CN101410635A - 用于操纵无级变速器的系统 - Google Patents

用于操纵无级变速器的系统 Download PDF

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CN101410635A
CN101410635A CNA2007800078536A CN200780007853A CN101410635A CN 101410635 A CN101410635 A CN 101410635A CN A2007800078536 A CNA2007800078536 A CN A2007800078536A CN 200780007853 A CN200780007853 A CN 200780007853A CN 101410635 A CN101410635 A CN 101410635A
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cable
pulley
change gear
speed change
ratio
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CN101410635B (zh
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O·阿姆斯特朗
C·巴罗
P·埃尔哈尔特
H·麦克
S·米格尔斯
S·楚尔特索罗斯
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Fallbrook Intellectual Property Co LLC
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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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C1/00—Flexible shafts; Mechanical means for transmitting movement in a flexible sheathing
    • F16C1/10—Means for transmitting linear movement in a flexible sheathing, e.g. "Bowden-mechanisms"
    • F16C1/12—Arrangements for transmitting movement to or from the flexible member
    • F16C1/18—Arrangements for transmitting movement to or from the flexible member in which the end portion of the flexible member is laid along a curved surface of a pivoted member
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K23/00—Rider-operated controls specially adapted for cycles, i.e. means for initiating control operations, e.g. levers, grips
    • B62K23/02—Rider-operated controls specially adapted for cycles, i.e. means for initiating control operations, e.g. levers, grips hand actuated
    • B62K23/04—Twist grips
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
    • B62M25/00—Actuators for gearing speed-change mechanisms specially adapted for cycles
    • B62M25/02—Actuators for gearing speed-change mechanisms specially adapted for cycles with mechanical transmitting systems, e.g. cables, levers
    • B62M25/04—Actuators for gearing speed-change mechanisms specially adapted for cycles with mechanical transmitting systems, e.g. cables, levers hand actuated
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
    • B62M9/00—Transmissions characterised by use of an endless chain, belt, or the like
    • B62M9/04—Transmissions characterised by use of an endless chain, belt, or the like of changeable ratio
    • B62M9/06—Transmissions characterised by use of an endless chain, belt, or the like of changeable ratio using a single chain, belt, or the like
    • B62M9/08—Transmissions characterised by use of an endless chain, belt, or the like of changeable ratio using a single chain, belt, or the like involving eccentrically- mounted or elliptically-shaped driving or driven wheel; with expansible driving or driven wheel
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
    • B62M25/00—Actuators for gearing speed-change mechanisms specially adapted for cycles
    • B62M2025/003—Actuators for gearing speed-change mechanisms specially adapted for cycles with gear indicating means, e.g. a display
    • 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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C2326/00—Articles relating to transporting
    • F16C2326/20—Land vehicles
    • F16C2326/28—Bicycle propulsion, e.g. crankshaft and its support
    • 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
    • F16H15/00—Gearings for conveying rotary motion with variable gear ratio, or for reversing rotary motion, by friction between rotary members
    • F16H15/48—Gearings for conveying rotary motion with variable gear ratio, or for reversing rotary motion, by friction between rotary members with members having orbital motion
    • F16H15/50—Gearings providing a continuous range of gear ratios
    • F16H15/52—Gearings providing a continuous range of gear ratios in which a member of uniform effective diameter mounted on a shaft may co-operate with different parts of another member
    • 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
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/49—Method of mechanical manufacture
    • Y10T29/49826—Assembling or joining
    • 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
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20012—Multiple controlled elements
    • Y10T74/20018—Transmission control
    • Y10T74/20037—Occupant propelled vehicle
    • Y10T74/20043—Transmission controlled by flexible cable
    • 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
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20396—Hand operated
    • Y10T74/20402—Flexible transmitter [e.g., Bowden cable]
    • Y10T74/2042—Flexible transmitter [e.g., Bowden cable] and hand operator
    • 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
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20396—Hand operated
    • Y10T74/20402—Flexible transmitter [e.g., Bowden cable]
    • Y10T74/2042—Flexible transmitter [e.g., Bowden cable] and hand operator
    • Y10T74/20438—Single rotatable lever [e.g., for bicycle brake or derailleur]

Abstract

与无级变速器一起用的变速装置，包括手柄和轮毂。具体地，变速装置设计用于自行车，但也可用于其它轻型车辆。手柄部分的特征在于有一个与缆索连接的可转动的调节器。缆索连接到轮毂。当调节器转动时，拉动缆索，依次转动轮毂中的滑轮组件。当滑轮组件转动时，它送进在无级变速器中的一个杆。手柄的独特之处还在于有显示器，把信息传达给骑车人。手柄包括示出输入/输出比的显示器。显示器还包括一根丝，当输入/输出比调节时，丝会弯曲。在高输入/输出比下丝是平的，而当这一比率调节到更容易爬山时，丝成一个陡的曲线。

Description

用于操纵无级变速器的系统
相关申请的交叉参考
本申请要求提交于2006年1月30日的美国临时专利申请No.60/763,295的权利和优先权，其公开的技术内容通过参考包含于此。
技术领域
本发明涉及无级变速器，并且具体地涉及改变变速器的输入/输出比的装置。
背景技术
变速器是任何把输入力矩转换为输出力矩的机械联动装置。通常包括有不同直径的一组齿轮，允许在第一转动比的第一齿轮连接到在第二转动比的第二齿轮。变速器是通常的应用是在车辆中。例如，轿车可有一个自动变速器及一个手动变速器。自行车有把踏板连到后轮轮毂的简单的变速器。
变速器允许输入力转换为更有用及合适的输出。但是，通过使用齿轮和联动装置，典型的变速器仅有四个或五个可用的比率。例如轿车中的四速自动变速器只有四套输出齿轮连接到发动机的输入。十速自行车有仅仅十个输入/输出比。需要变速器不被齿轮数目限制。另外，把大量齿轮放到变速器使成本、重量及要求的空间增加。
无级变速器(CVT)是消除了需要专门数量的齿轮的变速器。代替之，其允许几乎无限数目的输入/输出比。这允许输出(也就是车辆的速度)在理想的输入(也就是发动机的转速)下达到。例如，发动机在1800rpm下可以是最有效的。在该发动机转速下，可达到发动机的峰值力矩输出，或者或许最高的燃料经济性。但是，在第三齿轮，轿车在1800rpm下会走得比驾驶员要求的更快。无级变速器会允许达到中间的比率，允许理想的输入达到要求的输出。
有一些无级变速器的实例。美国加里弗尼亚州的“FallrookTechnologies”拥有发明名称为“无级变速器”的US 6,419,608。该专利公开了一组转动球(也称为动力调节器)把输入及输出连接起来。
参见图1和2，图中公开了如“Fallbrook Technologies”的′608专利的那种的现有技术的无级变速器100。变速器100罩在由轮毂盖67盖住的轮毂壳40中。在变速器100的中心部位有三个或更多的动力调节器1a、1b、1c，动力调节器是球形的，并绕着变速器100的中心线或转动轴线等间距地设在圆周上。
更清楚地见图2，心轴3a、3b、3c插入通过动力调节器1a、1b、1c以限定动力调节器1a、1b、1c的转动轴线。图1中，动力调节器的转动轴线示出在水平方向上。心轴支承2a-2f与心轴3a、3b、3c垂直地连接在心轴3a、3b、3c的露出的两端。在一个实施例中，各心轴支承有一孔以接收一个心轴3a、3b、3c的一端。心轴3a、3b、3c还有同轴地及可滑动地设置在心轴支承2a-2f的外面的、心轴3a、3b、3c的露出端上的心轴滚子4a-4f。
当通过倾斜心轴3a、3b、3c改变动力调节器1a、1b、1c的转动轴线时，各心轴滚子4a-4f跟随在切入固定支承5a、5b中的槽6a-6f(图3)中。
参见图1至3，固定支承5a、5b一般是平行的盘的形式，转动轴线沿着变速器100的中心线。槽6a-6f从固定支承5a、5b的外圆周的变速器100的中心线延伸。虽然槽6a-6f的侧边是平行的，但槽6a-6f的底表面在朝变速器100的中心线延伸时形成一个减小的辐射状部分。当通过改变动力调节器1a、1b、1c的转动轴线把变速器100变换到更低或更高的齿轮，各对心轴滚子4a-4f沿各自的槽6a-6f，沿相对的方向运动。
在固定支承5a，5b中的中心孔7a、7b允许空心轴10插过固定支承5a、5b。
图4是按照现有技术的固定支承的平面图。一个或多个固定支承的孔7a、7b可有非圆筒形14，这一形状装在沿着空心轴10的相应的非圆筒形15上，以防止固定支承5a、5b和空心轴10之间任意的相对转动。如果固定支承5a，5b的刚性足够，可使用附加的结构来减小固定支承5a，5b的任意的相对的转动运动或弯曲。固定支承5a，5b的这类运动可引起心轴滚子4a-4f沿着槽6a-6f运动时被粘住。
再看图1至3，固定支承5a固定地连接到固定支承轴套42，该轴套42同轴线地包住空心轴10并延伸穿过轮毂壳40的壁。延伸穿过轮毂壳40的壁的、固定支承轴套42的端部连接到车架支座并且优选地有非圆筒形，以增加随后与力矩杆43的连接。力矩杆43放在固定支承轴套42的非圆筒形端部上，并被力矩螺母44固定就位。力矩杆43的外端刚性连接到一个牢固的非活动性，如车架(未示出)。固定支承的轴承48支承轮毂壳40并允许轮毂壳40相对固定支承轴套42转动。
再参见图1和2，通过轴向滑动设在空心轴10中的杆11手工致动变速。一个或多个锁12插入通过杆11中的一个或多个横向孔，并进一步延伸通过在空心轴10中的一个或多个纵向缝槽16(未示出)。空心轴10中的缝槽16允许在空心轴10中的销12和杆11组件作轴向移动。当杆11的空心轴10中轴向滑动时，横向销12的端部延伸进同轴的轴套19并与轴套19连接。轴套19的各端固定连接到形成绕着轴套19圆周的槽的一个基本平的平台13a、13b。
如更清楚地在图4中可见，平的平台13a、13b各接触并推着多个轮21a-21f。轮21a-21f配合入心轴支承2a-2f的缝槽中，并被轮轴22a-22f固定就位。轮轴22a-22f的端部被心轴支承2a-2f支承，并允许轮21a-21f的转动运动。
再参见图1和2，基本平的平台13a、13b的外周边(远离空心轴10的部分)过渡为凸形表面。当变速器100换挡时，心轴支承2a-2f和动力调节1a、1b、1c倾斜时，该区域允许吸收间隙。圆柱形支承件18位于在平的平台13a、13b和轴套19之间的槽中，因此与平的平台13a、13b和轴套19一致地运动。支承件18安放在位于平的平台13a、13b和轴套19的相交处的接触轴承17a、17b上的允许支承件18绕变速器100的轴线自由转动。因此当变速器100变速时，轴承17a、17b、支承件18和轴套19都与平的平台13a、13b一起风吹草动轴向滑动。
参见图3和4，固定支承的滚子30a-30l通过滚子销31a-31f成对地连接到各心轴腿2a-2f并被滚子夹32a-32l夹持就位。滚子销31a-31f允许固定支承的滚子30a-30l沿着基本与槽6a-f平行的通道在固定支承5a、5b中的凹形辐射状部分上滚动。当心轴滚子4a-4f在槽6a-6f中来回运动时，固定支承的滚子30a-30l不允许心轴3a-3c的端部及心轴滚子4a-4f与槽6a-6f的底表面接触，以保持心轴3a-3c的位置并且减小任何摩擦损失。
虽然无级变速器是已在纸面上公开，但是使其平滑地工作的事实要求重要的技术秘密。例如，需要轴向移动杆11的方法。这种变速装置在使用无级变速器的任何环境中都是有用的。
发明内容
本发明涉及与无级变速器一起用的变速装置。更具体地，变速装置设计用在自行车上，但也可与其它轻型车辆一起使用。变速装置有手柄部分和轮毂部分。手柄部分的特征在于与缆索连接的可转动的调节器。缆索还连接到轮毂部分。当调节器转动时，拉动缆索，依次转动轮毂组件中的滑动组件。当滑动组件转动时，它推进在无级变速器中的杆。杆调节动力调节器，如上所述。
手柄部分的独特之处在于有把信息传给骑车人的显示器。无级变速器有“齿轮”。但是，普通骑车人习惯于按照骑在有具体的齿轮，例如第四齿轮来考虑，代替之，使用无级变速器，对使用者重要的是代替在输入(踏板转动)和输出(后轮的每分钟转数)之间的比来考虑。因此，手柄包括示出输入/输出比的显示器。显示器包括一根丝，当调节输入/输出比时，丝弯曲。在高的输入/输出比下，丝是平的，和实际上对骑在比较平的表面上该比率是合适的。而当调节这一比率使得更容易爬山时，丝成一个陡的曲线。
附图说明
在所附的权利要求书中列出属于新特点的本发明的特征。但是结合附图阅读参考下面所示实施例的详细说明会更好地明白本发明的本身、及优选的使用模式、进一步的目的和优点，附图中：
图1是现有技术的无级变速器的剖面图；
图2是示出现有技术的传动装置动力调节器的分解图；
图3是现有技术的无级变速器的固定支承的分解图；
图4是现有技术的固定支承的顶视图；
图5示出按照本发明的变速装置的手柄部分；
图6a示出本发明的变速装置的轮毂部分；
图6b是本发明的壳体和滑轮组件的剖面图；
图6c示出包括本发明变速装置的典型的自行车；
图7是示出壳体中的滑轮系统的切去一部分的侧视图；
图8a是按照本发明的滑轮系统的透视图；
图8b是滑轮系统的分解图；
图8c是滑轮系统的反转角度的透视图；
图9a是安装在轮轴上的轮毂壳体的透视图；
图9b是安装在轮轴上的轮毂壳体的侧视图；
图10a是与缆索配合的滑轮系统的侧顶视图；
图10b是与缆索配合的滑轮系统的底视图；
图11a是与自行车轮轴相关的滑轮系统的分解图；
图11b是与自行车轮轴相关的滑轮系统的反转角度的分解图；
图12a是按照本发明的装在自行车轮轴上的滑轮系统的侧视图；
图12b是装在自行车轮轴上的内滑轮的侧视图；
图12c是装在自行车轮轴上的外滑轮的侧视图；
图13是外滑轮的内表面的平面图；
图14a是滑轮系统的透视的剖面图；以及
图14b是滑轮系统的侧剖面图。
具体实施方式
图5示出按照本发明优选实施列的自行车变速装置的手柄部分。变速装置有两部分，位于如图所示的自行车车把上的可转动的手柄1000，和位于后轮的轴附近的轮毂1100。手柄1000已知是传动比控制器。
当骑自行车的时候，骑车者捏住盖子部分1002。当骑车者碰到例如陡的地带，他想改变传动比以使踏板(输入)的更多的转数得到后轮(输出)的较少的转数。为改变传动比，使用者转动调节器1004，调节器1004又依次操纵缆索1012、1014。调节器1004可包括一些凹痕以帮助骑车人。
变速装置的一个独特的元件是输入/输出比的可视显示器1010。显示器1010位于壳体1008上。一根丝1016连接到显示器1010上。当指示器1018从左边移动到右边，丝1016改变形状从最左边的平丝形到最右边的曲线形。这可见地表示与地带有关的传动比。
如果骑车者在平地上，指示器1018在最左边(平丝状)，这设定传动比到最高的比率。当骑车者爬山时，指示器1018在最右边，表示一个山(曲线形)，这设定传动比到最低的比率。指示器1018来回移动经过表盘，并由调节器1004驱动的导向螺钉控制。比例从0至100％。由于这是无级变速器(CVT)，设有一个专门的“齿轮”(例如第四齿轮)。
图6a示出按照本发明的变速装置的轮毂部分。后轮毂1100包括包住及保护与缆索1012、1012连接的滑轮系统的一个滑轮壳体1102。轮毂1100还连接到轮毂体1104内的无级变速器。无级变速器可是类似于上述“Fallbrook Technologies”的无级变速器的类型，或者可以是允许调节动力调节器的任意合适设计。轮毂体1104应该比较紧凑以与后轮的轴同轴装配。多个安装孔1110可设在壳体上以便于安装辐条。
图6b是按照本发明的壳体和滑轮组件的横剖面图。滑轮系统1200包括一对滑轮1202和1204。第一缆索1012连接到第一滑轮1202上使得在缆索1012上的张力使滑轮转动。基于转动，位于滑轮轴向的一杆11沿轴向平移。类似地，第二缆索1014连接到第二滑轮1204上使得在缆索1014上的张力使得滑轮1204沿与滑轮1202转动方向相对的方向转动，因此造成杆沿相对的轴向平移。
图6c示出包括本变速装置的典型的自行车。手柄部分1000可位于车把上。但是，变速装置也可位于绕着自行车的任何管形部分。
图7是示出在壳体中的滑轮系统的切开的侧视图。该图示出移去外盖的壳体1102，示出缆索1012和1014和滑轮之间的配合。各缆索终端在滑轮1202或1204中。当于柄上的调节器1004沿顺时针或反时针转动时，一根缆索被张紧和转动。滑轮的转动造成杆11的平移因而使无级变速器变速。
图8a是按照本发明的滑轮系统的透视图。该图示出安装在一起的两个滑轮1202、1204。图8b是滑轮系统的分解图。图8c是滑轮系统反转角度的分解图。
图9a是安装在轮轴上的轮毂壳体的透视图。图9b是安装在轮轴上的轮毂壳体的侧视图。在优选的实施例中，壳体110的前边缘修整以放在自行车的链罩内。
图10a是与缆索配合的滑轮系统的侧顶视图。图10b是滑轮系统的侧底视图。这些图更清楚地示出缆索1012如何连到滑轮1202和缆索1014如何连到滑轮1204上。在优选的实施例中，缆索1012、1014成四度的斜角。对于在滑轮1202、1204中的缆索槽，用相对的螺旋线结构保持缆索1012、1014一致。
图11a是与自行车轮轴有关的滑轮系统的分解图。图11b是滑轮系统的反转角度的分解图。在预装配状态，螺钉留在放松位置以把缆索装到M3螺钉的头下面(图14a-b示出)。轮底座的孔分开20°以允调节与自行车车架的对准。
图12a是按照本发明的、装在自行车轮轴上的滑轮系统的侧视图。图中示出两个孔1302、1304，缆索1012、1014分别通过该两孔固定到滑轮。
图12b是装到轮轴上的内滑轮的侧视图。在该图中，外滑轮1202已移去以清楚地示出内滑轮1204。在第二缆索1014插过孔1304后，缆索在固紧器1308的头下滑动并滑到斜坡1306上。
图12c是装在自行车轮轴上的外滑轮的侧视图。第二缆索1014继续从内滑轮1204中的斜坡1306穿过外滑轮1202中的斜坡1310，在该处可用手用张紧螺钉1312张紧，切断并放回到斜坡的坑中。
类似地，第一缆索1012插进外滑轮中的孔1302，并在紧固器1314下面滑动，紧固器1314可用手拧下。缆索修整并放回到斜坡坑1316中(图13的外滑轮的后视图示出)。
图14a是滑轮系统的透视的剖面图，而图14b是滑轮系统的侧剖面图。图14a中示出已移去外壳体盖的滑轮系统。该两图示出用来把第二缆索1014固定在内滑轮中的一个M3螺钉1402，和拧住缆索的空间1404。
已进行的对本发明的说明目的在于解释和说明，但不打算作为无遗漏的或把本发明限制到公开的形式。对本专业技术人员言，很多的型和变化是明显的。选择及说明一些实施例为了更好地解释发明的原理，实际应用并允许其它的本专业技术人员明白本发明的有各种改型的各种实施例适合于具体应用的考虑。

Claims (8)

1.一种变速装置，包括：
a)手柄；
b)通过缆索与所述手柄部分连接的轮毂，其中所述手柄可转动以调节位于轮毂中的滑轮。
2.按照权利要求1所述的变速装置，其中所述手柄包括一显示器。
3.按照权利要求2所述的变速装置，其中所述显示器包括可从第一位置移动到第二位置的丝。
4.按照权利要求1所述的变速装置，其中所述手柄包括连接到所述缆索的调节器，所述调节器可转动以调节所述缆索上的张力。
5.按照权利要求1所述的变速装置，其中所述轮毂包括一壳体和所述壳体内的滑轮组件。
6.按照权利要求5所述的变速装置，其中对缆索上的张力的调节使所述滑轮组件转动。
7.按照权利要求6所述的变速装置，其中所述滑轮组件可操作地连接到一无级变速器，以便使对滑轮组件的调节改变在所述变速器中的动力调节器。
8.按照权利要求1所述的变速装置，其中所述变速装置的调节还调节输入力与输出力之间的比率。
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CN108354668A (zh) * 2018-03-16 2018-08-03 深圳市罗伯医疗科技有限公司 一种消化道手术辅助机器人系统
CN108354667A (zh) * 2018-03-16 2018-08-03 深圳市罗伯医疗科技有限公司 一种柔性手术器械装置
CN108354668B (zh) * 2018-03-16 2024-03-15 深圳市罗伯医疗科技有限公司 一种消化道手术辅助机器人系统

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US20070193391A1 (en) 2007-08-23
EP1984637A4 (en) 2010-11-03
CN101410635B (zh) 2011-04-13
US7882762B2 (en) 2011-02-08
EP1984637A2 (en) 2008-10-29
CA2644949A1 (en) 2007-08-09
US20070245846A1 (en) 2007-10-25
TW200740653A (en) 2007-11-01
AU2007209887A1 (en) 2007-08-09
TWI378059B (en) 2012-12-01
CA2644949C (en) 2014-09-30
WO2007089815A3 (en) 2008-03-27
AU2007209887B2 (en) 2013-05-02
WO2007089815A2 (en) 2007-08-09
ATE552431T1 (de) 2012-04-15
PL1984637T3 (pl) 2012-09-28
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US8776633B2 (en) 2014-07-15
EP1984637B1 (en) 2012-04-04

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