CN114992300B - Driving device with output force control and state monitoring functions - Google Patents
Driving device with output force control and state monitoring functions Download PDFInfo
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- CN114992300B CN114992300B CN202210714866.3A CN202210714866A CN114992300B CN 114992300 B CN114992300 B CN 114992300B CN 202210714866 A CN202210714866 A CN 202210714866A CN 114992300 B CN114992300 B CN 114992300B
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- force control
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 47
- 230000005540 biological transmission Effects 0.000 claims abstract description 54
- 229910000831 Steel Inorganic materials 0.000 claims description 5
- 239000010959 steel Substances 0.000 claims description 5
- 230000009471 action Effects 0.000 claims description 2
- 238000006073 displacement reaction Methods 0.000 abstract description 6
- 230000007246 mechanism Effects 0.000 description 26
- 210000001503 joint Anatomy 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 238000010276 construction Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H48/00—Differential gearings
- F16H48/06—Differential gearings with gears having orbital motion
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
- F16H37/02—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings
- F16H37/04—Combinations of toothed gearings only
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/02—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/0061—Force sensors associated with industrial machines or actuators
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/62—Hybrid vehicles
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Power Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Retarders (AREA)
- Transmission Devices (AREA)
- One-Way And Automatic Clutches, And Combinations Of Different Clutches (AREA)
Abstract
The invention provides a driving device with output force control and state monitoring, which comprises a driving component and a monitoring component, wherein the driving component comprises a first input component, a second input component, an NGW star-shaped differential gear train, a friction clutch, a gear pair group and a ball screw pair, and the monitoring component comprises a ninth gear pair, a first NGW planetary gear train, a potentiometer and a rotary switch. The invention realizes the functions of low rotation speed and large torque output, overload protection, output force control, output force monitoring, reverse transmission clamping stagnation, position and displacement monitoring, and has the advantages of simple structure, redundancy backup and high transmission precision.
Description
Technical Field
The invention relates to the technical field of mechanism driving, in particular to a driving device with output force control and state monitoring.
Background
The manned space engineering in China is divided into three steps: and (3) cabin-out activities, intersection butt joint and space station, wherein the third step is to construct the long-term on-orbit space station. The space station in China is constructed in such a way that the cabin body which is scheduled to be connected to the lateral butt joint port is firstly subjected to axial intersection butt joint by using a butt joint mechanism system, then the cabin body is transferred to the lateral butt joint port by using an indexing mechanical arm, and then the lateral butt joint is realized by using a butt joint mechanism. Wherein the reliable capture and connection between two aircraft can be achieved directly influencing the construction of the space station. In order to adapt to the influence of space environment, the two aircrafts need to keep larger connection rigidity, so that a driving device of a mechanism for completing the capturing connection function needs to have a low-rotation-speed large-torque output function, an overload protection function, output force control, output force monitoring, a reverse transmission clamping stagnation function, a position and displacement monitoring function.
The existing driving device cannot well adapt to the influence of space environment, does not have output force control and monitoring functions, and is poor in connection reliability, so that a certain space mechanical arm cannot be effectively driven to complete on-track construction of each cabin section of a space station.
Therefore, the invention provides a driving device with output force control and state monitoring, so as to realize that the driving device of the capture connecting mechanism has the functions of low-rotation-speed large-torque output, overload protection, output force control, output force monitoring, reverse transmission clamping stagnation, position and displacement monitoring.
Disclosure of Invention
In view of the drawbacks of the prior art, an object of the present invention is to provide a driving device with output force control and status monitoring.
The invention provides a driving device with output force control and state monitoring, which comprises a driving component and a monitoring component,
The driving assembly comprises a first input member, a second input member, an NGW star-shaped differential gear train, a friction clutch, a gear pair group and a ball screw pair, wherein the output end of the first input member is connected with an inner gear ring of the NGW star-shaped differential gear train, the output end of the second input member is connected with a first sun gear of the NGW star-shaped differential gear train, the output end of the NGW star-shaped differential gear train is connected with the input end of the friction clutch, the output end of the friction clutch is connected with the input section of the gear pair group, and the output end of the gear pair group is connected with the input section of the ball screw pair;
The monitoring assembly comprises a ninth gear pair, a first NGW planetary gear train, a potentiometer and a rotary switch, wherein the input end of the ninth gear pair is connected with the output end of the ball screw pair, the output end of the ninth gear pair is connected with a second sun gear of the first NGW planetary gear train, the output end of the first NGW planetary gear train is connected with the potentiometer and the rotary switch in parallel, and the rotary switch is electrically connected with the ball screw pair.
Further, the NGW star-shaped differential gear train comprises a planet carrier, a planet wheel, an inner gear ring and a first sun gear, wherein the planet wheel is fixedly connected with the planet carrier, the planet wheel is positioned between the first sun gear and the inner gear ring, the planet wheel is meshed with the inner gear ring, and the planet carrier outputs rotation of the inner gear ring and the first sun gear in a combined mode.
Preferably, the ring gear is a floating ring gear.
Further, the first input member includes a first motor, a first gear pair, a second gear pair, a first unidirectional transmission mechanism, and a third gear pair that are sequentially connected in series, and an output end of the third gear pair is an output end of the first input member.
Preferably, the first unidirectional transmission mechanism is one of a ratchet pawl type transmission device, a friction type transmission device and a steel ball type transmission mechanism.
Preferably, the first motor is a brushless dc motor.
Further, the second input member comprises a second motor, a fourth gear pair, a fifth gear pair and a second unidirectional transmission mechanism which are sequentially connected in series, and the output end of the second unidirectional transmission mechanism is the output end of the second input member.
Preferably, the second unidirectional transmission mechanism is one of a ratchet pawl type transmission device, a friction type transmission device and a steel ball type transmission mechanism.
Preferably, the friction clutch is a passive friction plate clutch.
Further, the gear pair group comprises a sixth gear pair, a seventh gear pair and an eighth gear pair which are sequentially connected in series.
Compared with the prior art, the invention has the following beneficial effects:
1. The driving device with output force control and state monitoring provided by the invention has the low-rotation-speed and large-torque output function by adopting the multistage straight tooth and planetary gear trains which are connected in series, so that the high efficiency and the large transmission ratio of the transmission chain are realized.
2. The invention realizes the forward and reverse transmission of a certain moment by adopting the friction clutch, and can ensure that the transmission chain and the structural member are driven by the slip protection when the tail end mechanism is overloaded; and friction clutches with different slip moments can be selected to realize the control of the maximum output force of the driving device.
3. The invention can realize smooth forward (clockwise and anticlockwise rotation) transmission and reverse (clockwise and anticlockwise rotation) transmission clamping stagnation by adopting a unidirectional transmission mechanism.
4. The invention realizes the displacement monitoring and the output force monitoring and control of the ball screw pair through the potentiometer, and realizes the position control of the ball screw pair through the rotary switch.
5. The invention adopts a double-input-single-output driving mode and has the advantages of simple structure, redundancy backup, high transmission precision and the like.
Drawings
Other features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:
FIG. 1 is a schematic diagram of a driving device with output force control and status monitoring according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a forward drive with output force control and condition monitoring according to an embodiment of the present invention;
Fig. 3 is a schematic diagram of reverse driving jamming of a driving device with output force control and state monitoring according to an embodiment of the present invention.
In the figure:
1-first unidirectional transmission mechanism, 2-first input member, 3-first gear pair, 4-second gear pair, 5-third gear pair, 6-second input member, 7-fourth gear pair, 8-fifth gear pair, 9-second unidirectional transmission mechanism, 10-floating ring gear, 11-NGW star differential gear train, 12-first sun gear, 13-planet wheel, 14-planet carrier, 15-friction clutch, 16-sixth gear pair, 17-seventh gear pair, 18-eighth gear pair, 19-ball screw pair, 20-ninth gear pair, 21-potentiometer, 22-rotary switch, 23-first NGW planetary gear train, 24-first motor, 25-second motor.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present invention.
The invention provides a driving device with output force control and state monitoring, which has the functions of low rotation speed and large torque output, overload protection, output force control, output force monitoring, reverse transmission clamping stagnation, position and displacement monitoring.
Referring to fig. 1, a schematic diagram of a driving device with output force control and state monitoring according to an embodiment of the present invention is shown, where the driving device includes a driving assembly and a monitoring assembly, and the driving assembly includes a first input member 2, a second input member 6, an NGW star-type differential gear train 11, a friction clutch 15, a gear pair group, and a ball screw pair 19; the monitoring assembly includes a ninth gear pair 20, a first NGW planetary gear train 23, a potentiometer 21, and a rotary switch 22. The driving assembly provides power to realize driving transmission and can realize overload protection; the monitoring component monitors the output force of the driving component, and reliable connection of the aircraft is realized by controlling the output force.
The power component of the first input member 2 is a first motor 24, and the output end of the first motor 24 is sequentially connected with a first gear pair 3, a second gear pair 4, a first unidirectional transmission mechanism 1 and a third gear pair 5 in series.
The power component of the second input member 6 is a second motor 25, and the output end of the second motor 25 is sequentially connected with a fourth gear pair 7, a fifth gear pair 8 and a second unidirectional transmission mechanism 9 in series.
The NGW star-shaped differential gear train 11 comprises a planet carrier 14, a planet wheel 13, a floating annular gear 10 and a first sun gear 12, wherein the planet wheel 13 is fixedly connected with the planet carrier 14, the planet wheel 13 is positioned between the sun gear 11 and the floating annular gear 10 and meshed with the floating annular gear 10, and the planet carrier 14 combines and outputs the rotating speeds of the floating annular gear 10 and the first sun gear 12.
The output end of the third gear pair 5 is connected with the floating annular gear 10 of the NGW star-shaped differential gear train 11, so that the NGW star-shaped differential gear train 11 receives the rotation output by the first input member 2 and drives the floating annular gear 10 to rotate, and then drives the planet gears 13 meshed with the floating annular gear 10 to rotate. The output end of the second unidirectional transmission mechanism 9 is connected with a first sun gear 12 of the NGW star-shaped differential gear train 11, so that the NGW star-shaped differential gear train 11 receives the rotating speed output by the second input member 6 and drives the first sun gear 12 to rotate, and drives the planet gears 13 to rotate.
The output end of the NGW star-shaped differential gear train 11 is connected with the input end of the friction clutch 15, i.e. the output end of the planet carrier 14 is connected with the input end of the friction clutch 15. The gear pair group comprises a sixth gear pair 16, a seventh gear pair 17 and an eighth gear pair 18 which are sequentially connected in series, wherein the output end of the friction clutch 15 is connected with the input end of the sixth gear pair 16, and the output end of the eighth gear pair 18 is connected with the input end of the ball screw pair 19.
In the monitoring assembly, the input end of the ninth gear pair 20 is connected to the output end of the ball screw pair 19. The output end of the ninth gear pair 20 is connected with a second sun gear of the first NGW planetary gear train 23, the output end of the first NGW planetary gear train 23 is connected with a potentiometer 21 and a rotary switch 22 in parallel, and the rotary switch 22 is also electrically connected with the ball screw pair 19. The first NGW planetary gear train 23 is an NGW planetary gear train with sun input and planet carrier output.
In this embodiment, the rotary switch 22 is used to ensure that when the ball screw assembly 19 moves to each position, the signal triggers to stop the movement of the ball screw assembly 19. Through a ground tension calibration test, the relation between the deformation of the ball screw pair 19 and the output force can be obtained, so that the relative relation between the voltage value of the potentiometer 21 and the output force of the tail end is obtained; the potentiometer 21 is used for detecting the output force of the driving device, so that reliable connection of the two aircrafts is realized by controlling the output force.
The first input member 2 and the second input member 6 are back-up, and when one of the input members fails, the other input member can still drive the ball screw pair 19 to move.
In this embodiment, the first motor 24 is a brushless dc motor; the first gear pair 3, the second gear pair 4, the third gear pair 5, the fourth gear pair 7, the fifth gear pair 8, the sixth gear pair 16, the seventh gear pair 17, the eighth gear pair 18 and the ninth gear pair 20 are cylindrical straight gears.
The first unidirectional transmission mechanism 1 and the second unidirectional transmission mechanism 9 can respectively select one of a ratchet-pawl type transmission device, a friction type transmission device and a steel ball type transmission mechanism.
The friction clutch 15 is a passive friction plate clutch, and the friction plates are pressed under a certain pressure, so that a certain slip moment is obtained, and when the tail end is overloaded, the drive transmission chain and the structural members can be protected through slipping. Meanwhile, the friction clutch 15 with different slip moments is selected to adapt to different end loads, so that the maximum output force of the driving device is controlled.
In other embodiments, an electromagnetic clutch may also be used for friction clutch 15.
Fig. 2 is a schematic diagram of a forward driving of a driving device with output force control and state monitoring according to an embodiment of the present invention, where the driving device includes two working conditions of normal driving and overload protection during forward driving.
Under normal driving, the device has two paths of mutually independent driving, namely a first motor 24 drives a first gear pair 3, a second gear pair 4, a first unidirectional transmission mechanism 1, a third gear pair 5 and a floating annular gear 10 in sequence, and a second motor 25 drives a fourth gear pair 7, a fifth gear pair 8, a second unidirectional transmission mechanism 9 and a first sun gear 12 in sequence. The two paths are combined to drive the friction clutch 15, the sixth gear pair 16, the seventh gear pair 17, the eighth gear pair 18 and the ball screw 19 to output rotational speed and torque. The ball screw pair 19 drives the first NGW planetary gear train 23, and then the potentiometer 21 and the rotary switch 22 realize the displacement and output force monitoring function.
Under overload protection, the ball screw pair 19 at the tail end of the driving device has larger load, the moment converted to the friction clutch 15 is larger than the slipping moment, the friction clutch 15 does not play a role of a coupling any more, the output end of the friction clutch 15 is not moved, and the input end of the friction clutch 15 continues to move under the action of the torque transmitted by the output end of the NGW star differential gear train 11, so that the driving of the transmission chain and structural members through slipping protection is realized.
Fig. 3 is a schematic diagram of reverse transmission jamming of a driving device with output force control and state monitoring according to an embodiment of the present invention, under the working condition, a ball screw pair 19 at the tail end of the driving device bears a reverse load, the first motor 24 and the second motor 25 are powered down to stop moving, and the reverse load is converted to a moment of the friction clutch 15 smaller than a slip moment thereof, at this time, the friction clutch 15 corresponds to a coupling. The reverse load passes through the eighth gear pair 18, the seventh gear pair 17, the sixth gear pair 16, the friction clutch 15 and the NGW star differential gear train 11 in sequence, and then the first unidirectional transmission mechanism 1 and the second single-row transmission mechanism 9 realize clamping stagnation. When the driving device is in a reverse clamping state, the first NGW planetary gear train 23, the potentiometer 21 and the rotary switch 22 are kept still.
The foregoing describes specific embodiments of the present application. It is to be understood that the application is not limited to the particular embodiments described above, and that various changes or modifications may be made by those skilled in the art within the scope of the appended claims without affecting the spirit of the application. The embodiments of the application and the features of the embodiments may be combined with each other arbitrarily without conflict.
Claims (10)
1. A driving device with output force control and state monitoring functions is characterized by comprising a driving component and a monitoring component,
The driving assembly comprises a first input member, a second input member, an NGW star-shaped differential gear train, a friction clutch, a gear pair group and a ball screw pair, wherein the output end of the first input member is connected with an inner gear ring of the NGW star-shaped differential gear train, the output end of the second input member is connected with a first sun gear of the NGW star-shaped differential gear train, the output end of the NGW star-shaped differential gear train is connected with the input end of the friction clutch, the output end of the friction clutch is connected with the input section of the gear pair group, and the output end of the gear pair group is connected with the input section of the ball screw pair;
The monitoring assembly comprises a ninth gear pair, a first NGW planetary gear train, a potentiometer and a rotary switch, wherein the input end of the ninth gear pair is connected with the output end of the ball screw pair, the output end of the ninth gear pair is connected with a second sun gear of the first NGW planetary gear train, the output end of the first NGW planetary gear train is connected with the potentiometer and the rotary switch in parallel, and the rotary switch is electrically connected with the ball screw pair;
The rotary switch is used for triggering signals when the ball screw pair moves to each position, so that the ball screw pair stops moving;
the potentiometer is used for detecting the output force of the driving device so as to control the output force;
Under overload protection, the ball screw pair at the tail end of the driving device is larger in load, the moment converted to the friction clutch is larger than the slipping moment of the friction clutch, the friction clutch does not play a role of a coupler any more, the output end of the friction clutch is motionless, and the input end of the friction clutch continues to move under the action of the torque transmitted by the output end of the NGW star differential gear train, so that the driving of the transmission chain and structural members through slipping protection is realized.
2. The driving device with output force control and state monitoring according to claim 1, wherein the NGW star differential gear train comprises a planet carrier, a planet wheel, the annular gear and the first sun gear, the planet wheel is fixedly connected with the planet carrier, the planet wheel is located between the first sun gear and the annular gear, the planet wheel is meshed with the annular gear, and the planet carrier outputs rotation of the annular gear and the first sun gear in a combined mode.
3. The drive with output force control and status monitoring of claim 2, wherein the ring gear is a floating ring gear.
4. The drive with output force control and condition monitoring of claim 1, wherein the first input member comprises a first motor, a first gear pair, a second gear pair, a first unidirectional transmission, a third gear pair, which are sequentially connected in series, the output of the third gear pair being the output of the first input member.
5. The drive with output force control and condition monitoring of claim 4, wherein the first unidirectional transmission is one of a ratchet-pawl transmission, a friction transmission, a steel ball transmission.
6. The drive with output force control and condition monitoring of claim 4, wherein the first motor is a brushless dc motor.
7. The drive with output force control and condition monitoring of claim 1, wherein the second input member comprises a second motor, a fourth gear pair, a fifth gear pair, a second unidirectional transmission, and an output of the second unidirectional transmission is an output of the second input member, which are sequentially connected in series.
8. The drive with output force control and condition monitoring of claim 7, wherein the second unidirectional transmission is one of a ratchet-pawl transmission, a friction transmission, a steel ball transmission.
9. The drive with output force control and condition monitoring of claim 1, wherein the friction clutch is a passive friction plate clutch.
10. The drive device with output force control and condition monitoring according to claim 1, wherein the gear pair group includes a sixth gear pair, a seventh gear pair, and an eighth gear pair connected in series in order.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210714866.3A CN114992300B (en) | 2022-06-23 | 2022-06-23 | Driving device with output force control and state monitoring functions |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210714866.3A CN114992300B (en) | 2022-06-23 | 2022-06-23 | Driving device with output force control and state monitoring functions |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114992300A CN114992300A (en) | 2022-09-02 |
| CN114992300B true CN114992300B (en) | 2024-08-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210714866.3A Active CN114992300B (en) | 2022-06-23 | 2022-06-23 | Driving device with output force control and state monitoring functions |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN208413454U (en) * | 2018-05-14 | 2019-01-22 | 东莞市金丰包装材料有限公司 | The device of constant feeding tension is used in a kind of protective film die-cutting machine feeding mechanism |
| CN113074962A (en) * | 2021-04-21 | 2021-07-06 | 吉林大学 | Vehicle braking and steering system integrated test bench |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1234666A (en) * | 1968-07-12 | 1971-06-09 | ||
| US8262531B2 (en) * | 2009-12-17 | 2012-09-11 | Hamilton Sundstrand Corporation | Actuator with differential and brake |
| CN104913018B (en) * | 2015-05-11 | 2017-04-19 | 上海宇航系统工程研究所 | Driving device with energy consumption buffering function |
-
2022
- 2022-06-23 CN CN202210714866.3A patent/CN114992300B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN208413454U (en) * | 2018-05-14 | 2019-01-22 | 东莞市金丰包装材料有限公司 | The device of constant feeding tension is used in a kind of protective film die-cutting machine feeding mechanism |
| CN113074962A (en) * | 2021-04-21 | 2021-07-06 | 吉林大学 | Vehicle braking and steering system integrated test bench |
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| CN114992300A (en) | 2022-09-02 |
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