Systems and methods that use harmonic drives for converting reciprocating axial motion to continuous rotary motion, helical drives for converting reciprocating rotary motion to reciprocating axial motion and combinations thereof for converting reciprocating rotary motion to continuous rotary motion

A rotary motor module, comprising:

• a primary rotor assembly comprising a harmonic drive rotor, the harmonic drive rotor comprising two or more ball track grooves;
• a secondary reciprocating rotor assembly coupled to the primary rotor assembly, the secondary reciprocating rotor assembly comprising a reciprocating rotary piston assembly and a helical drive screw;
• a helical drive reciprocating ring coupled to the helical drive screw;
• and
• a harmonic drive reciprocating ring coupled to the helical drive reciprocating ring and the harmonic drive rotor, the harmonic drive reciprocating ring comprising two or more ball transfer outer race housings that define ball transfer outer races;
• at least one ball disposed within each of the ball track grooves and the ball transfer outer races;
• wherein the ball track grooves form a recirculating path around the harmonic drive to convert harmonic, cycloidal or polynomial motion in the harmonic drive reciprocating ring to rotary motion;
• and
• wherein the harmonic drive reciprocating ring is coupled to the helical drive reciprocating ring and the harmonic drive rotor so that reciprocating motion of the secondary reciprocating rotor assembly imparts linear motion to the helical and harmonic reciprocating rings so that the harmonic reciprocating ring rotates the helical drive screw to impart continuous rotary motion to the primary motor assembly.

A rotary motor comprising:

• two or more motor modules, wherein at least one of the two or more motor modules comprises:
• a primary rotor assembly comprising a harmonic drive rotor, the harmonic drive rotor comprising two or more ball track grooves;
• a secondary reciprocating rotor assembly coupled to the primary rotor assembly, the secondary reciprocating rotor assembly comprising a reciprocating rotary piston assembly and a helical drive screw;
• a helical drive reciprocating ring coupled to the helical drive screw;
• and
• a harmonic drive reciprocating ring coupled to the helical drive reciprocating ring and the harmonic drive rotor, the harmonic drive reciprocating ring comprising two or more ball transfer outer race housings that define ball transfer outer races;
• at least one ball disposed within each of the ball track grooves and the ball transfer outer races;
• wherein the ball track grooves form a recirculating path around the harmonic drive to convert harmonic, cycloidal or polynomial motion in the harmonic drive reciprocating ring to rotary motion;
• and
• wherein the harmonic drive reciprocating ring is coupled to the helical drive reciprocating ring and the harmonic drive rotor so that reciprocating motion of the secondary reciprocating rotor assembly imparts linear motion to the helical and harmonic reciprocating rings so that the harmonic reciprocating ring rotates the helical drive screw to impart continuous rotary motion to the primary motor assembly.

A method for converting fluid energy to rotational energy, comprising:

• providing fluid to a motor module comprising a primary rotor assembly comprising a harmonic drive rotor;
• diverting a portion of the fluid to energize a harmonic drive reciprocating ring to impart linear and reciprocative motion;
• and
• transferring linear energy from the harmonic drive reciprocating ring via rolling motion to the harmonic drive rotor to convert harmonic, cycloidal or polynomial motion in the harmonic drive reciprocating ring to rotary motion of the harmonic drive rotor.