Transmission apparatus

A transmission apparatus for changing the rotational speed between a first and a second shaft at a predetermined changing ratio, comprising:

• an annular casing having an inner surface;
• a wave generator means, including an eccentric cam element having an outer surface, fixed to and rotatable with the first shaft;
• at least three drive rollers;
• at least one guide roller associated with each drive roller;
• carrier means, including first means rotatably mounting each of the drive rollers and the associated guide roller adjacent thereto, connected to and rotatable with the second shaft for rotation within the casing, said first means including second means swingably supporting each of the rotatable drive and guide rollers for permitting constant contact of the guide rollers with the outer surface of the wave generator means and constant contact of the drive rollers with the inner surface of the casing;
• the inner surface of the annular casing having teeth with a selected radial configuration to correspond to a predetermined circularly extended pleated curve which effectively positions each of the drive rollers at the intersection of first and second wave-shaped curves, said curves defining an envelope formed by the guide rollers on the outer surface of the wave generator during rolling movement of the drive rollers on the teeth of the inner surface of the casing at times when the carrier means and the wave generator means are rotating relative to one another at the predetermined changing ratio, the selected configuration effectively providing constant physical contact of the guide rollers with the outer surface of the wave generator means and constant contact of the drive rollers with the teeth of the inner surface of the casing;
• the first curve corresponding to a line passing through the rotational centers of the drive rollers when the drive rollers roll along the teeth on the inner surface of the casing;
• the second curve corresponding to a line passing through the rotational centers of the drive rollers when the guide rollers roll along the outer cylindrical surface of the wave generator means;
• and
• the second curve having a wave-length corresponding to an integral multiple of the wave-length of the first curve with both first and second curves having the same amplitude.

A transmission apparatus for changing the rotational speed between a first and a second shaft at a predetermined changing ratio, comprising:

• an annular casing having an inner surface, said annular casing being fixed to and rotatable with the first shaft;
• wave generator means having a cylindrical outer surface fixed to and rotatable with the second shaft;
• at least three drive rollers;
• fixed carrier means, including first means rotatably mounting each of the drive rollers for rotation within the casing, said first means including second means swingably supporting each of the rotatable drive rollers for permitting constant contact of the drive rollers with the outer surface of the wave generator means and the inner surface of the casing;
• the inner surface of the annular casing having teeth with a radial configuration selected to position each of the rollers at the intersection of first and second wave-shaped curves, said curves defining an envelope formed by the teeth on the inner surface of the casing and the outer surface of the wave generator means during rolling movement of the drive rollers on the outer surface of the wave generator means at times when the carrier means and the wave generator means are rotating relative to one another at the predetermined changing ratio, the selected radial configuration being effective to provide constant physical contact of the drive rollers with the outer surface of the wave generator means and the teeth on the inner surface of the casing;
• the first curve corresponding to a line passing through the rotational centers of the drive rollers at times when the rollers roll relative to the teeth on the surface of the casing;
• the second curve corresponding to a line passing through the rotational centers of the drive rollers at times when the rollers roll relative to the outer surface of the wave generator means;
• and
• the second curve having a wave length corresponding to an internal multiple of the wave length of the first curve with both first and second curves having the same amplitude.

A transmission apparatus for changing the rotational speed between a first and a second shaft at a predetermined changing ratio, comprising:

• an annular casing having an inner surface, said annular casing being fixed to and rotatable with the first shaft;
• a wave generator means, including an eccentric cam element having an outer surface, fixed to and rotatable with the second shaft;
• at least three drive rollers;
• at least one guide roller associated with each drive roller;
• fixed carrier means, including first means rotatably mounting each of the drive rollers and the associated guide roller adjacent thereto, connected to and rotatable with the second shaft for rotation within the casing, said first means including second means swingably supporting each of the rotatable drive and guide rollers for permitting constant contact of the guide rollers with the outer surface of the wave generator means and constant contact of the drive rollers with the inner surface of the casing;
• the inner surface of the annular casing having teeth with a selected radial configuration to correspond to a predetermined circularly extended pleated curve which effectively positions each of the drive rollers at the intersection of first and second wave-shaped curves, said curves defining an envelope formed by the guide rollers on the surface of the wave generator during rolling movement of the drive rollers on the teeth of the inner surface of the casing at times when the carrier means and the wave generator means are rotating relative to one another at the predetermined changing ratio, the selected configuration effectively providing a constant physical contact of the guide rollers with the outer surface of the wave generator means and a constant contact of the drive rollers with the teeth of the inner surface of the casing;
• the first curve corresponding to a line passing through the rotational centers of the drive rollers when the drive rollers roll along the teeth along the teeth on the inner surface of the casing;
• the second curve corresponding to a line passing through the rotational centers of the drive rollers when the guide rollers roll along the outer cylindrical surface of the wave generator means;
• and
• the second curve having a wave-length corresponding to an integral multiple of the wave-length of the first curve with both first and second curves having the same amplitude.