公开(公告)号：US11166864B2

公开(公告)日：2021-11-09

申请号：US15834046

申请日：2017-12-06

申请人： Delbert Tesar

发明人： Delbert Tesar

IPC分类号： A61H1/02 ,  B25J9/00 ,  A61G5/10 ,  A61G7/10

摘要： An orthotic device is provided which includes a first structural element; a second structural element which is rotatably attached to the first structural element across a joint; a first rotary actuator which imparts rotational motion to the first structural element relative to the second structural element about a first axis; and a second rotary actuator which imparts rotational motion to the first structural element relative to the second structural element about a second axis. Each of the first and second rotary actuators is selected from the group consisting of parallel eccentric actuators and rotary actuators.

公开(公告)号：US10422387B2

公开(公告)日：2019-09-24

申请号：US14715228

申请日：2015-05-18

申请人： Delbert Tesar

发明人： Delbert Tesar

IPC分类号： F16D1/116 ,  F16D7/04

摘要： A rotary actuator includes a first interface surface with a plurality of apertures defined therein; a plurality of interface modules, wherein each interface module includes a first portion which releasably engages one of said apertures, and a second portion which protrudes from said first interface surface; a second interface surface which releasably mates with said first interface surface; and a gear train which rotates said first interface surface about an axis.

公开(公告)号：US20170204939A1

公开(公告)日：2017-07-20

申请号：US15474817

申请日：2017-03-30

申请人： Delbert Tesar

发明人： Delbert Tesar

IPC分类号： F16H1/32 ,  F16H57/08 ,  H02K7/116 ,  F16H55/17

CPC分类号： F16H1/32 ,  F16H55/17 ,  F16H57/08 ,  F16H2001/323 ,  H02K7/116

摘要： A rotary actuator is provided which includes an internal gear, first and second parallel eccentric gears which mesh with said internal gear, a crankshaft equipped with first and second eccentrics which are 180° out-of-phase and which drive said first and second parallel eccentric gears, respectively, a prime mover which drives said crankshaft, first and second crosslinks which prevent the rotation of said first and second parallel eccentric gears, respectively, and first and second sets of splines which engage said first and second parallel eccentric gears, respectively.

公开(公告)号：US20140246893A1

公开(公告)日：2014-09-04

申请号：US14195847

申请日：2014-03-03

申请人： Delbert Tesar

发明人： Delbert Tesar

IPC分类号： B60K17/04 ,  B60K7/00

CPC分类号： B60K7/0007 ,  B60K17/02 ,  B60K17/046 ,  B60K2007/0038 ,  B60K2007/0092

摘要： A multi-speed hub drive wheel is provided which includes a wheel equipped with a hub; a star compound gear train having first and second stages; a motor disposed in the hub which drives the wheel by way of the star compound gear train; and a clutch which switches the hub drive wheel between a first mode of operation in which the motor engages the first stage of the star compound gear train, and a second mode of operation in which the motor engages the second stage of the star compound gear train.

摘要翻译： 提供了一种多速轮毂驱动轮，其包括配备有轮毂的车轮; 具有第一和第二阶段的星形复合齿轮系; 设置在轮毂中的电动机，其通过星形复合齿轮系驱动车轮; 以及离合器，其在所述电动机接合所述星形复合齿轮系的第一级的第一操作模式和所述电动机接合所述星形复合齿轮系的第二级的第二操作模式之间切换所述轮毂驱动轮; 。

公开(公告)号：US20120088622A1

公开(公告)日：2012-04-12

申请号：US13236767

申请日：2011-09-20

申请人： Delbert Tesar

发明人： Delbert Tesar

IPC分类号： F16H1/32

CPC分类号： F16H1/28 ,  F16H1/32 ,  F16H1/46 ,  F16H2001/2881 ,  H02K7/116 ,  Y10T74/19888

摘要： A parallel eccentric electro-mechanical actuator provides motive power and includes an electric prime mover that drives the reducer's pinion gear. This pinion drives minimum three star gears with stationary shaft bearings. Each shaft contains an eccentric which are completely in parallel with each other. These eccentrics can be thought of as parallel/in-phase driven crankshafts. Each eccentric drives the parallel eccentric (PE) gear through a bearing. The PE gear exhibits a circular motion (without rotation) which in itself is unbalanced. The crankshafts have another eccentric which create an opposite inertia force to balance that of the PE gear. The PE gear contains an external toothed gear on its periphery. It meshes with the internal teeth of the output ring gear. The relative motion between the PE gear and the ring gear is that the PE gear rolls inside the ring gear. This relative motion is called hypo-cycloidal motion.

摘要翻译： 平行的偏心机电致动器提供动力，并且包括驱动减速器的小齿轮的电动机。 该小齿轮驱动带固定轴轴承的最小三星齿轮。 每个轴都包含一个彼此完全平行的偏心轮。 这些偏心轮可以被认为是平行/同相驱动的曲轴。 每个偏心件通过轴承驱动平行偏心（PE）齿轮。 PE齿轮呈现出不平衡的圆周运动（无旋转）。 曲轴具有另一偏心轮，产生相反的惯性力以平衡PE齿轮的惯性力。 PE齿轮在其外围包含外齿齿轮。 它与输出齿圈的内齿啮合。 PE齿轮和齿圈之间的相对运动是PE齿轮在齿圈内滚动。 这种相对运动被称为低摆线运动。

公开(公告)号：US20080269922A1

公开(公告)日：2008-10-30

申请号：US12110992

申请日：2008-04-28

申请人： Delbert Tesar

发明人： Delbert Tesar

IPC分类号： G05B13/02

CPC分类号： G05B13/02 ,  G05B2219/45207

摘要： A four level fault tolerant architecture for the intelligent machine system is based on the basic component of a self contained actuator module with standardized interfaces. This system architecture organizes all of the operational software to make it universal, high performing, fault tolerant, and use condition-based maintenance. The independent structural layers are structured and prioritized by the advanced electronic controllers. The sensor module creates an accurate parametric representation of the electro-mechanical actuator, and manages all resources in the electro-mechanical actuator. The system will also comprise of operational criteria, maximum performance envelopes, condition-based maintenance, fault tolerance, layered control, and force/motion control. The system allows independent development of different components of the framework, categorized into three levels: the management level, the servo control level, and the senor and communication level. The present disclosure establishes a fully responsive actuator whose intelligence manages a sufficiently broad set of choices.

摘要翻译： 用于智能机器系统的四级容错架构基于具有标准接口的自包含致动器模块的基本组件。 该系统架构组织所有操作软件，使其成为通用，高性能，容错和使用基于条件的维护。 独立的结构层由先进的电子控制器构成和优先。 传感器模块创建机电致动器的精确参数表示，并管理机电执行器中的所有资源。 该系统还将包括操作标准，最大性能包络，基于状态的维护，容错，分层控制和强制/运动控制。 该系统允许框架的不同组件的独立开发，分为管理级别，伺服控制级别，传感器和通信级三个层次。 本公开建立了一种完全响应的致动器，其智能管理足够广泛的选择。

公开(公告)号：US20050168084A1

公开(公告)日：2005-08-04

申请号：US10911984

申请日：2004-08-05

申请人： Delbert Tesar

发明人： Delbert Tesar

IPC分类号： F16H25/22 ,  H02K7/06 ,  H02K7/116 ,  H02K41/00 ,  H02K33/00

CPC分类号： F16H25/2252 ,  F16H25/205 ,  F16H2025/2078 ,  H02K7/06 ,  H02K2213/06 ,  Y10T74/186

摘要： In varying embodiments, the fault tolerant linear actuator of the present invention is a new and improved linear actuator with fault tolerance and positional control that may incorporate velocity summing, force summing, or a combination of the two. In one embodiment, the invention offers a velocity summing arrangement with a differential gear between two prime movers driving a cage, which then drives a linear spindle screw transmission. Other embodiments feature two prime movers driving separate linear spindle screw transmissions, one internal and one external, in a totally concentric and compact integrated module.

摘要翻译： 在不同的实施例中，本发明的容错线性致动器是具有容错和位置控制的新的和改进的线性致动器，其可以包括速度求和，力求和或两者的组合。 在一个实施例中，本发明提供了一种速度求和装置，其中两个原动机之间的差速齿轮驱动保持架，然后驱动线性主轴螺杆传动。 其他实施例的特征在于两个原动机在完全同心且紧凑的集成模块中驱动单独的线性主轴螺杆传动装置，一个内部和一个外部驱动装置。

公开(公告)号：US06791215B2

公开(公告)日：2004-09-14

申请号：US10455779

申请日：2003-06-05

申请人： Delbert Tesar

发明人： Delbert Tesar

IPC分类号： H02K4100

CPC分类号： F16H25/2252 ,  F16H25/205 ,  F16H2025/2078 ,  H02K7/06 ,  H02K2213/06 ,  Y10T74/186

摘要： In varying embodiments, the fault tolerant linear actuator of the present invention is a new and improved linear actuator with fault tolerance and positional control that may incorporate velocity summing, force summing, or a combination of the two. In one embodiment, the invention offers a velocity summing arrangement with a differential gear between two prime movers driving a cage, which then drives a linear spindle screw transmission. Other embodiments feature two prime movers driving separate linear spindle screw transmissions, one internal and one external, in a totally concentric and compact integrated module.

摘要翻译： 在不同的实施例中，本发明的容错线性致动器是具有容错和位置控制的新的和改进的线性致动器，其可以包括速度求和，力求和或两者的组合。 在一个实施例中，本发明提供了一种速度求和装置，其中两个原动机之间的差速齿轮驱动保持架，然后驱动线性主轴螺杆传动。 其它实施例的特征在于两个原动机在完全同心且紧凑的集成模块中驱动单独的线性主轴螺杆传动装置，一个内部和一个外部驱动装置。

公开(公告)号：US5355743A

公开(公告)日：1994-10-18

申请号：US810429

申请日：1991-12-19

申请人： Delbert Tesar

发明人： Delbert Tesar

IPC分类号： B25J9/08 ,  B25J9/10 ,  B25J9/12 ,  B25J17/00 ,  B25J18/00 ,  F16H1/32

CPC分类号： B25J9/08 ,  B25J9/102 ,  B25J9/126 ,  F16H2001/2881 ,  Y10T74/18696 ,  Y10T74/20317 ,  Y10T74/20329

摘要： An actuator module for inducing the relative motion of robot members joined in a robot joint includes a Ferguson epicyclic gear train, integral motor and integrated control means. The gear train comprises a plurality of base gears connected to the robot members and a plurality of planet gear carriers, each planet gear carrier having a plurality of planet gears rotatably mounted therein. A motor integrated with certain gear train components induces the rotation of the planet gear carriers about or within the base gears. Because of the Ferguson paradox, this induces the motion of base gears connected to one robot member relative to those connected to the other robot member, which in turn causes the relative motion of the robot members. The actuator module can be configured as dual substantially symmetric systems and may comprise multiple stages of epicyclic gearing.

摘要翻译： 用于诱导机器人连接在机器人关节中的机器人部件的相对运动的致动器模块包括弗格森行星齿轮系，整体式电动机和集成控制装置。 齿轮系包括连接到机器人构件的多个基齿轮和多个行星齿轮架，每个行星齿轮架具有可旋转地安装在其中的多个行星齿轮。 与某些齿轮系组件集成的电动机引起行星齿轮架在基础齿轮周围或内部的旋转。 由于Ferguson悖论，这引起了连接到一个机器人构件的基础齿轮相对于连接到另一个机器人构件的运动，这又引起机器人构件的相对运动。 致动器模块可以被配置为双重的基本上对称的系统并且可以包括多级的行星齿轮传动装置。

公开(公告)号：US11241746B2

公开(公告)日：2022-02-08

申请号：US16374749

申请日：2019-04-03

申请人： Delbert Tesar

发明人： Delbert Tesar

IPC分类号： B23B45/00 ,  B25F5/00

摘要： A power tool is provided which includes a housing assembly; a motor assembly disposed in the housing assembly and having an output shaft; a trigger assembly coupled to the housing assembly and configured for use in actuating the motor assembly; a spindle; and a transmission assembly transmitting rotary power between the motor assembly and the spindle. The transmission assembly comprises a star compound gear train.