Apparatus utilizing planetary gearset coupled to a constant torsion spring

1. An apparatus comprising:

a planetary gearset comprising a rotatable ring gear;

an input shaft coupled to a sun gear of the planetary gearset;

an output shaft coupled to planet gears of the planetary gearset via a carrier; and

a constant torsion spring coupled to the ring gear, wherein the constant torsion spring comprises a first spool coupled to rotate with the ring gear and a second spool that freely rotates, the first and second spools being coupled by a metal band that coils around one or both of the first and second spools, the constant torsion spring storing energy via the ring gear if a torque level at the output shaft exceeds a threshold.

2. The apparatus of claim 1 , further comprising an idler gear coupling the constant torsion spring to the ring gear, the idler gear engaging outside teeth of the ring gear.

3. The apparatus of claim 1 , wherein, in response to the torque falling below the threshold after storing of the energy in the constant torsion spring, the constant torsion spring releases the energy and restores a positional relation between the input shaft and the output shaft.

4. An apparatus comprising:

a planetary gearset comprising a sun gear, planet gears, and a rotatable ring gear;

an input shaft coupled to the sun gear of the planetary gearset;

an output shaft coupled to the planet gears of the planetary gearset via a carrier; and

a constant torsion spring coupled to the ring gear of the planetary gearset, wherein the constant torsion spring comprises a first spool coupled to rotate with the ring gear and a second spool that freely rotates, the first and second spools being coupled by a metal band that coils around one or both of the first and second spools, the constant torsion spring configured to prevent the ring gear from rotating when a torque at the output shaft is below a threshold, the ring gear winding the constant torsion spring in response to the torque exceeding the threshold.

5. The apparatus of claim 4 , wherein the winding of the spring prevents the torque at the output shaft from exceeding the threshold.

6. The apparatus of claim 5 , wherein, in response to the torque falling below the threshold after the winding of the constant torsion spring, the constant torsion spring unwinds and restores a positional relation between the input shaft and the output shaft.

7. The apparatus of claim 4 , further comprising:

a first brake coupled to the ring gear and the constant torsion spring, the first brake configured to engage during operation of the gearbox and disengage in response to a loss of power; and

a second brake coupled to the input shaft, the second brake configured to disengage during the operation of the gearbox and to engage in response to the loss of power, the engagement of the second brake and disengagement of the first brake causing the constant torsion spring to drive the output shaft to a home position, wherein the engagement of the second brake prevents back-driving of the input shaft by the constant torsion spring.

8. The apparatus of claim 4 , further comprising:

a brake coupled to a spring shaft, the brake configured to engage during operation of the gearbox and disengage in response to a loss of power, the spring shaft coupled to the constant torsion spring and the disengagement of the brake causing the constant torsion spring to drive the ring gear; and

a mechanical coupling device coupled to the input shaft, the mechanical coupling device configured to hold the input shaft in response the constant torsion spring driving the ring gear and to disengage from the input shaft during the operation of the gearbox, the holding of the input shaft via the mechanical coupling device and the disengagement of the brake causing the constant torsion spring to drive the output shaft to a home position.

9. The apparatus of claim 8 , wherein the mechanical coupling device comprises:

a pawl coupled to the spring shaft via a slip clutch; and

a ratchet affixed to the input shaft, a rotation of the spring shaft by the constant torsion spring in response to the disengagement of the brake causing the pawl to engage with the ratchet, wherein the holding of the input shaft by the mechanical coupling device prevents back-driving of the input shaft by the constant torsion spring.

10. A method comprising:

driving an input shaft coupled to a sun gear of a planetary gearset, the driving of the input shaft resulting in movement of an output shaft coupled to planet gears of the planetary gearset via a carrier;

preventing rotation of a ring gear of the planetary gearset via a constant torsion spring while an output torque of the output shaft is less than an output threshold, wherein the constant torsion spring comprises a first spool coupled to rotate with the ring gear and a second spool that freely rotates, the first and second spools being coupled by a metal band that coils around one or both of the first and second spools; and

in response to the output torque of the output shaft beginning to exceed the output threshold, winding the constant torsion spring via the ring gear to prevent the output torque from exceeding the threshold.

11. The method of claim 10 , wherein the output torque exceeding of the output threshold causes a threshold torsion to be applied to the constant force spring via the ring gear.

12. The method of claim 10 , further comprising unwinding the constant tension spring in response to the output torque falling below the output threshold, the unwinding of the spring restoring a positional relation between the input shaft and the output shaft.

13. A method comprising:

driving an input shaft during an initialization procedure, the input shaft coupled to a sun gear of a planetary gearset and an output shaft coupled to planet gears of the planetary gearset via a carrier, wherein the output shaft is prevented from rotating during the initialization procedure resulting in winding of a constant torsion spring coupled to a ring gear of the planetary gearset;

after the initialization procedure and during subsequent operation, preventing the constant torsion spring from unwinding; and

in response to a loss of power, releasing the constant torsion spring and preventing the input shaft from turning, wherein the releasing of the constant torsion spring and the preventing of the input shaft from turning moves the output shaft to a home position.

14. The method of claim 13 , wherein the preventing of the constant torsion spring from unwinding comprises applying an electromechanical brake to a spring shaft affixed to the constant torsion spring, and wherein releasing of the constant torsion spring comprises the electromechanical brake releasing in response to the loss of power.

15. The method of claim 14 , wherein the preventing of the input shaft from turning in response to the loss of power comprises using a second brake that engages the input shaft when power is removed.

16. The method of claim 14 , wherein the preventing of the input shaft from turning comprises engaging the input shaft with a pawl that is driven by the spring shaft via a slip clutch.

17. The method of claim 13 , wherein the constant torsion spring comprises a first spool coupled to rotate with the ring gear and a second spool that freely rotates, the first and second spools being coupled by a metal band that coils around one or both of the first and second spools.

18. The method of claim 13 , wherein the driving of the input shaft during the initialization procedure while the output shaft is prevented from moving comprises driving a device coupled to the output shaft to a mechanical limit.

19. The method of claim 18 , wherein the subsequent operation comprises moving the output shaft in a range of motion between the home position and the mechanical limit.