Continuously variable helical transmission system
A continuously variable helical transmission system comprising a frame, a central drive shaft configured to rotate about its longitudinal axis within the frame, and at least one angular wheel rotatably attached to the frame and configured to pivot about an axis being radial to the frame, wherein a longitudinal translation of the central drive shaft rotates the at least one angular wheel about the radial axis.
1 . A continuously variable helical transmission system comprising:
a first frame;
a central drive shaft configured to rotate about its longitudinal axis within the first frame; and
a set of rotatable angled wheels attached to the first frame, each of the wheels being configured to pivot about an axis being radial to the first frame;
wherein one or more of the wheels rotatably engages a bushing assembly configured to rotate about the central drive shaft;
wherein a rotation of the central drive shaft causes the rotation of the wheels about their radial axis which results in a longitudinal translation of the first frame.
2 . The continuously variable helical transmission system of claim 1 , wherein the central drive shaft and the bushing assembly each comprises a different one of a radially extending projection and a helical groove, the projection being configured to engage the helical groove.
3 . The continuously variable helical transmission system of claim 1 , wherein each of the wheels rotates about a wheel assembly.
4 . The continuously variable helical transmission system of claim 3 , wherein the wheel assembly comprises a caster.
5 . The continuously variable helical transmission system of claim 3 , wherein the wheel assembly comprises a miter gear configured to engage the bushing assembly.
6 . The continuously variable helical transmission system of claim 2 , wherein the bushing assembly further comprises a bushing cage configured to radially enclose a central bushing.
7 . The continuously variable helical transmission system of claim 6 , wherein the bushing cage comprises a linear slot configured to receive the projection.
8 . The continuously variable helical transmission system of claim 3 , wherein the bushing assembly is adjacent to the wheel assembly along the longitudinal axis of the central drive shaft.
9 . The continuously variable helical transmission system of claim 3 , wherein the bushing assembly is radially beneath the wheel assembly.
10 . The continuously variable helical transmission system of claim 1 , wherein the wheels are configured to rotate such as to have a variable angle between a wheel axis and the longitudinal axis of the central drive shaft.
11 . The continuously variable helical transmission system of claim 1 , wherein the first frame is configured to comprise a plurality of sets of rotatable angled wheels.
12 . A helical propulsion system configured to be received in a tubular rail having an open circular cross-section, and to engage an inner surface of the tubular rail, the helical propulsion system comprising the continuously variable helical transmission system of claim 1 .
13 . A method of varying the translation velocity of a helical drive system, the method comprising:
rotating a central drive shaft to cause the rotation of the wheels about their radial axis resulting in a longitudinal translation of the first frame;
engaging a helical groove of a bushing assembly to rotate the bushing assembly about a longitudinal axis of the central drive shaft;
rotating a set of rotatable angled wheels attached to the frame about an axis being radial to the longitudinal axis of the central drive shaft.
14 . The method of claim 13 , wherein engaging the helical groove of the bushing assembly comprises sliding a projection radially extending from the central drive shaft within the helical groove.
15 . The method of claim 13 , wherein rotating the set of rotatable angled wheels comprises rotating a plurality of angled wheel assemblies.
16 . The method of claim 15 , wherein rotating the set of rotatable angled wheels comprises rotating one or more primary miter gears of the bushing assembly, one or more of the primary miter gears engaging a secondary miter gear of the angled wheel assemblies.
17 . The method of claim 16 , wherein rotating the set of rotatable angled wheels comprises rotating the rotatable angled wheels to have a variable angle between a wheel axis and the longitudinal axis of the central drive shaft, the angle being between 0° and 360°.
18 . The method of claim 13 , wherein the bushing assembly is adjacent to the set of rotatable angled wheels along the longitudinal axis of the central drive shaft.
19 . The method of claim 13 , wherein the bushing assembly is radially beneath the set of rotatable angled wheels.
20 . The method of claim 13 further comprising rotatably driving the central drive shaft.