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NL2029035B1 - A system for torque modulation and a method thereof - Google Patents

A system for torque modulation and a method thereof Download PDF

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Publication number
NL2029035B1
NL2029035B1 NL2029035A NL2029035A NL2029035B1 NL 2029035 B1 NL2029035 B1 NL 2029035B1 NL 2029035 A NL2029035 A NL 2029035A NL 2029035 A NL2029035 A NL 2029035A NL 2029035 B1 NL2029035 B1 NL 2029035B1
Authority
NL
Netherlands
Prior art keywords
support
backstop
leg
rotation
torque modulation
Prior art date
Application number
NL2029035A
Other languages
Dutch (nl)
Inventor
Jacobus Klever Wilhelmus
Original Assignee
Klever Instr Beheer B V
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Klever Instr Beheer B V filed Critical Klever Instr Beheer B V
Priority to NL2029035A priority Critical patent/NL2029035B1/en
Application granted granted Critical
Publication of NL2029035B1 publication Critical patent/NL2029035B1/en

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Classifications

    • 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
    • F16H33/00—Gearings based on repeated accumulation and delivery of energy
    • F16H33/02—Rotary transmissions with mechanical accumulators, e.g. weights, springs, intermittently-connected flywheels
    • F16H33/04—Gearings for conveying rotary motion with variable velocity ratio, in which self-regulation is sought
    • F16H33/08—Gearings for conveying rotary motion with variable velocity ratio, in which self-regulation is sought based essentially on inertia
    • F16H33/14—Gearings for conveying rotary motion with variable velocity ratio, in which self-regulation is sought based essentially on inertia having orbital members influenced by regulating masses
    • F16H33/18—Gearings for conveying rotary motion with variable velocity ratio, in which self-regulation is sought based essentially on inertia having orbital members influenced by regulating masses of which the motion is constrained
    • F16H33/185—Gearings for conveying rotary motion with variable velocity ratio, in which self-regulation is sought based essentially on inertia having orbital members influenced by regulating masses of which the motion is constrained the masses being fixed to the orbital members
    • 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
    • F16H33/00—Gearings based on repeated accumulation and delivery of energy
    • F16H33/02—Rotary transmissions with mechanical accumulators, e.g. weights, springs, intermittently-connected flywheels
    • F16H33/04—Gearings for conveying rotary motion with variable velocity ratio, in which self-regulation is sought
    • F16H33/08—Gearings for conveying rotary motion with variable velocity ratio, in which self-regulation is sought based essentially on inertia
    • 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
    • F16H33/00—Gearings based on repeated accumulation and delivery of energy
    • F16H33/02—Rotary transmissions with mechanical accumulators, e.g. weights, springs, intermittently-connected flywheels
    • F16H33/04—Gearings for conveying rotary motion with variable velocity ratio, in which self-regulation is sought
    • F16H33/08—Gearings for conveying rotary motion with variable velocity ratio, in which self-regulation is sought based essentially on inertia
    • F16H33/14—Gearings for conveying rotary motion with variable velocity ratio, in which self-regulation is sought based essentially on inertia having orbital members influenced by regulating masses
    • 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
    • F16H33/00—Gearings based on repeated accumulation and delivery of energy
    • F16H33/02—Rotary transmissions with mechanical accumulators, e.g. weights, springs, intermittently-connected flywheels

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Braking Arrangements (AREA)

Abstract

A system (1) for torque modulation, comprising a support (2) rotatable around a system axis (SA) and a limb(3) rotatably 5 connected to the support (2) at a pivot (P). The pivot (P) is on the support (2) distant from the system axis (SA), and the limb(3) is rotatably connectable to the support (2) via a lockable backstop (4) mounted at the pivot (P).

Description

A system for torgue modulation and a method thereof
The invention relates to a system and a method for modulating a constant torque of a motor into a non-constant torque e.g. into a sinusoidal torque.
Machines that require a sinusoidal torque are usually driven by an electric motor that generates a constant torque.
The constant torque of the motor is then modulated into a sinusoidal torque that drives the machine by coupling the motor with a flywheel. The kinetic energy of flywheel is accumulated or released by a higher or lower rotational speeds, providing a higher or lower torque. This kind of flywheels are bulky and expensive to manufacture.
It is an object of the current invention to provide the user with an alternative solution for torque modulation that is less bulky and less expensive than the currently known solutions.
This and other objects which will become apparent from the following disclosure, are provided with a system and a method for torque modulation having the features of one or more of the appended claims.
According to a first aspect of the invention, the system comprises a support rotatable around a system axis and a limb rotatably connected to the support at a pivot. The limb may be provided with additional weight depending on the situation. The angular position of the limb with reference to the rotating support determines the position of the center of gravity of the system causing the system axis to experience a high torque when the system center of gravity is far from the system axis and low torque when the system center of gravity is close to the system axis.
Suitably, the pivot is on the support distant from the system axis. This allows for a greater range of possible torque values.
In a preferred embodiment the limb is rotatably connectable to the support via a lockable backstop mountable on the pivot.
Such a backstop is an easy mechanical tool to control the freedom of rotation of the weighted limb. Within the term backstop as used in this disclosure, a ratchet system, a clutch system and
- 2 = a brake system are also comprised.
In fact, when the backstop is locked, the limb is rotatable around the pivot in a rotational direction exclusively opposite to a rotational direction of the support. In consequence, the locked backstop prevents the centrifugal force resulting from the rotation of the support from pushing the limb in the rotational direction of the support. The resulting increase in the angular momentum of the system causes an increase in the torque applied on the system axis.
Complementarily, when the backstop is unlocked, the limb is again rotatable around the pivot in one of two opposite rotational directions. In conseguence, the unlocked backstop allows the limb to freely rotate again around the support in a rotational direction resulting from the combined forces of rotation of the support and gravity, with foreseeable consequences for the torque applied on the system axis.
In an advantageous embodiment of the invention, the support comprises at least one arm. It is understood that the arm can be embodied as a cylindrical or as a flat rod made from rigid material.
Advantageously, the support comprises at least a disk and/or at least one part of a disk. In fact, when a plurality of arms are installed in the system, the robustness of the system can be enhanced by replacing the plurality of arms by at least one disk or by at least one part of a disk.
Suitably, the limb comprises at least one arm. It is understood that the arm can be embodied as a cylindrical or as a flat rod made from rigid material.
More suitably, the limb comprises at least one disk and/or at least one part of a disk. In fact, when a plurality of weighted limbs are installed in the system, the robustness of the system can be enhanced by replacing the plurality of weighted limbs by at least one disk or by at least one part of a disk.
Furthermore, the backstop comprises at least one of a ratchet, a clutch and a brake. Generally, no exterior force is needed for locking/unlocking a ratchet system. The clutch system, however, needs an exterior force to be locked while it does not need an exterior force to be unlocked. On the other hand, a brake system needs an exterior force to be unlocked
- 3 = while it does not need an exterior force to be locked.
Additionally, the backstop comprises at least one of a mechanical backstop, a magnetic backstop, and an electrical backstop. Each type of backstop offers its own set of advantages and disadvantages. A mechanical backstop is less expensive but has a shorter operational life. A magnetic backstop is more expensive but has a longer operational life. An electric backstop can be a compromise between the two afore-mentioned types of backstops but offers greater versatility in the operation of the system of the invention. Depending on the desired application, a user might choose one or a combination of the aforementioned backstop options.
Advantageously, the system comprises a motorized control device to control an angular position of the limb or to control a limitation in the angular position of the limb with reference to the support. Since the position of the limb governs the torque value during the system rotation, controlling the angular position of said limb or controlling limitation of the annular position of said limb with reference to the rotating support offers the users more flexibility over the eventual value of the torque applied on the system axis.
In an additional aspect of the invention the method comprises the steps of: — providing a support rotatable around a system axis; — providing a limb rotatably connected to the support at a pivot; — rotating the support around the system axis; and - selectively controlling rotation of the limb by controlling an angular position or limitation of such an angular position of the limb with reference to the support.
The angular position of the limb with reference to the rotating support determines the position of the center of gravity of the system causing the system axis to experience a high torque when the system center of gravity is far from the system axis and low torque when the system center of gravity is close to the system axis.
Additionally, the method comprises the step of providing a lockable backstop at the pivot wherein said backstop rotatably connects the limb to the support. This allows for a relatively large range of possible torque values.
Preferably the method comprises the step of selectively locking the backstop during rotation of the support to establish a defined angular position of the limb with reference to the support.
Advantageously, the method comprises the step of selectively locking the backstop during rotation of the support to establish a defined angular position of the limb with reference to the support. In consequence, the locked backstop prevents the centrifugal force resulting from the rotation of the support from pushing the limb in the rotational direction of the support. The resulting increase in the angular momentum of the system causes an increase in the torque applied on the system axis.
Advantageously, when the rotational direction of the support 1s clockwise, the step of selectively unlocking the backstop is performed when the limb is within the right half of the clock during the first rotation of the support and when the limb is within the left half of the clock during the second rotation of the support, and vice versa when the rotational direction of the support is counterclockwise. In the case of a sinuscidal torque, this phase represents the rising part of the sinus-shape.
In a preferred embodiment, the method comprises the step of controlling rotation of the limb with reference to the support by providing a motorized control device at or near the pivot and selectively driving the motorized control device to establish an angular position or a limitation of the angular position of the limb with reference to the support. Since the angular position of the limb with reference to the support governs the torque value during the system rotation, controlling the angular position of said limb or controlling a limitation to said angular position offers the user full control over the eventual value of the torque which will be applied on the system axis.
Additionally, when the rotational direction of the support is clockwise, the step of selectively controlling rotation of the limb is performed when the limb is within a left half of the clock during a first rotation of the support and when the
— 5 = limb is within the right half of the clock during a second rotation of the support, or vice versa when the rotational direction of the support is counterclockwise. In the case of a sinusoidal torque, this phase represents the sinking part of the sinus-shape.
The invention will hereinafter be further elucidated with reference to the drawing of an exemplary embodiment of a torque conversion system according to the invention that is not limiting as to the appended claims.
In the drawing: figure 1 shows a schematic of the system according to the invention; — figure 2 multiple schematics of the system according to the invention representing two rotations; and - figure 3 a trajectory of a free extremity of the limb of the system during the first two rotations.
Whenever in the figures the same reference numerals are applied, these numerals refer to the same parts.
The system 1 according to the current invention can be used as a replacement of a flywheel in low speed systems. Unlike a conventional flywheel, the system 1 does not accumulate and release its energy by fluctuation in speed but by locking and unlocking a limb3 connected to a support 2, as will be explained hereinafter.
Figure 1 shows schematically a system 1 for torque modulation, which system comprises a support 2 rotatable around a system axis SA and a limb 3 rotatably connected to the support 2 at a pivot P. The pivot P is provided on the support 2 distant from the system axis SA.
The limb 3 is rotatably connected to the support 2 via a lockable backstop 4 mounted at the pivot P.
When the backstop 4 is locked, the limb 3 is rotatable around the pivot P in a rotational direction D1-2 or D2-2 exclusively, which is opposite to a rotational direction DI1- 1/D2-1 of the support. In other terms, when the backstop 4 is locked and the support 2 is rotating in the rotation direction
D1-1, the limb3 is rotatable around the pivot P exclusively in the rotational direction D1-2. Complementarily, when the backstop 4 is locked and the support 2 is rotating in the rotation direction D2-1, the limb 3 is rotatable around the pivot P exclusively in the rotational direction D2-2.
Conversely, when the backstop 4 is unlocked, the limb 3 is rotatable around the pivot P in one of two opposite rotational directions.
As figure 1 shows the support 2 comprises (at least) one arm. It is feasible however that the support 2 comprises a disk or at least a part of a disk.
Likewise the limb3 comprises (at least) one arm, but it is also feasible that the limb3 comprises a disk or at least a part of a disk.
It is understood that a backstop 4 is a device capable of preventing reverse rotations. Therefore, the backstop 4 comprises at least one of a ratchet system, a clutch system and a brake system. The backstop 4 comprises at least one of a mechanical backstop, a magnetic backstop, and an electrical backstop.
It may be preferable that the system 1 comprises a motorized control device 5 to control an angular position of the limb3 or to control a limitation in the angular position of the 1imb3 with reference to the support 2.
When the support 2 is rotating in a clockwise direction D1- 1 around the system axis SA at low speed, the backstop 4 at the pivot P where the limb 3 connects to the support 2, prevents the unhindered rotation of the limb 3 in the clockwise direction D2- 2 and only allows its rotation in a counterclockwise direction
D1-2. Conversely when the support 2 is rotating in a counter- clockwise direction D2-1 around the system axis SA at low speed, the backstop 4 at the pivot P where the limb 3 connects to the support 2, prevents the unhindered rotation of the limb 3 in the counterclockwise direction D1-2 and only allows its rotation in a clockwise direction D2-2.
This mechanism is put to use in a scenario with continuous rotation of the support 2 and selective angular positioning of the limb3 with reference to the rotating support 2, which will be explained further hereinafter with reference to figure 2.
Figure 2 depicts multiple snapshots of the system 1 during the first two rotations. These two rotations are after the first
- 7 = two rotations repeated consecutively. At the beginning of the first rotation, the limb 3 is rotating within the left half of the clock, as depicted in the upper left section of figure 2.
In this phase, the backstop 4 is locked and the limb 3 is prevented from rotating arcund the pivot P in the rotational direction D2-2. As the limb 3 continues to rotate within the right half of the clock as depicted in the upper right section of figure 2 the backstop 4 is unlocked allowing the limb 3 to rotate around the pivot P in the rotational direction D2-2. This is also shown in the trajectory graph of figure 3 displaying the movement in XY diagram of the free outer extremity of the limb 3.
As the second rotation begins, the limb 3 starts rotating within the left half of the clock as depicted in the middle section of figure 2. In this phase, the backstop 4 is still unlocked and the limb 3 is allowed to freely rotate around the pivot P resulting in a decrease in the torque applied on the system axis SA. The lower right section of figure 2 depicts the phase where the limb 3 starts to rotate in the right half of the clock during the second rotation. During this phase, the backstop 4 is again locked and the torque applied on the system axis SA is consequently increased.
The rotational direction of the support 2 can be chosen either «clockwise or counterclockwise. When the rotational direction of the support 2 is clockwise D1-1, the rotational direction of the limb3 is counterclockwise D1-2, and vice versa.
When the rotational direction of the support 2 is counterclockwise D2-1, the rotational direction of the limb 3 is clockwise D2-2, and the order of locking and unlocking the backstop 4 is subsequently reversed.
The backstop 4 locking pattern shown above results in a sinus-shaped torque. It is understood that different types of torque can result from different locking patterns of the backstop 4. Additionally, the torque type may also be governed by a position controlling device 5 that controls the angular position of the limb 3 with reference to the support 2 during rotation of the support 2.
The system 1 according to the invention modulates a motor’s constant torque into a non-constant torque which is then available to a machine driven by the motor.
Although the invention has been discussed in the foregoing with reference to exemplary embodiments of the system and method of the invention, the invention is not restricted to these particular embodiments which can be varied in many ways without departing from the invention. The discussed exemplary embodiments shall therefore not be used to construe the appended claims strictly in accordance therewith. On the contrary the embodiments are merely intended to explain the wording of the appended claims without intent to limit the claims to these exemplary embodiments. The scope of protection of the invention shall therefore be construed in accordance with the appended claims only, wherein a possible ambiguity in the wording of the claims shall be resolved using these exemplary embodiments.
Aspects of the invention are itemized in the following section. 1. A system (1) for torque modulation, characterized in that said system comprises a support (2) rotatable around a system axis (SA) and a limb (3) rotatably connected to the support (2) at a pivot (P). 2. A system (1) for torque modulation according to claim 1, characterized in that the pivot (P) is on the support {2) distant from the system axis (SA). 3. A system (1) for torque modulation according to claim 1 or 2, characterized in that the limb (3) is rotatably connectable to the support (2) via a lockable backstop (4) mounted at the pivot (Pj. 4. A system (1) for torque modulation according to anyone of claims 1-3, characterized in that when the backstop (4) is locked, the limb (3) is rotatable around the pivot (P) in a rotaticnal direction (D1-2; D2-2} exclusively opposite to a rotational direction {Dl1-1; D2-1) of the support (2). 5. A system (1) for torque modulation according to anyone of claims 1-4, characterized in that when the backstop (4) is unlocked, the limb (3) is rotatable around the pivot (P) in one of two opposite rotational directions. 6. A system (1) for torque modulation according to anyone of claims 1-5, characterized in that the support (2) comprises at least one arm.
7. A system (1) for torque modulation according to anyone of claims 1-6, characterized in that the support (2) comprises at least one disk and/or at least one part of a disk. 8. A system (1) for torque modulation according to anyone of claims 1-7, characterized in that the limb (3) comprises at least one arm. 9. A system (1) for torque modulation according to anyone of claims 1-8, characterized in that the limb (3) comprises at least one disk and/or at least one part of a disk. 10. A system (1) for torque modulation according to anyone of claims 1-9, characterized in that the backstop (4) comprises at least one of a ratchet system, a clutch system and a brake system. 11. A system (1) for torque modulation according to anyone of claims 1-10, characterized in that the backstop (4) comprises at least one of a mechanical backstop, a magnetic backstop, and an electrical backstop. 12. A system (1) for torque modulation according to anyone of claims 1-11, characterized in that said system (1) comprises a motorized control device (5) to control an angular position of the limb (3) or to control a limitation in the angular position of the limb (3) with reference to the support (2). 13. Method for torque modulation, characterized in that said method comprises the steps of: — providing a support (2) rotatable around a system axis (SA); — providing a limb {3) rotatably connected to the support (2) at a pivot (P}; — rotating the support (2) around the system axis (SA); and — selectively controlling rotation of the limb (3) by controlling an angular position or limitation of such an angular position of the limb{3} with reference to the support (2). 14. Method for torque modulation according to claim 13, characterized in that said method comprises the step of providing a lockable backstop (4) at the pivot (P) wherein said backstop (4) rotatably connects the limb (3) to the support (2). 15. Method for torque modulation according to claim 13 or 14, characterized in that said method comprises the step
- 10 = of selectively locking the backstop (4) during rotation of the support to establish a defined angular position of the limb (3) with reference to the support (2). 16. Method for torque modulation according to anyone of claims 13-15, characterized in that said method comprises the step of selectively unlocking the backstop (4) to enable rotation of the limb (3) around the pivot (P} in one of two opposite rotational directions.
17. Method for torque modulation according to anyone of claims 13-16, characterized in that when the rotational direction of the support (2) is clockwise, the step of selectively unlocking the backstop (4) 1s performed when the limb (3) is within the right half of the clock during the first rotation of the support (2) and when the limb (3) is within the left half of the clock during the second rotation of the support (2), and vice versa when the rotational direction of the support (2) 1s counterclockwise.
18. Method for torque modulation according to anyone of claims 13-17, characterized in that said method comprises the step of controlling rotation of the limb (3) with reference to the support (2) by providing a motorized control device (5) at or near the pivot (P) and selectively driving the motorized control device to establish an angular position or a limitation of the angular position of the limb (3) with reference to the support (2).
19. Method for torque modulation according to anyone of claims 13-18, characterized in that when the rotational direction of the support (2) is clockwise, the step of selectively controlling rotation of the limb (3) is performed when the limb (3) is within a left half of the clock during a first rotation of the support (2) and when the limb (3) is within the right half of the clock during a second rotation of the support (2), or vice versa when the rotational direction of the support (2) is counterclockwise.

Claims (19)

CONCLUSIESCONCLUSIONS 1. Systeem (1) voor koppelmodulatie, met het kenmerk, dat het systeem een steun (2) omvat die roteerbaar is rond een systeem-as (SA) en een been (3) dat roteerbaar is verbonden met de steun (2) via een scharnier (P).Torque modulation system (1), characterized in that the system comprises a support (2) rotatable about a system axis (SA) and a leg (3) rotatably connected to the support (2) via a hinge (P). 2. Systeem (1) voor koppelmodulatie volgens conclusie 1, met het kenmerk, dat het scharnier (P) zich op de steun (2) op afstand van de systeem-as (SA) bevindt.Torque modulation system (1) according to claim 1, characterized in that the hinge (P) is located on the support (2) at a distance from the system axis (SA). 3. Systeem (1) voor koppelmodulatie volgens conclusie 1 of 2, met het kenmerk, dat het been (3) via een vergrendelbare terugloopblokkering (4) die aan het scharnier (P) is gemonteerd, roteerbaar met de steun (2) is verbonden.Torque modulation system (1) according to claim 1 or 2, characterized in that the leg (3) is rotatably connected to the support (2) via a lockable backstop (4) mounted on the joint (P). . 4. Systeem (1) voor koppelmodulatie volgens één van de conclusies 1-3, met het kenmerk, dat wanneer de terugloopblokkering (4) vergrendeld is, het been (3) roteerbaar is rond het scharnier (P) in een draairichting (D1-2; D2-2) die uitsluitend tegengesteld is aan een draairichting (D1-1; D2-1) van de steun (2).Torque modulation system (1) according to any one of claims 1 to 3, characterized in that when the backstop (4) is locked, the leg (3) is rotatable about the hinge (P) in a direction of rotation (D1- 2; D2-2) which is only opposite to a direction of rotation (D1-1; D2-1) of the support (2). 5. Systeem (1) voor koppelmodulatie volgens één van de conclusies 1-4, met het kenmerk, dat wanneer de terugloopblokkering (4) ontgrendeld is, het been (3) roteerbaar is rond het scharnier {P) in een van twee tegengestelde draairichtingen.Torque modulation system (1) according to any one of claims 1 to 4, characterized in that when the backstop (4) is unlocked, the leg (3) is rotatable about the hinge {P) in one of two opposite directions of rotation . 6. Systeem (1) voor koppelmodulatie volgens één van de conclusies 1-5, met het kenmerk, dat de steun (2) tenminste één arm omvat.Torque modulation system (1) according to any one of claims 1 to 5, characterized in that the support (2) comprises at least one arm. 7. Systeem (1) voor koppelmodulatie volgens één van de conclusies 1-6, met het kenmerk, dat de drager (2) ten minste één schijf en/of ten minste een deel van een schijf omvat.A torque modulation system (1) according to any one of claims 1 to 6, characterized in that the support (2) comprises at least one disc and/or at least part of a disc. 8. Systeem (1) voor koppelmodulatie volgens één van de conclusies 1-7, met het kenmerk, dat het been (3) ten minste één arm omvat.Torque modulation system (1) according to any one of claims 1 to 7, characterized in that the leg (3) comprises at least one arm. 9. Systeem (1) voor koppelmodulatie volgens één van de conclusies 1-8, met het kenmerk, dat het been (3) ten minste één schijf en/of ten minste een deel van een schijf omvat.A torque modulation system (1) according to any one of claims 1 to 8, characterized in that the leg (3) comprises at least one disc and/or at least part of a disc. 10. Systeem (1) voor koppelmodulatie volgens één van de conclusies 1-9, met het kenmerk, dat de terugloopblokkering {4) ten minste één van een ratelsysteem, een koppelingssysteem en een remsysteem omvat.A torque modulation system (1) according to any one of claims 1 to 9, characterized in that the backstop {4) comprises at least one of a ratchet system, a clutch system and a braking system. 11. Systeem (1) voor koppelmodulatie volgens één van de conclusies 1-10, met het kenmerk, dat de terugloopblokkering (4) ten minste één van een mechanische terugloopblokkering, een magnetische terugloopblokkering en een elektrische terugloopblokkering omvat.A torque modulation system (1) according to any one of claims 1 to 10, characterized in that the backstop (4) comprises at least one of a mechanical backstop, a magnetic backstop and an electrical backstop. 12. Systeem (1) voor koppelmodulatie volgens één van de conclusies 1-11, met het kenmerk, dat het systeem (1) een gemotoriseerde regelinrichting (5) omvat om een hoekpositie van het been (3) te regelen of om een beperking in de hoekstand van het been (3) ten opzichte van de steun (2) in te stellen.Torque modulation system (1) according to any one of claims 1 to 11, characterized in that the system (1) comprises a motorized control device (5) for controlling an angular position of the leg (3) or for limiting to adjust the angular position of the leg (3) in relation to the support (2). 13. Werkwijze voor koppelmodulatie, met het kenmerk, dat de werkwijze de stappen omvat van: — het verschaffen van een om een systeem-as (SA) draaibare steun (2); - het verschaffen van een been (3) dat met een scharnier (P) roteerbaar is verbonden met de steun (2); — het draaien van de steun (2) om de systeem-as (SA); en — het selectief regelen van de rotatie van het been (3) door het regelen van een hoekstand of begrenzing van een dergelijke hoekstand van het been (3) ten opzichte van de steun (2).A method of torque modulation, characterized in that the method comprises the steps of: - providing a support (2) rotatable about a system axis (SA); - providing a leg (3) rotatably connected to the support (2) with a hinge (P); - rotating the support (2) about the system axis (SA); and - selectively controlling the rotation of the leg (3) by controlling an angular position or limitation of such angular position of the leg (3) relative to the support (2). 14. Werkwijze voor koppelmodulatie volgens conclusie 13, met het kenmerk, dat de werkwijze de stap omvat van het verschaffen van een vergrendelbare terugloopblokkering (4) bij het scharnier {P) waarbij de terugloopblokkering (4) het been (3) roteerbaar verbindt met de steun (2).A method of torque modulation according to claim 13, characterized in that the method comprises the step of providing a lockable backstop (4) at the hinge {P) wherein the backstop (4) rotatably connects the leg (3) to the support (2). 15. Werkwijze voor koppelmodulatie volgens conclusie 13 of 14, met het kenmerk, dat de werkwijze de stap omvat van het selectief vergrendelen van de terugloopblokkering (4) tijdens het draaien van de steun om een gedefinieerde hoekpositie van het been (3) tot stand te brengen met betrekking tot de steun (2).A method of torque modulation according to claim 13 or 14, characterized in that the method comprises the step of selectively locking the backstop (4) during rotation of the support to establish a defined angular position of the leg (3). with respect to the support (2). 16. Werkwijze voor koppelmodulatie volgens één van de conclusies 13-15, met het kenmerk, dat de werkwijze de stap omvat van het selectief ontgrendelen van de terugloopblokkering (4) om rotatie van het been (3) rond het scharnier (P) in een van twee tegengestelde draairichtingen mogelijk te maken.A method of torque modulation according to any one of claims 13 to 15, characterized in that the method comprises the step of selectively unlocking the backstop (4) to allow rotation of the leg (3) about the hinge (P) in a of two opposite directions of rotation. 17. Werkwijze voor koppelmodulatie volgens één van de17. A torque modulation method according to any one of the - 13 = conclusies 13-16, met het kenmerk, dat wanneer de draairichting van de steun (2) met de klok mee is, de stap van het selectief ontgrendelen van de terugloopblokkering (4) wordt uitgevoerd wanneer het been (3) zich binnen de rechterhelft van de klok bevindt tijdens een eerste omwenteling van de steun (2) en wanneer het been (3) zich binnen de linkerhelft van de klok bevindt tijdens een tweede omwenteling van de steun (2), en vice versa wanneer de draairichting van de steun (2) tegen de klok in is.- 13 = claims 13-16, characterized in that when the direction of rotation of the support (2) is clockwise, the step of selectively unlocking the backstop (4) is performed when the leg (3) is inside the right half of the bell during a first revolution of the support (2) and when the leg (3) is inside the left half of the bell during a second revolution of the support (2), and vice versa when the direction of rotation of the support (2) is anticlockwise. 18. Werkwijze voor koppelmodulatie volgens één van de conclusies 13-17, met het kenmerk, dat de werkwijze de stap omvat van het regelen van de rotatie van het been (3) ten opzichte van de steun (2) door te voorzien in een gemotoriseerde regelinrichting (5) bij of nabij het scharnier (P) en het selectief aandrijven van de gemotoriseerde regelinrichting om een hoekpositie of een beperking van de hoekpositie van het been (3) ten opzichte van de steun (2) in te stellen. A method of torque modulation according to any one of claims 13 to 17, characterized in that the method comprises the step of controlling the rotation of the leg (3) relative to the support (2) by providing a motorized control device (5) at or near the hinge (P) and selectively actuating the motorized control device to set an angular position or a limitation of the angular position of the leg (3) relative to the support (2). 19, Werkwijze voor koppelmodulatie volgens één van de conclusies 13-18, met het kenmerk, dat wanneer de draairichting van de steun (2) met de klok mee is, de stap van het selectief regelen van de rotatie van het been (3) wordt uitgevoerd wanneer het been (3) tijdens een eerste omwenteling van de steun (2) zich binnen de linkerhelft van de klok bevindt, en wanneer het been (3) zich binnen de rechterhelft van de klok bevindt gedurende een tweede rotatie van de steun (2), of vice versa wanneer de draairichting van de steun (2) tegen de klok in is.A torque modulation method according to any one of claims 13 to 18, characterized in that when the direction of rotation of the support (2) is clockwise, the step of selectively controlling the rotation of the leg (3) is performed when the leg (3) is inside the left half of the bell during a first rotation of the support (2), and when the leg (3) is inside the right half of the bell during a second rotation of the support (2 ), or vice versa when the direction of rotation of the support (2) is counterclockwise.
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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR1210652A (en) * 1957-10-29 1960-03-10 New method of mechanical speed control, and new industrial products ensuring the application of this method
WO2016020653A1 (en) * 2014-08-05 2016-02-11 William Hardy Mechanical apparatus
EP3722602A1 (en) * 2019-04-10 2020-10-14 San José Solla Pedro Gravitational generator

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR1210652A (en) * 1957-10-29 1960-03-10 New method of mechanical speed control, and new industrial products ensuring the application of this method
WO2016020653A1 (en) * 2014-08-05 2016-02-11 William Hardy Mechanical apparatus
EP3722602A1 (en) * 2019-04-10 2020-10-14 San José Solla Pedro Gravitational generator

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