Speed change device

1. A speed change device comprising:

an inner race having an outer surface;

an outer race having an inner surface;

a set of orbital rollers including inner rollers in rolling contact with the outer surface of the inner race and outer rollers in rolling contact with the inner surface of the outer race, wherein the outer rollers are longer than the inner rollers and the outer rollers are connected to be driven by an input ring coaxial with the inner race and the outer race;

each inner roller being in rolling contact with two outer rollers; and

either A or B or both:

A: each inner roller is formed of two or more axially aligned roller sections, each section having a respective cylindrical torque transmitting surface;

B: each outer roller is formed of two or more axially aligned roller sections, each section having a respective cylindrical torque transmitting surface.

2. The speed change device of claim 1 in which the inner race consists of two or more cylindrical surfaces separated by an area large enough to allow room for other components.

3. The speed change device of claim 1 in which the outer race consists of a single cylindrical surface.

4. The speed change device of claim 1 in which the outer race consists of two or more cylindrical surfaces separated by an area large enough to allow room for other components.

5. The speed change device of claim 1 in which the inner and/or outer races each consist of two cylindrical surfaces on either side of a plane perpendicular to an axis of the races on or near a center position, measured axially from outer edges of cylindrical contact faces of the inner and or outer races.

6. The speed change device of claim 1 further comprising a ring concentric with the inner race and the outer race and the ring being connected to the set of orbital rollers to drive or be driven by the set of orbital rollers.

7. The speed change device of claim 1 in which all rolling contacts are geared contacts.

8. The speed change device of claim 1 in which all rolling contacts are traction contacts.

9. The speed change device of claim 1 in which contacts of each inner roller with the inner race and with the outer rollers that transmit torque have a torque transmitting diameter and all the torque transmitting diameters are equal.

10. The speed change device of claim 1 in which contacts of each outer roller with the outer race and with the inner rollers that transmit torque have a torque transmitting diameter and all the torque transmitting diameters are equal.

11. The speed change device of claim 1 in which the outer rollers have a different diameter contact with the inner surface of the outer race, than the diameter of contact of the outer rollers with the inner rollers.

12. The speed change device of claim 1 in which the outer rollers have a larger diameter in primary torque transmitting contact with the inner surface of the outer race, than a diameter in primary torque transmitting contact with the inner rollers.

13. The speed change device of claim 1 in which the outer rollers have a larger diameter in primary torque transmitting contact with the primary torque transmitting contact inner surface of the outer race, than a primary torque transmitting contact diameter in contact with the inner rollers, and the inner rollers have the same primary torque transmitting contact diameter with the outer rollers as with the primary torque transmitting contact diameter of the inner race.

14. The speed change device of claim 1 in which the inner rollers have larger diameter primary torque transmitting contact with the outer rollers and smaller primary torque transmitting contact with the outer surface of the inner race.

15. The speed change device of claim 1 in which the outer rollers have two diameters and inner rollers have one diameter such that rotation of rollers causes orbiting of the rollers in one direction resulting in rotation of inner race in the same direction as roller orbit direction when the outer race is fixed.

16. The speed change device of claim 1 in which the outer rollers have two diameters and the inner rollers have one diameter such that rotation of rollers causes orbiting of rollers in one direction resulting in rotation of the inner race in the opposite direction as the roller orbit direction when the outer race is fixed.

17. The speed change device of claim 1 in which the outer rollers have two diameters and inner rollers have two different diameters such that rotation of rollers causes orbiting of rollers in one direction resulting in rotation of inner race in the same direction as roller orbit direction when outer race is fixed.

18. The speed change device of claim 1 in which the outer rollers have two diameters and the inner rollers have two different diameters such that rotation of the rollers causes orbiting of the rollers in one direction resulting in rotation of the inner race in the opposite direction as the roller orbit direction when the outer race is fixed.

19. The speed change device of claim 1 in which the inner race has a center through hole.

20. The speed change device of claim 1 further comprising a motor integrated with the speed change device to provide an input drive.

21. The speed change device of claim 1 contained within a housing.

22. The speed change device of claim 1 in which the inner race is formed of inner split races connected by a housing.

23. The speed change device of claim 22 further comprising a motor integrated with the speed change device to provide an input drive and the motor is contained within the housing.

24. The speed change device of claim 1 in which the outer race is formed of outer split races connected by a housing.

25. The speed change device of claim 1 further comprising integrated rotational sensors.

26. The speed change device of claim 25 in which the integrated rotational sensors comprise a high speed sensor and a low speed sensor, the high speed sensor being usable as calibration for the low speed sensor.

27. The speed change device of claim 1 in which the inner rollers are made of a material that has a lower coefficient of friction against itself than against the outer rollers and the inner race and the inner rollers contact each other during operation.

28. The speed change device of claim 1 in which the outer rollers are made of a material that has a lower coefficient of friction against itself than against the inner rollers and the outer race and the outer rollers contact each other during operation.

29. The speed change device of claim 1 further comprising an actuator on the output member having more than 360° rotation.

30. The speed change device of claim 1 without lubrication.

31. The speed change device of claim 1 in which the inner rollers are supported by a cage for fixed spacing.

32. The speed change device of claim 31 in which the inner rollers are supported by pins that are secured to the cage.

33. The speed change device of claim 1 in which the outer rollers are supported by a cage for fixed spacing.

34. The speed change device of claim 33 in which the outer rollers are supported by pins that are secured to the cage.

35. The speed change device of claim 1 in which the inner rollers are spaced by circular members mounted on separated inner rollers that bear against bosses on intervening inner rollers between the separated inner rollers.

36. The speed change device of claim 1 in which the outer rollers are spaced by circular members mounted on separated outer rollers that bear against bosses on intervening outer rollers between the separated outer rollers.

37. The speed change device of claim 1 in which the inner rollers are spaced by a geared ring having a geared contact with at least some of the inner rollers.

38. The speed change device of claim 37 in which the geared ring is in geared contact with each inner roller.

39. The speed change device of claim 37 in which the geared ring is arranged to provide torque transfer to or from the inner rollers.

40. The speed change device of claim 1 in which the outer rollers are spaced by a geared ring having a geared contact with at least some of the outer rollers.

41. The speed change device of claim 40 in which the geared ring is in geared contact with each outer roller.

42. The speed change device of claim 40 in which the geared ring is arranged to provide torque transfer to or from the outer rollers.

43. A speed change device comprising:

an inner race having an outer surface, wherein the outer surface consists of a single cylindrical surface;

an outer race having an inner surface;

a set of orbital rollers including inner rollers in rolling contact with the outer surface of the inner race and outer rollers in rolling contact with the inner surface of the outer race;

each inner roller being in rolling contact with two outer rollers; and

either A or B or both:

A: each inner roller is formed of two or more axially aligned roller sections, each section having a respective cylindrical torque transmitting surface;

B: each outer roller is formed of two or more axially aligned roller sections, each section having a respective cylindrical torque transmitting surface.

44. A speed change device comprising:

an inner race having an outer surface;

an outer race having an inner surface;

structural members connected to one or both of the inner race and the outer race;

a set of orbital rollers including inner rollers in rolling contact with the outer surface of the inner race and outer rollers in rolling contact with the inner surface of the outer race;

each inner roller being in rolling contact with two outer rollers; and

either A or B or both:

A: each inner roller is formed of two or more axially aligned roller sections, each section having a respective cylindrical torque transmitting surface;

B: each outer roller is formed of two or more axially aligned roller sections, each section having a respective cylindrical torque transmitting surface.

45. The speed change device of claim 44 in which the structural members form a stop to prevent 360° rotation of an output member.