公开(公告)号：US20150027249A1

公开(公告)日：2015-01-29

申请号：US14339947

申请日：2014-07-24

申请人： Liftwave, Inc. DBA Rise Robotics

发明人： Blake Sessions

IPC分类号： F16H19/06

CPC分类号： F16H19/0618 ,  F16H19/0631 ,  F16H2019/0609 ,  F16H2019/0627 ,  Y10T74/18848

摘要： The present disclosure provides differential drive assemblies and methods of making and operating differential drive assemblies. The differential drive assembly includes a rotor having a rotor axis about which the rotor is configured to rotate. The rotor has a peripheral wall portion encircling the rotor axis that is positioned a varying distance radially outward from the rotor axis. The differential drive assembly also includes a base coupled to the rotor. That includes a first plurality of pulleys and a carriage movably coupled to the base that includes a second plurality of pulleys and is movable with respect to the base. The differential drive assembly includes a rope wound about the rotor. The rope extends from the peripheral wall portion of the rotor to the second plurality of pulleys. The rope extends from the second plurality of pulleys to the first plurality of pulleys to form a continuous rope circuit.

摘要翻译： 本公开提供差动驱动组件以及制造和操作差动驱动组件的方法。 差速驱动组件包括具有转子轴线的转子，转子围绕转子轴线旋转。 转子具有围绕转子轴线的周壁部分，转子轴线位于离转子轴线径向向外变化的距离处。 差速驱动组件还包括联接到转子的基座。 其包括第一多个滑轮和可移动地联接到基座的滑架，其包括第二多个滑轮并且可相对于基座移动。 差速驱动组件包括围绕转子缠绕的绳索。 绳从转子的周壁部分延伸到第二多个滑轮。 绳索从第二多个滑轮延伸到第一多个滑轮以形成连续的绳索回路。

公开(公告)号：US4677355A

公开(公告)日：1987-06-30

申请号：US867318

申请日：1986-05-27

申请人： Peter H. Baumann

发明人： Peter H. Baumann

IPC分类号： F16H19/00 ,  F16K31/04 ,  H02K7/06

CPC分类号： H02K7/06 ,  F16H19/0622 ,  F16K31/046 ,  F16K31/047 ,  F16H2019/0609 ,  F16H2019/0627

摘要： Electric-powered actuating device usable for the positioning control of valves and the like, featuring a motor, mechanical and spring means capable of driving said valve or other attached devices into a predetermined safety position in case of electrical signal or power failure; said actuating device having electrical amplifying means capable of providing pulsed current to drive said motor in one direction in response to an input signal, a constant current to hold said motor in a selected position, or no power, to allow the mechanical and spring means to reverse the motor direction; additional means are provided to limit the travel to a selected position despite further increases in input signal.

摘要翻译： 可用于阀门等的定位控制的电动致动装置，具有电机，机械和弹簧装置，其能够在电信号或电源故障的情况下将所述阀或其它附接装置驱动到预定的安全位置; 所述致动装置具有电放大装置，其能够响应于输入信号而提供脉冲电流来驱动所述电动机的一个方向，恒定电流将所述电动机保持在选定位置，或者没有动力，以允许机械和弹簧装置 反转电机方向; 提供附加装置以限制行进到选定位置，尽管输入信号进一步增加。

公开(公告)号：US3273408A

公开(公告)日：1966-09-20

申请号：US41559164

申请日：1964-12-03

申请人： PNEUMAFIL CORP

发明人： ERNST NAGEL ,  WERNER STEINMETZ

IPC分类号： B23Q1/48 ,  D01H11/00 ,  F16H19/00 ,  F16H19/06 ,  F16H35/00

CPC分类号： B23Q1/4804 ,  D01H11/006 ,  F16H19/06 ,  F16H35/00 ,  F16H2019/0609 ,  Y10T74/18024 ,  Y10T74/18152 ,  Y10T74/18848

公开(公告)号：US11920659B2

公开(公告)日：2024-03-05

申请号：US17562099

申请日：2021-12-27

申请人： Liftwave, Inc.

发明人： Blake Sessions

IPC分类号： F16H19/06 ,  F16H19/02

CPC分类号： F16H19/0618 ,  F16H19/025 ,  F16H19/06 ,  F16H2019/0609 ,  F16H2019/0668

摘要： Disclosed herein are methods, systems, and components for the design of a flat belt based block and tackle design that is theoretically free of fleet angles. A mapping technique forms a set of planar positions for the centerlines of the free spans that provides a plurality of sheave geometries, which reside on a common axis and spans that are free of fleet angles at the sheave engagement interfaces. This permits the use of high-performing flat belts in high-reduction block and tackle topologies, with the principal benefits of an extended service life, high power transmission efficiency, more effective traction power transfer, and a compact machine design.

公开(公告)号：US20070219031A1

公开(公告)日：2007-09-20

申请号：US11572371

申请日：2005-07-18

申请人： Timothy Jones

发明人： Timothy Jones

IPC分类号： F16H19/06

CPC分类号： F16H19/06 ,  F16H2019/0609 ,  Y10T74/1836 ,  Y10T74/18832 ,  Y10T74/18848

摘要： This invention relates to an actuator and has particular reference to linear and rotary actuators, particularly those for use in the control of robotic arms. The invention provides a relatively low cost means of achieving substantially backlashfree rotary and/or linear motion. There is provided an actuator (10) comprising: a first drive pulley (28); a second drive pulley (29), the first drive pulley and the second drive pulley being interconnected to rotate together; a first driven pulley (52; 70); a second driven pulley (53; 72); an endless drive belt (40) engaging the first and second drive pulleys and the first and second driven pulleys; a motor (19) connected to drive the first and second drive pulleys to rotate and drive the endless drive belt; a driven member (50; 88; 71, 73) carrying at least one of the driven pulleys; the first and second drive pulleys being arranged so that upon rotation thereof the circumferential speed of the first drive pulley is different from the circumferential speed of the second drive pulley, the endless drive belt being looped around the drive pulleys and the driven pulleys so that the difference between the circumferential speed of the first drive pulley and the circumferential speed of the second drive pulley causes movement of the driven member.

摘要翻译： 本发明涉及致动器，并且特别涉及线性和旋转致动器，特别是用于控制机器人手臂的致动器。 本发明提供了实现实质上无间隙的旋转和/或线性运动的相对低成本的方法。 提供了一种致动器（10），包括：第一驱动滑轮（28）; 第二驱动滑轮（29），所述第一驱动滑轮和所述第二驱动滑轮互连以一起旋转; 第一从动滑轮（52; 70）; 第二从动带轮（53; 72）; 与第一和第二驱动滑轮以及第一和第二从动滑轮接合的环形传动皮带（40） 连接以驱动第一和第二驱动滑轮以旋转并驱动环形传动带的电机（19）; 从动构件（50; 88; 71,73），其承载至少一个从动滑轮; 第一和第二驱动滑轮被布置成使得在旋转时，第一驱动滑轮的圆周速度与第二驱动滑轮的圆周速度不同，环形驱动带围绕驱动滑轮和从动滑轮环绕，使得 第一驱动滑轮的圆周速度与第二驱动滑轮的圆周速度之间的差异导致从动构件的移动。

公开(公告)号：US5261860A

公开(公告)日：1993-11-16

申请号：US979217

申请日：1992-11-20

申请人： Seiji Takei

发明人： Seiji Takei

IPC分类号： B23Q5/34 ,  B23Q5/38 ,  B65G25/04 ,  B65G35/06 ,  F16H19/02 ,  F16H19/06 ,  F16H7/00

CPC分类号： F16H19/06 ,  B23Q5/34 ,  F16H2019/0609 ,  F16H2019/0686

摘要： A drive apparatus, able to perform positioning of a driven object to be driven with a high degree of accuracy, sufficiently obtain the desired thrust even when using the low output of a driving source such as a motor, and allow the speed of movement of the driven object to be set as desired, is provided. This drive device, wherein a first belt-shaped member, to which driving force is applied with a driving source such as a motor, is engaged with a driven object to move said driven object, is equipped with a speed reduction function that functions by mounting a rotating body having a large diameter portion and a small diameter portion onto said driven object, engaging this large diameter portion with a belt-shaped member, stretching another belt-shaped member parallel to said belt-shaped member, engaging this belt-shaped member with the above-mentioned small diameter portion, and setting the ratio of the diameters of the above-mentioned large diameter and small diameter portions as desired.

摘要翻译： 即使在使用电动机等驱动源的低输出的情况下，能够以高精度进行待驱动被驱动体的定位的驱动装置也能充分获得期望的推力，并且允许 提供了要设定的驱动对象。 该驱动装置，其中驱动力与驱动源（例如马达）一起施加的第一带状构件与被驱动对象接合以移动所述被驱动对象，具有减速功能，其通过安装 将具有大直径部分和小直径部分的旋转体连接到所述被动对象上，使该大直径部分与带状构件接合，拉伸平行于所述带状构件的另一带状构件，使该带状构件 与上述小直径部分，并根据需要设定上述大直径部分和小直径部分的直径比。

公开(公告)号：US20160091065A1

公开(公告)日：2016-03-31

申请号：US14840435

申请日：2015-08-31

申请人： Liftwave, Inc. dba Rise Robotics

发明人： Blake Sessions

IPC分类号： F16H19/06

CPC分类号： F16H19/0618 ,  F16H19/0631 ,  F16H2019/0609 ,  F16H2019/0627 ,  Y10T74/18848

摘要： The present disclosure provides differential drive assemblies and methods of making and operating differential drive assemblies. The differential drive assembly includes a rotor having a rotor axis about which the rotor is configured to rotate. The rotor has a peripheral wall portion encircling the rotor axis that is positioned a varying distance radially outward from the rotor axis. The differential drive assembly also includes a base coupled to the rotor. That includes a first plurality of pulleys and a carriage movably coupled to the base that includes a second plurality of pulleys and is movable with respect to the base. The differential drive assembly includes a rope wound about the rotor. The rope extends from the peripheral wall portion of the rotor to the second plurality of pulleys. The rope extends from the second plurality of pulleys to the first plurality of pulleys to form a continuous rope circuit.

公开(公告)号：US20100024579A1

公开(公告)日：2010-02-04

申请号：US12278550

申请日：2007-02-09

申请人： Stuart James Cameron Grossart

发明人： Stuart James Cameron Grossart

IPC分类号： F16H19/06

CPC分类号： F16H19/06 ,  F16H2019/0609 ,  Y10T74/18832 ,  Y10T74/18848

摘要： A mechanical linkage, for use on original equipment or for replacement of existing hydraulic ram based actuators, comprises a rotary to linear transmission. The transmission provides two co-rotatable capstans of different diameters, and two idler wheels spaced on a longitudinally slidable linkage. The capstans are linked to a first of the idler wheels by means of a pulley line wound from the first capstan, around the wheel, and then back to the second capstan. The first capstan is also linked by means of a pulley line to the second idler wheel, and the second capstan likewise to the second idler wheel by a third pulley line. The difference in diameters causes a differential winding of the various lengths of pulley line between the idler wheels and the capstans, which urges the linkage to slide relative to the capstans. Cooperation of the two capstan/idler wheel combinations compensates for possible backlash.

摘要翻译： 用于原始设备或用于替换现有的液压油缸基致动器的机械联动装置包括旋转到线性传动装置。 变速器提供两个不同直径的可共同旋转的绞盘，两个惰轮在纵向可滑动的连杆上间隔开。 绞盘通过从第一绞盘缠绕的滑轮线，围绕车轮连接到第一惰轮，然后返回到第二绞盘。 第一主导轴也通过皮带轮线连接到第二空转轮，第二主动轮也通过第三滑轮线与第二惰轮相连。 直径的差异导致在惰轮和绞盘之间的各种长度的滑轮线的差动绕组，其促使连杆相对于绞盘滑动。 两个主导轮/惰轮组合的合作补偿了可能的反弹。

公开(公告)号：US5749800A

公开(公告)日：1998-05-12

申请号：US652557

申请日：1996-06-06

申请人： Thomas Nagel ,  Ulf Richard

发明人： Thomas Nagel ,  Ulf Richard

IPC分类号： F16H7/02 ,  F16H9/26 ,  F16H19/06

CPC分类号： F16H9/26 ,  F16H19/005 ,  F16H19/06 ,  F16H2019/0609

摘要： A synchronous belt drive, with a high multiplication ratio for transforming a rotary movement into a translation or rotary movement, has at least two rows of teeth with different pitches interconnected by a toothed belt. The rows of teeth with different pitches engage wheels of at least one pair of wheels secured against independent rotation. The products of the number of teeth of the wheels and the pitch of the corresponding row of teeth differ at least slightly from each other. The pitch difference between the toothed belts gives the drive a high multiplication ratio. Very fine gradations and therefore high multiplication ratios may be achieved, even when the tooth modulus is high for reasons of resistance.

摘要翻译： PCT No.PCT / DE94 / 01445 Sec。 371日期：1996年6月6日 102（e）1996年6月6日PCT 1994年12月6日PCT PCT。 公开号WO95 / 16152 PCT 日期1995年6月15日具有用于将旋转运动转换为平移或旋转运动的高倍率的同步带传动具有至少两排具有不同节距的齿，其齿距通过齿形带相互连接。 具有不同间距的齿排与至少一对固定在独立旋转上的轮对啮合。 轮的齿数和相应行齿的间距的产物彼此至少略微不同。 齿形带之间的间距差使驱动器具有高倍增比。 即使由于电阻而导致的齿模高，也可以实现非常细的等级，因此可以实现高的倍率。

公开(公告)号：US5564309A

公开(公告)日：1996-10-15

申请号：US288612

申请日：1994-08-10

申请人： Haruji Nakamura ,  Yoshiyuki Kubota ,  Hideto Machida ,  Toshiyuki Okada ,  Hiroyuki Mochizuki ,  Seiichi Sawada

发明人： Haruji Nakamura ,  Yoshiyuki Kubota ,  Hideto Machida ,  Toshiyuki Okada ,  Hiroyuki Mochizuki ,  Seiichi Sawada

IPC分类号： F16H19/06

CPC分类号： F16H19/06 ,  F16H2019/0609 ,  Y10T74/1884 ,  Y10T74/18848

摘要： A rectilinear motion apparatus includes two shafts arranged in parallel, a driving motor and a driving pulley coupled to one of the two shafts, an idler pulley coupled to the other of the two shafts, an endless toothed belt arranged between the driving pulley and idler pulley, and a slider disposed between the driving pulley and the idler pulley. The slider includes a first moving pulley and a second moving pulley of a diameter larger than a diameter of the first moving pulley. The first and second moving pulleys are integrally fixed to one another for rotation about the same axis so as to rotate simultaneously. A first pair of guide rollers are disposed on the slider adjacent the first moving pulley to guide a lower run of the toothed belt, and a second pair of guide rollers are disposed on the slider adjacent the second moving pulley to guide an upper run of the toothed belt. Regulating devices are provided for regulating shifting of the toothed belt in a disengaging direction of the toothed belt away from the first and second moving pulleys. Each regulating device is arranged on the slider and in a vicinity of an engaging part where the toothed belt is meshed with one of the first and second moving pulleys.

摘要翻译： 直线运动装置包括平行布置的两个轴，连接到两个轴中的一个轴上的驱动马达和驱动滑轮，连接到两个轴中的另一个的惰轮，设置在驱动滑轮和惰轮之间的环形齿形带 以及设置在所述驱动滑轮和所述惰轮之间的滑块。 滑块包括直径大于第一移动滑轮的直径的第一移动滑轮和第二移动滑轮。 第一和第二移动滑轮彼此一体地固定，以绕同一轴线旋转以同时旋转。 第一对导向辊设置在与第一移动滑轮相邻的滑动件上，以引导齿形带的下游，并且第二对导向辊设置在与第二移动滑轮相邻的滑动件上， 齿形带。 提供了调节装置，用于调节带齿带沿着带齿带脱离第一和第二移动滑轮的分离方向的移动。 每个调节装置布置在滑块上并且在啮合部分附近，其中齿形带与第一和第二移动滑轮中的一个啮合。