公开(公告)号：WO2022246533A1

公开(公告)日：2022-12-01

申请号：PCT/CA2022/050143

申请日：2022-02-01

Applicant: EXONETIK INC.

Inventor： PLANTE, Jean-Sébastien ,  LAROSE, Pascal ,  LUCKING BIGUE, Jean-Philippe

IPC: F16H48/26 ,  B60K6/00 ,  B60K17/02 ,  B60K7/00 ,  B60K23/00 ,  B62M6/10 ,  F16D37/02 ,  F16H45/00 ,  F16H47/00 ,  F16H48/05

Abstract: An actuator system has a power source, an output member, a first fluidic coupling and a second fluidic coupling. The fluidic couplings generate a variable amount of torque transmission. A transmission operatively couples the fluidic couplings to the power source and to the output member in at least first load path and a second load path, the first load path and the second load path being parallel to one another, the first load path including the first fluidic coupling, the second load path including the second fluidic coupling. The fluidic couplings are operable for torque from the power source to be transmitted solely via the first load path, solely via the second load path, and cumulatively via the first load path and the second load path.

公开(公告)号：WO2021001497A1

公开(公告)日：2021-01-07

申请号：PCT/EP2020/068717

申请日：2020-07-02

Applicant: SAFRAN ELECTRONICS & DEFENSE ,  EXONETIK INC.

Inventor： GRENIER, Jordane ,  LAROSE, Pascal

IPC: B25J9/00

Abstract: L'invention concerne un dispositif destiné à être positionné à proximité d'une articulation entre deux parties, le dispositif comprenant une première interface (11) portée par une première des deux parties et une deuxième interface (22) portée par une deuxième des deux parties, le dispositif comprenant au moins une connexion entre la première interface et la deuxième interface. Selon l'invention, la connexion comporte deux vérins (31, 32) montés en parallèle de manière que chaque vérin soit lié par sa tige de sortie à la première interface et par son corps à la deuxième interface, le déplacement simultané des deux tiges de sortie (35, 36) permettant en service de bouger la deuxième partie de l'articulation par rapport à la première partie de l'articulation. L'invention concerne également un système comprenant un tel dispositif et un bloc d'alimentation en fluide dudit dispositif.

公开(公告)号：WO2018068145A1

公开(公告)日：2018-04-19

申请号：PCT/CA2017/051216

申请日：2017-10-13

Applicant: EXONETIK INC.

Inventor： PLANTE, Jean-Sebastien ,  LAROSE, Pascal ,  DENNINGER, Marc ,  JULIO, Guifré

IPC: F16H15/01 ,  F16D27/12 ,  F16D35/00 ,  F16D37/02

Abstract: A system comprises magnetorheological fluid clutch apparatuses, each magnetorheological fluid clutch apparatus including a first rotor having at least one first shear surface, a second rotor rotating about a common axis with the first rotor, the second rotor having at least one second shear surface opposite the at least one first shear surface, the shear surfaces separated by at least one annular space, magnetorheological (MR) fluid in an MR fluid chamber including the at least one annular space, the MR fluid configured to generate a variable amount of torque transmission between the rotors when subjected to a magnetic field, and coil(s) actuatable to deliver a magnetic field through the MR fluid such that each said magnetorheological fluid clutch apparatus is actuatable to selectively transmit actuation by controlled slippage of the rotors with respect to one another. The MR fluid chambers of the second magnetorheological fluid clutch apparatuses are in fluid communication for the MR fluid to circulate between the magnetorheological fluid clutch apparatuses.

Abstract translation: 一种系统包括磁流变流体离合器装置，每个磁流变流体离合器装置包括具有至少一个第一剪切表面的第一转子，围绕与第一转子的公共轴线旋转的第二转子，第二转子具有 与所述至少一个第一剪切表面相对的至少一个第二剪切表面，所述剪切表面被至少一个环形空间分开，MR流体腔室中的磁流变（MR）流体包括所述至少一个环形空间，所述MR流体被配置为产生 在受到磁场作用时转子之间的转矩传递的可变量以及可致动以通过MR流体传递磁场的一个或多个线圈，使得每个所述磁流变流体离合器装置可致动以通过受控制的滑动来选择性地传递致动 转子相对于彼此。 第二磁流变流体离合器装置的MR流体腔室流体连通以使MR流体在磁流变流体离合器装置之间循环。

公开(公告)号：WO2017015763A1

公开(公告)日：2017-02-02

申请号：PCT/CA2016/050890

申请日：2016-07-28

Applicant: EXONETIK INC.

Inventor： LAROSE, Pascal ,  DENNINGER, Marc ,  GUIFRE, Julió ,  PLANTE, Jean-Sébastien

IPC: F16D63/00 ,  F16D65/14 ,  F16D67/02 ,  F16D67/04

CPC classification number: F16D67/04 ,  F16D57/002

Abstract: A braking control apparatus comprises at least one torque source. At least one magnetorheological (MR) fluid clutch apparatus having an input coupled to the at least one torque source to receive torque from the torque source, the MR fluid clutch apparatus controllable to transmit a variable amount of torque via an output thereof. A modulation interface couples the output of the at least one MR fluid clutch apparatus to a braking power transmission of a brake system. At least one sensor provides information indicative of a braking state of the load. A processing unit receives the information indicative of the braking state of the load and for outputting a signal to control the at least one MR fluid clutch apparatus in exerting a desired force on the braking power transmission to assist in braking the load. A method for assisting a manually-actuated braking of a vehicle is also provided.

Abstract translation: 制动控制装置包括至少一个扭矩源。 至少一个磁流变（MR）流体离合器装置具有耦合到所述至少一个扭矩源的输入端以接收来自所述扭矩源的扭矩，所述MR流体离合器装置可控制以经由其输出传递可变量的扭矩。 调制界面将至少一个MR流体离合器装置的输出连接到制动系统的制动动力传递。 至少一个传感器提供指示负载的制动状态的信息。 处理单元接收指示负载的制动状态的信息，并且输出信号以控制至少一个MR流体离合器装置，以在制动动力传递上施加期望的力以帮助制动负载。 还提供了一种用于辅助车辆的手动制动的方法。

公开(公告)号：WO2016168934A1

公开(公告)日：2016-10-27

申请号：PCT/CA2016/050464

申请日：2016-04-21

Applicant: EXONETIK INC.

Inventor： PLANTE, Jean-Sebastien ,  DENNINGER, Marc ,  JULIO, Guifré ,  CHOUINARD, Patrick ,  LAROSE, Pascal

IPC: F16D37/02 ,  B64C27/59 ,  F16D29/00

CPC classification number: F16D37/02 ,  B64C27/59 ,  F16D29/00 ,  F16D37/008 ,  F16D2037/001 ,  F16D2037/004 ,  F16D2037/007

Abstract: A magnetorheological fluid clutch apparatus comprises a stator having at least an annular wall; a first rotor rotatably mounted to the stator, the first rotor having at least one first shear surface; a second rotor rotatably mounted to the stator for rotating about a common axis with the first rotor, the second rotor having at least one second shear surface opposite the at least one first shear surface, the shear surfaces separated by at least one annular space. A magnetorheological (MR) fluid is in an MR fluid chamber including the at least one annular space, the MR fluid configured to generate a variable amount of torque transmission between the rotors when subjected to a magnetic field. An inner magnetic core and an outer magnetic core with an annular cavity therebetween receive the annular wall of the stator, the inner magnetic core and the outer magnetic core connected to at least one of the rotors to rotate therewith so as to be rotatably mounted to the stator. Outer and inner fluid gaps are between the inner magnetic core and the annular wall, and between the outer magnetic core and the annular wall, the outer and inner fluid gaps filled with at least one fluid. At least one coil is supported by the annular wall and actuatable to deliver a magnetic field through the MR fluid, the magnetic field following a path comprising the annular wall, the outer fluid gap, the outer magnetic core, the at least one first shear surface and the at least one second shear surface, the inner magnetic core and the inner fluid gap, wherein one of the rotors is adapted to be coupled to a power input and the other of the rotors is adapted to be connected to an output whereby actuation of the at least one coil results in a variation of torque transmission between the rotors.

Abstract translation: 磁流变流体离合器装置包括至少具有环形壁的定子; 可转动地安装在所述定子上的第一转子，所述第一转子具有至少一个第一剪切面; 可旋转地安装到定子上的第二转子，用于与第一转子围绕公共轴线旋转，第二转子具有与至少一个第一剪切表面相对的至少一个第二剪切表面，剪切表面由至少一个环形空间分隔开。 磁流变（MR）流体在包括至少一个环形空间的MR流体室中，MR流体被配置为当经受磁场时在转子之间产生可变量的转矩传递。 内部磁芯和具有环形空腔的外部磁芯接收定子的环形壁，内部磁芯和外部磁芯连接至至少一个转子以与其一起旋转，以便可旋转地安装在 定子。 外部和内部流体间隙在内部磁芯和环形壁之间，以及在外部磁芯和环形壁之间，外部和内部流体间隙填充有至少一种流体。 至少一个线圈由环形壁支撑并且可致动以通过MR流体输送磁场，磁场遵循包括环形壁，外部流体间隙，外部磁芯，至少一个第一剪切表面 和所述至少一个第二剪切表面，所述内部磁芯和所述内部流体间隙，其中所述转子中的一个适于联接到动力输入，并且所述转子中的另一个适于连接到输出端，从而致动 所述至少一个线圈导致转子之间的扭矩传递的变化。

公开(公告)号：WO2020073134A1

公开(公告)日：2020-04-16

申请号：PCT/CA2019/051451

申请日：2019-10-11

Applicant: EXONETIK INC.

Inventor： PLANTE, Jean-Sebastien ,  MARCHAND, Jérôme ,  LAROSE, Pascal ,  CHOUINARD, Patrick ,  DENNINGER, Marc ,  LUCKING BIGUE, Jean-Philippe

IPC: F16D27/14 ,  F16D37/02

Abstract: A magnetorheological fluid clutch apparatus comprises an input(s) having an input shear surface(s). An output(s) is rotatably mounted about the input for rotating about a common axis with the input, the output(s) having output shear surface(s), the input shear surface and the output shear surface separated annular space(s). with magnetorheological fluid, configured to generate a variable amount of torque transmission between the sets of input rotor and output rotor when subjected to a magnetic field. An electromagnet(s) delivers a magnetic field through the magnetorheological fluid, the electromagnet configured to vary the strength of the magnetic field, whereby actuation of the electromagnet results in torque transmission from the input to the output. A member(s) defining at least one of the shear surfaces is made of a low-permeability material.

公开(公告)号：WO2019204917A1

公开(公告)日：2019-10-31

申请号：PCT/CA2019/050505

申请日：2019-04-23

Applicant: EXONETIK INC.

Inventor： LAROSE, Pascal ,  CHOUINARD, Patrick ,  PLANTE, Jean-Sebastien ,  JULIO, Guifre

IPC: F16D37/02 ,  F16D47/06 ,  F16D48/06 ,  F16H48/26

Abstract: A control system for controlling movements of an end effector connected to a clutch output of at least two magnetorheological (MR) fluid clutch apparatus, the control system comprises a clutch driver configured to drive the at least two MR fluid clutch apparatuses between at least a controlled slippage mode, in which slippage between a clutch input and the clutch output of the MR fluid clutch apparatuses varies, and a combined mode, in which said slippage between the clutch input and the clutch output is maintained below a given threshold simultaneously for both of the MR fluid clutch apparatuses, the two clutch outputs resisting movement of the end effector in the same direction. A motor driver is configured to control a motor output of at least one motor, the motor output coupled to at least one clutch input. A mode selector module is configured to receive signals representative of at least one movement parameter of the end effector, the mode selector module selecting a mode between at least the controlled slippage mode and the combined mode of the clutch driver based on the signals, and switching the selected mode based on the signals. A movement controller controls the clutch driver and the motor driver to displace the end effector based on at least one of the selected mode and on commanded movements of the end effector for the end effector to achieve the commanded movements.

公开(公告)号：WO2019041038A1

公开(公告)日：2019-03-07

申请号：PCT/CA2018/051044

申请日：2018-08-29

Applicant: SOCIETE DE COMMERCIALISATION DES PRODUITS DE LA RECHERCHE APPLIQUÉE SOCPRA SCIENCES ET GÉNIE S.E.C. ,  EXONETIK INC.

Inventor： RANCOURT, David ,  LUSSIER DESBIENS, Alexis ,  PLANTE, Jean-sebastien ,  LAROSE, Pascal

IPC: B66D1/52 ,  B64D3/00 ,  B66C13/06 ,  B66D1/14 ,  F16D37/02 ,  F16D48/12 ,  G05D15/01 ,  H02N11/00

Abstract: A system for controlling a tension of a tether between an object and a load tethered to the object comprises magnetorheological (MR) fluid actuator unit(s) including at least one torque source and at least one MR fluid clutch apparatus coupled to the at least one torque source to receive torque from the at least one torque source, the MR fluid clutch apparatus controllable to transmit a variable amount of torque via an output of the MR fluid actuator unit. A tensioning member is connected to the output so as to be pulled by the output member upon actuation of the magnetorheological fluid clutch apparatus, a free end of the tensioning member adapted to exert a pulling action when being pulled by the output member. Sensor(s) provide information indicative of a relation between the object and the load tethered to the object. A controller controls the at least one MR fluid clutch apparatus in exerting the pulling action based on said information.

公开(公告)号：WO2017185176A1

公开(公告)日：2017-11-02

申请号：PCT/CA2017/050506

申请日：2017-04-25

Applicant: EXONETIK INC.

Inventor： DENNINGER, Marc ,  JULIÓ, Guifré ,  PLANTE, Jean-sebastien ,  LAROSE, Pascal

IPC: F16D27/10 ,  B25J9/10 ,  F16D37/02 ,  F16D48/06 ,  F16D7/02

Abstract: A control system is provided for controlling movements of an end effector connected to a clutch output of at least one magnetorheological (MR) fluid clutch apparatus. A clutch driver is configured to drive the at least one MR fluid clutch apparatus between a controlled slippage mode, in which slippage between a clutch input and the clutch output of the MR fluid clutch apparatus varies, and a lock mode, in which said slippage between the clutch input and the clutch output is maintained below a given threshold, the clutch output transmitting movement to the end effector. A motor driver is configured to control a motor output of at least one motor, the motor output coupled to the clutch input. A mode selector module is configured to receive signals representative of at least one movement parameter of the end effector, the mode selector module selecting a mode between the controlled slippage mode and the lock mode of the clutch driver based on the signals, and switching the selected mode based on the signals. A movement controller controls the clutch driver and the motor driver to displace the end effector based on at least one of the selected mode and on commanded movements of the end effector for the end effector to achieve the commanded movements. A method for controlling movements of an end effector connected to the MR fluid clutch apparatus is also provided.

Abstract translation: 控制系统被提供用于控制连接到至少一个磁流变（MR）流体离合器装置的离合器输出端的末端执行器的运动。 离合器驱动器构造成在至少一个MR流体离合器装置在其中离合器输入与MR流体离合器装置的离合器输出之间的滑动变化的受控滑动模式和锁定模式之间驱动所述至少一个MR流体离合器装置， 离合器输入和离合器输出保持在给定阈值以下，离合器输出将运动传递到末端执行器。 电机驱动器被配置为控制至少一个电机的电机输出，电机输出耦合到离合器输入。 模式选择器模块被配置为接收表示末端执行器的至少一个运动参数的信号，模式选择器模块基于信号选择离合器驱动器的受控滑动模式和锁定模式之间的模式，并且切换所选择的 基于信号的模式。 移动控制器控制离合器驱动器和马达驱动器基于所选择的模式和末端执行器的末端执行器的命令运动中的至少一个来移动末端执行器以实现命令的运动。 还提供了用于控制连接到MR流体离合器装置的末端执行器的运动的方法。

公开(公告)号：WO2021155478A1

公开(公告)日：2021-08-12

申请号：PCT/CA2021/050137

申请日：2021-02-08

Applicant: EXONETIK INC.

Inventor： PLANTE, Jean-Sebastien ,  LUCKING BIGUE, Jean-Philippe ,  VERONNEAU, Catherine ,  LAROSE, Pascal

IPC: F16D37/00 ,  B25J9/10 ,  B25J9/18 ,  F16D28/00 ,  F16H37/06 ,  F16H47/00 ,  H02N2/00

Abstract: A magnetorheological (MR) actuator device comprising two or more MR actuator units. Each of the MR actuator units may include a motor, an MR fluid clutch apparatus operatively coupled to the motor to receive torque from the motor, the MR fluid clutch apparatus operable to generate a variable amount of torque transmission when subjected to a magnetic field. An output member is provided, a transmission operatively coupling the at least two MR actuator units to the output member, for the output member to receive torque from the MR actuator units. A controller for controlling the two or more MR actuator units to drive the output member, the controller driving the output member in at least an antagonistic mode in which the MR actuator units transmit torque in opposite directions to the output member. A collaborative mode may be provided to combined the torque of the two or more MR actuator units in a common direction on the output member.