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公开(公告)号：US11149821B2
公开(公告)日：2021-10-19
申请号：US16652418
申请日：2018-10-31
发明人： Yangzhi Chen , Chao He , Yueling Lv
摘要： The present invention relates to a line gear mechanism with variable-angle transmission, which consists of a line gear pair having intersecting shafts which includes a driving line gear and a driven line gear. The driving line gear and the driven line gear are each composed of a wheel body and a line tooth. Contact curves of the driving line gear and the driven line gear mesh according to a pair of space conjugate curves. One or more line teeth are provided on the driving line gear. The line tooth on the driven line gear is a line tooth that has a property of variable-angle transmission. During transmission, the mechanism may adjust a transmission angle of the line gear pair having the intersecting shafts, thus causing meshing points to form on different contact curves while a transmission ratio remains unchanged and the transmission is stable.
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公开(公告)号：US10154915B2
公开(公告)日：2018-12-18
申请号：US14880118
申请日：2015-10-09
发明人： Kiisa Nishikawa , John Tester , Jeremy Petak
摘要： An actuator control system includes a motorized joint having first and second members rotatable relative to one another. An actuator is coupled with the motorized joint and is configured to rotate the first member relative to the second member in response to an input including a voltage, a current, or any combination thereof. A controller is coupled with the actuator and is configured to control the input using a control algorithm. The control algorithm controls the input based upon a mathematical model of biological muscle actuation that models titin as a filament which winds around actin during muscle actuation. In implementations the mathematical model includes mathematical representations of a contractile element, a viscous damping element in parallel with the contractile element, and a spring in series with the contractile element through a pulley and simultaneously in parallel with the contractile element.
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公开(公告)号：US4137797A
公开(公告)日：1979-02-06
申请号：US838903
申请日：1977-10-03
申请人： John H. Brems
发明人： John H. Brems
CPC分类号： F16H35/16 , F16H37/12 , Y10T74/18272
摘要： A mechanism for generating a square output motion utilizing a continuous constant speed rotary input. A reaction member such as an internal or external ring gear concentric to a first axis is provided together with first and second rotating members, the second being mounted for rotation on the first rotating member on an axis spaced from the first axis. An output member is mounted on the second rotating member and a means is provided for connecting for rotation the second rotating member and the reaction member. Input rotation of the second rotating member causes the output member to follow a square path.
摘要翻译： 一种利用连续恒速旋转输入产生平方输出运动的机构。 诸如与第一轴同心的内部或外部环形齿轮的反作用构件与第一和第二旋转构件一起设置，第二旋转构件安装成在与第一轴线间隔开的轴上在第一旋转构件上旋转。 输出构件安装在第二旋转构件上，并且设置有用于连接用于使第二旋转构件和反作用构件旋转的装置。 第二旋转构件的输入旋转使得输出构件沿着正方形路径。
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公开(公告)号：US4090413A
公开(公告)日：1978-05-23
申请号：US736925
申请日：1976-10-29
申请人： Jack M. Vickland
发明人： Jack M. Vickland
CPC分类号： F16H35/02 , F16H35/16 , Y10T74/18088 , Y10T74/18256 , Y10T74/19088
摘要： A cyclic motion generator comprising a mechanism capable of providing from a constant speed input a cyclic motion output, either linear or rotary depending on the application, which can be sinusoidal. The new mechanism has the further capability of being conveniently manually infinitely adjustable in amplitude from zero to maximum without requiring stoppage or disconnection of the input or the output.
摘要翻译： 一种循环运动发生器，其包括能够从恒定速度输入提供根据应用的线性或旋转的循环运动输出的机构，其可以是正弦曲线。 新机构具有进一步的功能，方便手动无级调节，幅度从零到最大，而不需要输入或输出的停止或断开。
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公开(公告)号：US4075911A
公开(公告)日：1978-02-28
申请号：US577942
申请日：1975-05-15
申请人： John Henry Brems
发明人： John Henry Brems
CPC分类号： F16H35/16 , F16H37/12 , Y10T74/1418
摘要： A drive mechanism for a reciprocating and multiple step index mechanism to achieve smooth starting and stopping action with controlled acceleration and decleration. It is characterized by extremely flexible kinematic characteristics achieved by the superposition of a constant velocity, fundamental and a higher harmonic component. The mechanism utilizes pairs of rotating drive members and eccentric members mounted in non-rotational relation, the pairs being connected to rotate in a multiple integral angular velocity ratio. An output member is arranged in driving relation to one of the eccentric members and is influenced also by the rotation of the other eccentric member. Power input is directed to one of the pairs of drive members.
摘要翻译： 一种用于往复式和多级索引机构的驱动机构，用于控制加速度和非加速度，实现平稳的启动和停止动作。 其特征在于通过叠加恒定速度，基波和高次谐波分量而实现的非常灵活的运动特性。 该机构使用成对的旋转驱动构件和以非旋转关系安装的偏心构件，该对连接成以多个整体角速度比旋转。 输出构件与偏心构件中的一个构成驱动关系，并且还受到另一个偏心构件的旋转的影响。 电源输入被引导到成对的驱动器成员之一。
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公开(公告)号：US2902887A
公开(公告)日：1959-09-08
申请号：US68340257
申请日：1957-09-11
申请人： INDUCTOSYN CORP
发明人： TRIPP ROBERT W
IPC分类号： F16H35/16
CPC分类号： F16H35/16
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公开(公告)号：US2881634A
公开(公告)日：1959-04-14
申请号：US61499456
申请日：1956-10-09
CPC分类号： G05G11/00 , F16H35/16 , Y10T74/20 , Y10T74/20341 , Y10T74/20558
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公开(公告)号：US2770145A
公开(公告)日：1956-11-13
申请号：US42284454
申请日：1954-04-13
申请人： STIBITZ GEORGE R
发明人： STIBITZ GEORGE R
CPC分类号： F16H35/16 , G06G3/00 , Y10S475/904 , Y10T74/19555 , Y10T74/19879 , Y10T74/2101 , Y10T74/22 , Y10T409/300896
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公开(公告)号：US20160030202A1
公开(公告)日：2016-02-04
申请号：US14880118
申请日：2015-10-09
发明人： Kiisa Nishikawa , John Tester , Jeremy Petak
CPC分类号： A61F2/70 , A61F2/6607 , A61F2/68 , A61F2002/607 , A61F2002/6657 , A61F2002/6664 , A61F2002/701 , A61F2002/704 , A61F2002/7625 , F16H35/16
摘要： An actuator control system includes a motorized joint having first and second members rotatable relative to one another. An actuator is coupled with the motorized joint and is configured to rotate the first member relative to the second member in response to an input including a voltage, a current, or any combination thereof. A controller is coupled with the actuator and is configured to control the input using a control algorithm. The control algorithm controls the input based upon a mathematical model of biological muscle actuation that models titin as a filament which winds around actin during muscle actuation. In implementations the mathematical model includes mathematical representations of a contractile element, a viscous damping element in parallel with the contractile element, and a spring in series with the contractile element through a pulley and simultaneously in parallel with the contractile element.
摘要翻译： 致动器控制系统包括具有相对于彼此可旋转的第一和第二构件的电动接头。 致动器与电动接头联接并且构造成响应于包括电压，电流或其任何组合的输入而相对于第二构件旋转第一构件。 控制器与致动器耦合并且被配置为使用控制算法来控制输入。 控制算法基于生物肌肉致动的数学模型来控制输入，该数学模型在肌肉致动期间将Titin模拟成围绕肌动蛋白缠绕的细丝。 在实施中，数学模型包括收缩元件，与收缩元件平行的粘性阻尼元件的数学表示，以及通过滑轮与收缩元件串联并同时与收缩元件平行的弹簧。
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公开(公告)号：US20150211892A1
公开(公告)日：2015-07-30
申请号：US14428591
申请日：2013-03-14
申请人： EATON CORPORATION
摘要： A system having a position sensing algorithm for determining a position of an electro-mechanical actuator (EMA) stroke includes a first rotary component supported for rotation about a first axis, and a second rotary component supported for rotation about a second axis. A first rotary encoder may be configured to generate an output based on an angular position of the first rotary component, and a second rotary encoder may be configured to generate an output based on an angular position of the second rotary component. The first and second rotary components may define a ratio such that the first and second rotary encoders generate unique combinations of outputs for an entire stroke of an EMA. A decoder may be provided having a position sensing algorithm that determines a position of the EMA stroke based on the ratio between first and second rotary components and outputs from first and second encoders.
摘要翻译： 具有用于确定机电致动器（EMA）行程的位置的位置感测算法的系统包括被支撑用于围绕第一轴线旋转的第一旋转部件和被支撑用于围绕第二轴线旋转的第二旋转部件。 第一旋转编码器可以被配置为基于第一旋转部件的角位置产生输出，并且第二旋转编码器可以被配置为基于第二旋转部件的角位置产生输出。 第一和第二旋转部件可以限定比例，使得第一和第二旋转编码器为EMA的整个冲程产生独特的输出组合。 可以提供具有位置感测算法的解码器，其基于第一和第二旋转部件之间的比率以及来自第一和第二编码器的输出来确定EMA行程的位置。
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