gear 832 may mesh with the sun gear 834 of the second planetary gear system 820. The sun gear 834 may mesh with the second output unit 814 to rotate the second output unit 814.

[0066] Similar to the gear drive 700 discussed above, the gear drive 800 may be dynamically controlled via a generator. In this embodiment, the gear drive 800 may comprise a first generator 838 located on the output side of the gear drive 800. The first generator 838 may comprise a rotor 840 coupled to a second output section 814 of the gear drive. The generator may further comprise a stator coil 842 supported by a bracket 802. Similar to the generator 734 discussed above, the generator 838 may provide a variable resistance to the second output section to dynamically control the gear ratio of the gear drive.

[0067] In addition to the first generator 838 attached to the second output section 814, the gear drive 800 may include a second generator 844 located on the input side of the gear drive 800. In this embodiment, the second generator 844 may include a rotor 846 coupled to the second input section 808. The generator 844 may further include a stator coil 848 supported by a bracket 802. The generator 844 can dynamically control the resistance to the second input section 808 to control the gear ratio of the gear drive 800. By providing an additional generator to the gear drive 800, further improvement and control of the gear ratio of the gear drive can be achieved.

[0068] In some embodiments, the second generator 844 may be configured as an electric motor configured to input rotation to the second input 808. The rotational input from the second generator 844 acting as a motor can control the rotation of the housing 804, which can be added to the dynamic control of the gear drive 800. For example, the second generator 844 can control the rotation of the ring gear 829 and the carrier 836, while the first generator 838 controls the rotation of the sun gear 834. Thus, the perceived gear ratio of the gear drive 800 can be controlled through both the second generator 844, which inputs rotation to each component, and the first generator 838, which limits the rotation of each component.

[0069] Non-limiting exemplary embodiments include the following: Embodiment 1: A gearbox comprising a first planetary gear system and a second planetary gear system, a first carrier of the first planetary gear system coupled to a second ring gear of the second planetary gear system, a first ring gear of the first planetary gear system coupled to a second carrier of the second planetary gear system, a first sun gear of the first planetary gear system coupled to a first output shaft, and a second sun gear of the second planetary gear system coupled to a second output shaft.

[0070] Embodiment 2: The gearbox of Embodiment 1, wherein the first output shaft is configured to rotate in a first direction, and the second output shaft is configured to rotate in a second direction opposite to the first direction.

[0071] Embodiment 3: A gearbox of Embodiment 1 or Embodiment 2, further comprising a first input shaft coupled to a first carrier. Embodiment 4: The gearbox of Embodiment 3, further comprising a second input shaft coupled to a first ring gear.

[0072] Embodiment 5: The first planetary gear system is a gearbox of Embodiment 3 or Embodiment 4, which sets a gear ratio of at least 10:1 between the first input shaft and the first output shaft. Embodiment 6: A gearbox from any one of Embodiments 1 to 5, further comprising a housing that encloses a first planetary gear system and a second planetary gear system.

[0073] Embodiment 7: A gearbox of Embodiment 6, wherein the housing is coupled to the first ring gear of the first planetary gear system and the second carrier of the second planetary gear system. Embodiment 8: A gearbox of Embodiment 6 or Embodiment 7, wherein the housing is configured to rotate relative to a first planetary gear system and a second planetary gear system.

[0074] Embodiment 9: A method for transmitting motion, the method comprising: receiving a rotational input in a first direction on a first carrier of a first planetary gear system; rotating a second ring gear through a first coupling between the first carrier and a second ring gear of a second planetary gear system; coupling a second carrier to the first ring gear through a second coupling between the first ring gear of the first planetary gear system and a second carrier of the second planetary gear system; rotating a first output shaft in a first direction through a first drive mesh between a first set of planetary gears coupled to the first carrier and a first sun gear, wherein the first output shaft is coupled to the first sun gear; and rotating a second output shaft in a second direction opposite to the first direction through a second drive mesh between a second set of planetary gears coupled to the second carrier and a second sun gear, wherein the second output shaft is coupled to the second sun gear.

[0075] Embodiment 10: The method of Embodiment 9, further comprising the step of receiving a second rotational input in a second direction in the first ring gear. Embodiment 11: The method of Embodiment 10, further comprising the step of rotating the second carrier in a second direction through a second coupling between the first ring gear and the second carrier.

[0076] Embodiment 12: The method of Embodiment 10 or Embodiment 11, further comprising the step of rotating the housing surrounding the first planetary gear system and the second planetary gear system in a second direction. Embodiment 13: A method in any one of Embodiments 9 to 12, wherein the step of coupling the second carrier to the first ring gear through a second coupling between the first ring gear of the first planetary gear system and the second carrier of the second planetary gear system includes the step of coupling the second carrier of the second planetary gear system to the first ring gear of the first planetary gear system through a housing that encloses the first and second planetary gear systems.

[0077] Embodiment 14: A method of any one of embodiments 9 to 13, further comprising the step of receiving oscillating linear motion through an input arm, wherein the input arm rotates a rotary input portion in a first direction through a first unidirectional bearing, and the input arm rotates a second rotary input portion in a second direction through a second unidirectional bearing.

[0078] Embodiment 15: A gear drive comprising a first rotary input unit, a second rotary input unit, a first planetary gear system, a first carrier of the first planetary gear system coupled to the first rotary input unit, a first ring gear of the first planetary gear system coupled to the second rotary input unit, and a first sun gear of the first planetary gear system coupled to a first output shaft.

[0079] Embodiment 16: The gear drive of Embodiment 15, wherein a first rotation input is configured to rotate in a first direction, and a second rotation input is configured to rotate in a second direction opposite to the first direction.

[0080] Embodiment 17: A gear drive according to Embodiment 15 or Embodiment 16, further comprising an input arm coupled to a first rotary input section via a first unidirectional bearing and to a second rotary input section via a second unidirectional bearing.

[0081] Embodiment 18: The gear drive of Embodiment 17, wherein a first unidirectional bearing is configured to transmit rotation in a first direction, and a second unidirectional bearing is configured to transmit rotation in a second direction opposite to the first direction.

[0082] Embodiment 19: Any one of embodiments 15 to 18, further comprising a second planetary gear device comprising a second ring gear coupled to a first carrier of a first planetary gear device, and a second carrier coupled to the first ring gear of the first planetary gear device.

[0083] Embodiment 20: The gear drive of Embodiment 19, further comprising a second output unit coupled to the second sun gear of the second planetary gear device. Embodiment 21: A gear drive comprising: a mounting bracket configured to mount the gear drive to a component stationary to the gear drive; a first planetary gear system; a second planetary gear system coupled to the first planetary gear system; and a housing forming an outer case configured to house the first and second planetary gear systems, the housing being rotatable relative to the mounting bracket, and the housing being coupled to one of the first or second planetary gear systems.

[0084] Embodiment 22: The gear drive of Embodiment 21, wherein the housing has a surface configured to engage with a braking device or generator to control the rotation of the housing relative to the mounting bracket. The embodiments of this disclosure described above and shown in the accompanying drawings do not limit the scope of the invention, for these embodiments are merely examples of embodiments of the invention, as defined by the accompanying claims and their legal equivalents. Any equivalent embodiments are intended to be within the scope of this disclosure. In practice, various modifications of this disclosure, in addition to those shown and described herein, such as alternative useful combinations of the elements described, may become apparent to those skilled in the art from the description. Such modifications and embodiments are also intended to be within the scope of the accompanying claims and their legal equivalents.

Claims

1. A first planetary gear system and a second planetary gear system, The first carrier of the first planetary gear system is coupled to the second ring gear of the second planetary gear system, The first ring gear of the first planetary gear system is coupled to the second carrier of the second planetary gear system, The first solar gear of the first planetary gear device coupled to the first output shaft, The second sun gear of the second planetary gear system coupled to the second output shaft and A gearbox equipped with this.

2. The first output shaft is configured to rotate in a first direction, The second output shaft is configured to rotate in a second direction opposite to the first direction. The gearbox according to claim 1.

3. The system further comprises a first input shaft coupled to the first carrier, The gearbox according to claim 1.

4. The device further comprises a second input shaft coupled to the first ring gear, The gearbox according to claim 3.

5. The first planetary gear device determines a gear ratio of at least 10:1 between the first input shaft and the first output shaft. The gearbox according to claim 3.

6. The system further comprises a housing that encloses the first planetary gear device and the second planetary gear device. The gearbox according to any one of claims 1 to 5.

7. The housing is coupled to the first ring gear of the first planetary gear system and the second carrier of the second planetary gear system. The gearbox according to claim 6.

8. The housing is configured to rotate relative to the first planetary gear system and the second planetary gear system. The gearbox according to claim 6.

9. A method of transmitting motion, A step of receiving a rotational input in a first direction in the first carrier of the first planetary gear device, The steps include rotating the second ring gear through a first coupling between the first carrier and the second ring gear of the second planetary gear system, The steps include: coupling the second carrier to the first ring gear through a second coupling between the first ring gear of the first planetary gear device and the second carrier of the second planetary gear device; A step of rotating a first output shaft in a first direction through a first drive mesh between a first set of planetary gears coupled to the first carrier and a first sun gear, wherein the first output shaft is coupled to the first sun gear, A step of rotating a second output shaft in a second direction opposite to the first direction through a second drive mesh between a second set of planetary gears coupled to the second carrier and a second sun gear, wherein the second output shaft is coupled to the second sun gear, and Methods that include...

10. The first ring gear further includes the step of receiving a second rotational input in the second direction, The method according to claim 9.

11. The step further includes rotating the second carrier in the second direction through the second coupling between the first ring gear and the second carrier, The method according to claim 10.

12. The further step includes rotating the housing surrounding the first planetary gear system and the second planetary gear system in the second direction. The method according to claim 10.

13. The step of coupling the second carrier to the first ring gear through the second coupling between the first ring gear of the first planetary gear assembly and the second carrier of the second planetary gear assembly includes the step of coupling the second carrier of the second planetary gear assembly to the first ring gear of the first planetary gear assembly through the housing that surrounds the first planetary gear assembly and the second planetary gear assembly, The method according to any one of claims 9 to 12.

14. A step of receiving oscillating linear motion through an input arm, further comprising the steps of: the input arm rotating a rotation input portion in a first direction through a first unidirectional bearing; and the input arm rotating a second rotation input portion in a second direction through a second unidirectional bearing. The method according to any one of claims 9 to 12.

15. The first rotation input unit, The second rotation input section, The first planetary gear device, The first carrier of the first planetary gear device coupled to the first rotation input section, The first ring gear of the first planetary gear device coupled to the second rotation input section, The first sun gear of the first planetary gear device coupled to the first output shaft and A gear drive equipped with this feature.

16. The first rotation input unit is configured to rotate in a first direction, The second rotation input unit is configured to rotate in a second direction opposite to the first direction. The gear drive according to claim 15.

17. The system further comprises an input arm connected to the first rotation input section via a first unidirectional bearing and connected to the second rotation input section via a second unidirectional bearing. The gear drive according to claim 15.

18. The first unidirectional bearing is configured to transmit rotation in the first direction, The second unidirectional bearing is configured to transmit rotation in a second direction opposite to the first direction. The gear drive according to claim 17.

19. A second ring gear coupled to the first carrier of the first planetary gear system, The second carrier coupled to the first ring gear of the first planetary gear apparatus and It further comprises a second planetary gear device equipped with The gear drive according to any one of claims 15 to 18.

20. The second planetary gear device further comprises a second output unit coupled to the second solar gear of the second planetary gear device, The gear drive according to claim 19.

21. It is a gear drive, A mounting bracket configured to attach the gear drive to a component that is stationary relative to the gear drive, The first planetary gear device, A second planetary gear device coupled to the first planetary gear device, A housing forming an outer case configured to house the first and second planetary gear systems, wherein the housing is rotatable relative to the mounting bracket, and the housing is coupled to one of the first or second planetary gear systems. A gear drive equipped with this feature.

22. The housing has a surface configured to engage with a braking device or generator in order to control the rotation of the housing relative to the mounting bracket. The gear drive according to claim 21.

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