公开(公告)号：US20070249457A1

公开(公告)日：2007-10-25

申请号：US11288042

申请日：2005-11-28

Applicant: Delbert Tesar

Inventor： Delbert Tesar

IPC: F16H23/00 ,  F16H1/32 ,  F16H59/02 ,  H02K7/09

CPC classification number: F16H1/28 ,  B64C13/34 ,  F16H1/32 ,  F16H1/46 ,  F16H57/021 ,  F16H2001/2881 ,  H02K7/116 ,  Y02E10/725

Abstract: A self-contained rotary actuator provides motive power in automated mechanical systems and includes a cross-roller bearing operating as a structural joint. An outer attachment shell rigidly interfaces the automated mechanical system and contains a motor stator and an internal bull gear. The internal bull gear interfaces the cross-roller bearing and provides stiffness and includes internal gear teeth. An output attachment plate mechanism includes an internal ring gear and supports drive shaft bearings. The internal ring gear rigidly interfaces the output attachment plate and includes internal gear teeth. A drive shaft holds a prime mover rotor and an eccentric and associates with the output attachment plate via the drive shaft bearings. A gear train includes a meshing gear having external gear teeth with circular arc surfaces for meshing with the internal gear teeth of the internal bull gear and the internal gear teeth of the internal ring gear and walks a minimal number of the external gear teeth for each rotation of the prime mover rotor. The cross-roller bearing, the outer attachment shell, the drive shaft, and the meshing gear train provide a self-contained, integrated, actuation torque transmitting force from the prime mover along a shortest-possible transmission path.

Abstract translation: 独立的旋转执行器在自动机械系统中提供动力，并且包括作为结构接头操作的交叉滚子轴承。 外部附件壳与自动机械系统刚性接合，并包含电动机定子和内部大齿轮。 内部大齿轮接合交叉滚子轴承并提供刚度并包括内齿轮齿。 输出附件板机构包括内齿圈并支撑驱动轴轴承。 内齿圈与输出连接板刚性接合，并包括内齿轮齿。 驱动轴保持原动机转子和偏心轮，并通过驱动轴轴承与输出附件板相连。 齿轮系包括啮合齿轮，齿啮合齿轮具有圆弧形表面，具有用于与内齿轮的内齿轮啮合的啮合齿轮和内啮合齿轮的内齿轮齿，并且每个旋转最少数量的外齿轮齿 的原动机转子。 交叉滚子轴承，外部附件壳，驱动轴和啮合齿轮系提供了从原动机沿最短可能的传输路径的独立的，集成的致动转矩传递力。

公开(公告)号：US11022200B2

公开(公告)日：2021-06-01

申请号：US16788305

申请日：2020-02-12

Applicant: Delbert Tesar

Inventor： Delbert Tesar

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

Abstract: A rotary actuator (101) is provided which includes first and second opposing endplates (107); a stator (105) having a first end which is attached to said first endplate, and a second end which is attached to said second endplate; a rotor (103) having first and second eccentrics (125) on a surface thereof; an output attachment ring gear (135) disposed about the periphery of said first and second opposing endplates; a first parallel eccentric gear (131) which is disposed between said first eccentric and said output gear and which meshes with said output gear; a second parallel eccentric gear which is disposed between said second eccentric and said output gear and which meshes with said output gear; a first crosslink (113) which engages said first endplate and said first eccentric gear by way of a first set of surface features (143, 153); and a second crosslink which meshes with said second endplate and said second eccentric gear by way of a second set of surface features. The rotary actuator further includes a star compound gear train which includes a star gear which is in mesh with the output gear across a second mesh, wherein the first mesh is radially separated from the second mesh across an open space.

公开(公告)号：US20190242456A1

公开(公告)日：2019-08-08

申请号：US16179881

申请日：2018-11-02

Applicant: Delbert Tesar

Inventor： Delbert Tesar

IPC: F16H1/28 ,  H02K7/116

CPC classification number: F16H1/28 ,  F16H2001/2872 ,  H02K7/116

Abstract: An actuator is provided which includes a stationary frame; an output plate disposed within said stationary frame; a top plate; a stator disposed between said stationary frame and said top plate, said stator describing an annulus; a rotor disposed within the annulus of said stator; a principal bearing disposed between said stationary frame and said output plate; a pinion gear; and a star gear which meshes with said pinion gear.

公开(公告)号：US20160137051A1

公开(公告)日：2016-05-19

申请号：US14942895

申请日：2015-11-16

Applicant: Delbert Tesar

Inventor： Delbert Tesar

IPC: B60K6/442

CPC classification number: B60K6/442 ,  B60K6/448 ,  B60K6/52 ,  Y02T10/6234 ,  Y02T10/6243 ,  Y02T10/6265 ,  Y10S903/903

Abstract: A hybrid vehicle (101) is provided which includes an internal combustion engine (109), an electric power source (115) and a plurality of multi-speed hub drive wheels (MDWs) (103, 105). Each MDW is transformable between a first state in which the MDWs are driven by the internal combustion engine, and a second state in which the MDW is driven by the electrical power source.

Abstract translation: 提供一种混合动力车辆（101），其包括内燃机（109），电源（115）和多个多速轮毂驱动轮（MD105）。 每个MDW可在其中MDW由内燃机驱动的第一状态和MDW由电源驱动的第二状态之间变换。

公开(公告)号：US20160091054A1

公开(公告)日：2016-03-31

申请号：US14869994

申请日：2015-09-29

Applicant: Delbert Tesar

Inventor： Delbert Tesar

IPC: F16H1/32

CPC classification number: F16H1/32 ,  F16H57/0436 ,  F16H57/0486 ,  H02K7/116

Abstract: A rotary actuator (101) is provided which includes a crankshaft (103), first and second eccentric gears (121), first and second end plates (123), a first crosslink (117) which is disposed between the first eccentric gear and the first end plate, a second crosslink which is disposed between the second eccentric gear and the second end plate, a stator (113) disposed between the first and second eccentric gears, and a rotor (109). Preferably, the rotary actuator further includes first and second support plates (115) which are disposed concentrically about the crankshaft and which are attached to first and second surfaces of the stator, respectively. The foregoing configuration allows the stator to serve as a major structural element, which may enhance the stiffness and reduce the weight of the actuator, while simplifying many of its active components.

Abstract translation: 提供一种旋转致动器（101），其包括曲轴（103），第一和第二偏心齿轮（121），第一和第二端板（123），第一交变部（117），其布置在第一偏心齿轮和 第一端板，设置在第二偏心齿轮和第二端板之间的第二交叉，设置在第一和第二偏心齿轮之间的定子（113）和转子（109）。 优选地，所述旋转致动器还包括第一和第二支撑板（115），所述第一和第二支撑板（115）分别围绕所述曲轴同心地设置并且分别附接到所述定子的第一和第二表面。 上述构造允许定子作为主要结构元件，其可以增强致动器的刚度并减小致动器的重量，同时简化其许多有源部件。

公开(公告)号：US20150354667A1

公开(公告)日：2015-12-10

申请号：US14732286

申请日：2015-06-05

Applicant: Delbert Tesar

Inventor： Delbert Tesar

IPC: F16H1/32 ,  F16H55/17

CPC classification number: F16H1/32 ,  F16H55/17 ,  F16H57/08 ,  F16H2001/323 ,  H02K7/116

Abstract: A rotary actuator is provided which includes a crankshaft, a first eccentric gear disposed on a first end of the crankshaft, a second eccentric gear disposed on a second end of the crankshaft, first and second end plates, a first crosslink disposed between the first eccentric gear and the first end plate, and a second crosslink disposed between the second eccentric gear and the second end plate. The first crosslink has a first set of surface features on a surface thereof which engage a second set of surface features on the first eccentric gear, and at least one of the first and second eccentric gears is equipped with circular arc gear teeth.

Abstract translation: 提供了一种旋转致动器，其包括曲轴，设置在曲轴的第一端上的第一偏心齿轮，设置在曲轴的第二端上的第二偏心齿轮，第一和第二端板，设置在第一偏心轮 齿轮和第一端板，以及设置在第二偏心齿轮和第二端板之间的第二交叉。 第一交联在其表面具有第一组表面特征，其接合第一偏心齿轮上的第二组表面特征，并且第一和第二偏心齿轮中的至少一个配备有圆弧齿轮齿。

公开(公告)号：US20150330455A1

公开(公告)日：2015-11-19

申请号：US14715228

申请日：2015-05-18

Applicant: Delbert Tesar

Inventor： Delbert Tesar

IPC: F16D1/116

Abstract: A rotary actuator is provided which 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.

Abstract translation: 提供了旋转致动器，其包括具有限定在其中的多个孔的第一界面表面; 多个接口模块，其中每个接口模块包括可释放地接合所述孔中的一个的第一部分和从所述第一接口表面突出的第二部分; 第二界面，其与所述第一界面表面可释放地配合; 以及将所述第一界面表面围绕轴线旋转的齿轮系。

公开(公告)号：US20120215450A1

公开(公告)日：2012-08-23

申请号：US13402084

申请日：2012-02-22

Applicant: Pradeepkumar Ashok ,  Ganesh Krishnamoorthy ,  Delbert Tesar

Inventor： Pradeepkumar Ashok ,  Ganesh Krishnamoorthy ,  Delbert Tesar

IPC: G06F17/18 ,  G01R31/00 ,  G06F19/00

CPC classification number: G05B23/0262 ,  G05B23/0254

Abstract: A method, system and computer program product for distinguishing between a sensor fault and a process fault in a physical system and use the results obtained to update the model. A Bayesian network is designed to probabilistically relate sensor data in the physical system which includes multiple sensors. The sensor data from the sensors in the physical system is collected. A conditional probability table is derived based on the collected sensor data and the design of the Bayesian network. Upon identifying anomalous behavior in the physical system, it is determined whether a sensor fault or a process fault caused the anomalous behavior using belief values for the sensors and processes in the physical system, where the belief values indicate a level of trust regarding the status of its associated sensors and processes not being faulty.

Abstract translation: 一种用于区分传感器故障和物理系统中的过程故障的方法，系统和计算机程序产品，并使用获得的结果来更新模型。 贝叶斯网络被设计为概率地将包括多个传感器的物理系统中的传感器数据相关联。 收集物理系统中传感器的传感器数据。 基于收集的传感器数据和贝叶斯网络的设计导出条件概率表。 在识别物理系统中的异常行为时，确定传感器故障或过程故障是否使用物理系统中的传感器和过程的置信度引起异常行为，其中信念值表示关于状态的信任级别 其相关的传感器和过程不会发生故障。

公开(公告)号：US07722494B2

公开(公告)日：2010-05-25

申请号：US12201186

申请日：2008-08-29

Applicant: Delbert Tesar

Inventor： Delbert Tesar

IPC: F16H23/00

CPC classification number: F16H1/28 ,  B64C13/34 ,  F16H1/32 ,  F16H1/46 ,  F16H57/021 ,  F16H2001/2881 ,  H02K7/116 ,  Y02E10/725

Abstract: A method for providing a compact rotary action torque within a larger system comprising a cross-roller bearing, generating a controllable electromagnetic field using a motor stator while interfacing the cross-roller bearing using a bull gear. The bull gear interfaces the cross-roller bearing and includes gear-teeth. An output plate includes a ring gear and supports shaft bearings. The ring gear interfaces the output plate and includes gear-teeth. A drive shaft holds a prime mover rotor and an eccentric and associates with the output plate via the shaft bearings. A gear train includes a meshing gear having gear-teeth for meshing with the gear-teeth of the bull gear and the gear-teeth of the ring gear and walks a minimal number of the gear-teeth for each rotation of the prime mover rotor; thereby, providing a transmitting force from the prime mover along the shortest-possible transmission path.

Abstract translation: 一种用于在更大的系统内提供紧凑的旋转动作扭矩的方法，包括交叉滚子轴承，在使用大齿轮接合交叉滚子轴承的同时，使用马达定子产生可控电磁场。 大齿轮与交叉滚子轴承接合，并包括齿轮齿。 输出板包括一个齿圈并支撑轴承。 齿圈与输出板接口，包括齿轮齿。 驱动轴保持原动机转子和偏心轮，并通过轴轴承与输出板相关联。 齿轮系包括具有用于与大齿轮的齿轮齿啮合的齿轮齿和啮合齿轮的齿轮啮合的啮合齿轮，并且为原动机转子的每个旋转行走最少数量的齿轮齿; 从而沿着最短可能的传输路径提供来自原动机的传递力。

公开(公告)号：US20070168081A1

公开(公告)日：2007-07-19

申请号：US11430261

申请日：2006-11-20

Applicant: Sung-Ho Shin ,  Delbert Tesar

Inventor： Sung-Ho Shin ,  Delbert Tesar

IPC: G06F19/00

CPC classification number: B25J9/08 ,  B25J19/007 ,  Y10T74/20329

Abstract: A robotic system providing precision interfaces between a rotary actuator and a robotic structure. The robotic structure responsive to control by a rotary actuator via a connection means whereby interface design parameters are relayed to the rotary actuator. The rotary actuator for controlling the robotic structure includes an actuator shell, an eccentric cage and a primer mover portion, rigidly attached to the eccentric cage and capable of exerting a torque on a first prime mover. A cross-roller is also included having a first bearing portion rigidly fixed to the actuator shell and a second bearing portion, an output attachment plate attached to a second bearing portion, a shell gear rigidly attached to the actuator shell, an output gear attached to the output attachment plate and an eccentric gear attached to the eccentric cage.

Abstract translation: 机器人系统，提供旋转执行器和机器人结构之间的精确接口。 所述机器人结构响应于旋转致动器经由连接装置的控制，从而将接口设计参数中继到旋转致动器。 用于控制机器人结构的旋转致动器包括致动器壳体，偏心保持架和底座移动部分，刚性地附接到偏心笼并且能够在第一原动机上施加扭矩。 交叉滚子还包括具有刚性地固定到致动器壳体的第一轴承部分和第二轴承部分，附接到第二轴承部分的输出附接板，刚性地附接到致动器壳体的外壳齿轮，附接到致动器壳体的输出齿轮 输出安装板和安装在偏心笼上的偏心齿轮。