Systems and methods for disengaging and engaging a wrap spring clutch

A system of actuator controllers for providing an improved level of machine control, comprising:

• a plurality of actuable machines;
• a wrap spring clutch assembly in operative connection and communication with each of the plurality of actuable machines, comprising:
• an input drive shaft in operative connection with a first clutch plate;
• an output drive shaft in operative connection with a clutch input hub, wherein the first and second clutch plates are adjacent one another;
• a torsion wrap spring compressed against and wrapped around a portion of the first and second clutch plates, the torsion wrap spring comprising a tang positioned radially outwardly from the wrapped torsion wrap spring;
• a stepper motor actuator assembly for each wrap spring clutch assembly, comprising:
• an eccentric comprising an off center axle, the eccentric rotationally driven by a stepper motor of the stepper motor actuator;
• a stop arm extending radially outwardly from the eccentric and in rotating communication with the eccentric;
• an upper stop and a lower stop in operative communication with the stop arm of the eccentric;
• a mechanical link connected with the eccentric, the mechanical link transforming the rotational driving of the eccentric into translational movement of the mechanical link;
• a plunger operatively connected with the mechanical link, the plunger translating in response to the translational movement of the mechanical link, wherein engagement of the stop arm with either the upper stop or the lower stop requires a reversal of rotational direction by the eccentric to translate the plunger;
• wherein the stepper motor actuator assembly may provide a predetermined amount of rotational motion for the eccentric, with a corresponding translational positions for the plunger, whereby, the plunger may engage the tang of the torsion wrap spring in at least a first translational position and may not engage the tang of the torsion wrap spring in at least a second translational position;
• wherein the engagement of the tang with the plunger includes disengagement of the torsion wrap spring from the portion of the first and second clutch plates and disengaging the output drive shaft from the input drive shaft, and wherein the at least second translational position of the plunger comprises a disengagement of the plunger with the tang of the torsion wrap spring comprising an engagement of the torsion wrap spring with the first and second clutch plates and engagement of the output drive shaft with the input drive shaft;
• one or more slave stepper motor controllers in operative communication and connection with the stepper motor, the stepper motor capable of rotation of the eccentric a number of rotational degrees to achieve a desired engagement rotational position in order to engage or disengage the tang with the plunger;
• and
• a master control unit in operative communication with each slave stepper motor controller, the master control unit capable of receiving programming and sensor data and controlling each slave stepper motor controller.

A wrap spring clutch assembly comprising:

• an input drive shaft in operative connection with a first clutch plate;
• an output drive shaft in operative connection with a second clutch plate, wherein the first and second clutch plates are adjacent one another;
• a torsion wrap spring compressed against and wrapped around a portion of the first and second clutch plates, the torsion wrap spring comprising a tang projecting radially outwardly from the wrapped torsion wrap spring;
• an actuator assembly comprising:
• a rotary motor,
• an eccentric comprising an off center axle, the eccentric rotationally driven by the rotary motor;
• a stop arm extending radially outwardly from the eccentric and in rotating communication with the eccentric;
• an upper stop and a lower stop in operative communication with the stop arm of the eccentric;
• a mechanical link connected with the axle of the eccentric, the mechanical link transforming the rotational driving of the eccentric into linear movement of the mechanical link;
• a plunger operatively connected with the mechanical link, the plunger translating linearly in response to the linear movement of the mechanical link, wherein engagement of the stop arm with either the upper stop or the lower stop requires a reversal of rotational direction by the eccentric to translate the plunger;
• and
• wherein the actuator assembly may provide a predetermined amount of rotational motion for the eccentric, with a corresponding translational positions for the plunger, whereby, the plunger may engage the tang of the torsion wrap spring in at least a first translational position and may not engage the tang of the torsion wrap spring in at least a second translational position, wherein the engagement of the tang with the plunger comprises disengagement of the torsion wrap spring from portions of the first and second clutch plates and disengaging the output drive shaft from the input drive shaft.