Nutation braking system and method

Abstract

A braking system is disclosed, comprising a rotor rigidly connected to a shaft configured to rotate about a central axis. The rotor has a first side opposite to a second side, and the braking system includes a first stator structure on the first side of the rotor and a second stator structure on the second side of the rotor. The braking system also includes a first oscillating plate between the first side of the rotor and the first stator structure, and a second oscillating plate between the second side of the rotor and the second stator structure. Each of the first and second oscillating plates is configured to nutate when the first and second stator structures decrease in rotational speed compared to the rotational speed of the rotor.

Description

Technical Field

[0001] This disclosure relates to systems and methods for braking. More specifically, the disclosed examples relate to using nutation gear mechanisms to dissipate rotational energy to decelerate a rotating object. Background Technology

[0002] Braking systems are essential for many machines. Friction brakes, such as disc brakes or drum brakes, are commonly used. As the name suggests, friction brakes use friction to slow down rotational motion. Calipers, levers, or other mechanisms force pads or shoes into frictional contact with the rotating rotor or drum, thereby converting the kinetic energy of rotation into heat. Due to thermal damage or wear, pads and shoes are typically short-life components and may require periodic replacement.

[0003] Aircraft require high-performance braking systems, which generate significant levels of heat. Reducing heat output can translate to improved safety and extended component lifespan. Multiple redundant braking systems can be used to enhance aircraft safety. However, space and weight are critical considerations in aircraft design. Therefore, lighter and more compact braking systems are in high demand.

[0004] This disclosure also relates to nutating gear mechanisms of a type commonly referred to as oscillating plate mechanisms. Historically, oscillating plate mechanisms have appeared to be a promising approach to achieving high torque density. In an oscillating plate mechanism, a gear, such as a rotor gear, nutates around another gear, such as a stator gear. Surprisingly, as will be understood in more detail below, oscillating plate mechanisms can also provide a means of achieving compact brakes. Summary of the Invention

[0005] This disclosure provides systems, apparatus, and methods relating to braking systems. In some examples, the braking system may include a rotor rotatably connected to a shaft configured to rotate about a central axis. The rotor may have a first side opposite to a second side, and the braking system may include a first stator structure on the first side of the rotor and a second stator structure on the second side of the rotor. The braking system may also include a first oscillating plate between the first side of the rotor and the first stator structure, and a second oscillating plate between the second side of the rotor and the second stator structure. Each of the first and second oscillating plates may be configured to nutate when the first and second stator structures decrease in rotational speed compared to the rotational speed of the rotor.

[0006] In some examples, the braking system may include a first stator gear and a second stator gear rigidly connected to the first stator gear. A rotor gear may be disposed between the first stator gear and the second stator gear. A first oscillating gear may engage the first stator gear and the rotor gear, and a second oscillating gear may engage the second stator gear and the rotor gear. Rotation of the rotor gear may cause rotation of the first oscillating gear, the second oscillating gear, the first stator gear, and the second stator gear. Decelerating the first stator gear and the second stator gear relative to the rotor gear may induce nutation of the first oscillating gear and the second oscillating gear, and the nutation of the first oscillating gear and the second oscillating gear may slow down the rotor.

[0007] In some examples, methods for dissipating rotational energy in a braking system may include providing a drive shaft connected to a rotor and a pair of oscillating plates engaging opposite sides of the rotor, each oscillating plate having an outer side engaging a stator structure. The method may also include rotating the drive shaft, rotor, pair of oscillating plates, and stator structure at the same rotational speed, and including inducing nutation of the pair of oscillating plates by slowing down the rotational speed of the stator structure.

[0008] Features, functions and advantages may be implemented independently in the various examples of this disclosure, or may be combined in other examples, as can be seen in the following description and figures. Attached Figure Description

[0009] Figure 1 This is an isometric exploded view of an illustrative braking module according to aspects of this disclosure.

[0010] Figure 2 yes Figure 1 An isometric side view of the braking module.

[0011] Figure 3 It is along line 3-3 Figure 2 A cross-sectional view of the braking module.

[0012] Figure 4 This is a schematic diagram of a wheel in an unbraked mode, including the exemplary disc brake system described herein.

[0013] Figure 5 It is in braking mode. Figure 4 A schematic diagram of a wheel.

[0014] Figure 6 This is a schematic diagram of a wheel in non-braking mode, including the exemplary hybrid disc and drum braking system described herein.

[0015] Figure 7 It is in braking mode. Figure 6 A schematic diagram of a wheel.

[0016] Figure 8This is a flowchart illustrating the steps of an illustrative method for dissipating rotational energy according to the teachings herein. Detailed Implementation

[0017] Various aspects and examples of braking systems including double nutation gears, as well as related equipment and methods, are described below and illustrated in the accompanying drawings. Unless otherwise stated, braking systems and / or their various components according to this teaching may include, but do not necessarily include, at least one of the structures, components, functions, and / or variations described, shown, and / or incorporated herein. Furthermore, unless expressly excluded, process steps, structures, components, functions, and / or variations described, shown, and / or incorporated herein in conjunction with this teaching may be included in other similar equipment and methods, and are interchangeable among the disclosed examples. The following description of various examples is illustrative in nature only and is in no way intended to limit this disclosure, its application, or use. Additionally, the advantages provided by the examples described below are illustrative in nature, and not all examples provide the same or the same degree of advantage.

[0018] This specific implementation includes the following sections: (1) Overview; (2) Examples, Components and Alternatives; (3) Illustrative Combinations and Additional Examples; (4) Advantages, Features and Benefits; and (5) Conclusion. The “Examples, Components and Alternatives” section is further divided into subsections A through D, each marked accordingly.

[0019] Overview

[0020] Typically, a braking system according to this teaching may include a rotor, a pair of oscillating gears, and a stator structure. Such a braking system may be described as a nutating braking system with dual stators and / or dual nutating gears, and / or as an energy absorber. The rotor, oscillating gears, and stator structure may be described as a nutating braking module.

[0021] The rotor may include teeth on a first side and a second side, and the stator structure may include a first stator gear and a second stator gear. A first of a pair of oscillating gears may be clamped between and engage with the first stator gear on the first side of the rotor. A second of a pair of oscillating gears may be clamped between and engage with the second stator gear on the second side of the rotor.

[0022] The rotor is rotatably coupled to a rotating body, such as a wheel, axle, or drive shaft. The rotor can be rigidly, movably, and / or flexibly coupled to the rotating body. For example, similar to a floating disc brake, the periphery of the rotor can be keyed to a wheel. As another example, a drive shaft can extend through and be welded to the central aperture of the rotor. The rotor can be driven when the rotating body is under torque load, and can be de-driven when no torque is applied. The braking system can slow down the rotating body and / or resist its acceleration by slowing the rotor's rotation and / or resisting the rotor's acceleration.

[0023] The stator structure may include a first stator gear and a second stator gear rigidly fixed together by hollow cylinders. For example, a cylindrical sleeve may extend through and be fixed to the central aperture of each stator gear. Alternatively, a cylindrical sleeve may be closed and fixed to the periphery of each stator gear. The braking system may also include a braking mechanism configured to slow the rotation of the stator structure. For example, the braking system may include a friction braking mechanism, such as a disc brake pad or a drum brake shoe.

[0024] The braking system can have braking and non-braking or unbraking modes. In the unbraking mode, the rotor, oscillating plates, and stator structure can rotate together with the rotating body. In braking mode, the braking mechanism can engage the stator structure to slow it down relative to the rotor. When the stator structure slows down or stops relative to the rotor, the interaction of each stator gear, the corresponding oscillating gear, and the rotor teeth may induce nutation of a pair of oscillating plates. Nutting can absorb rotational energy, thereby slowing down the rotation of the oscillating plates, which in turn slows down the rotation of the rotor.

[0025] Examples, components and alternatives

[0026] The following sections describe selected aspects of exemplary braking systems and related devices and / or methods. The examples in these sections are intended to be illustrative and should not be construed as limiting the entire scope of this disclosure. Each section may include one or more different examples, and / or context or related information, functionality, and / or structure.

[0027] A. Explanatory Braking Module

[0028] like Figures 1 to 3 As shown, this section describes an illustrative braking module 20. Braking module 20 is an example of the dual-stator nutation braking module described above. Figure 1 This is an exploded view of the braking module 20. Figure 2 The diagram shows a braking module assembled for operation. The braking module 20 includes a rotor 22, a stator structure 24, a first oscillating plate 26, and a second oscillating plate 28. The stator structure includes a first stator 30 and a second stator 32, which are rigidly connected by a hollow cylindrical sleeve 34.

[0029] Each of the rotors 22, stators 30, 32, and oscillating plates 26, 28 is annular with a central aperture. During assembly, a sleeve 34 extends through the central aperture defining the central axis 36 of the braking module 20. A first oscillating plate 26 is disposed between a first side 38 of the rotor 22 and a first stator 30. A second oscillating plate 28 is disposed between a second side of the rotor 39 and a second stator 32. The rotor 22 is clamped between the two oscillating plates. The rotor and oscillating plates are then clamped between two rigidly connected stators.

[0030] Rotor 22 is configured to rotate about a central axis 36, which may also be referred to as the axis of rotation of brake module 20. The rotor can also be described as concentric and / or coaxial with sleeve 34. The rotor rotates about sleeve 34 without bearings. Rotor 22 slides or floats freely along the sleeve and can be centered along the sleeve by means of swing plates 26, 28, as described in further detail below. In some examples, rotor 22 may be suspended and / or supported by connection to an external rotating structure (not shown). In such examples, the rotor may not contact sleeve 34. That is, a gap may be maintained between the inner surface of rotor 22 and the outer surface of sleeve 34.

[0031] Rotor 22 may be rigidly, movably, and / or rotatably coupled to an external structure in any suitable manner. For example, the outer edge 40 of the rotor may be keyed to a wheel rim or rigidly fixed to a drive shaft. Rotation, rotational energy, and / or torque may be input to braking module 20 via the rotation of rotor 22. Braking module 20 may brake this rotation and / or dissipate rotational energy by slowing down the rotor.

[0032] The stator structure 24 is also configured to rotate about a central axis 36. The first stator 30, the second stator 32, and the sleeve 34 can rotate together and can be described as coaxial. The sleeve 34 is received in a central aperture of each stator fixed to its inner surface. The sleeve can be flush with the distal surface 42 of each stator. The stator structure 24 can also be described as coaxial with the rotor 22.

[0033] The stator structure 24 can be configured to engage with a brake pad (not shown). In this example, the distal surface 42 of each of the first stator 30 and the second stator 32 is a flat surface. Similar to a disc brake, the brake pad can be pressed against the distal surface 42, thereby slowing down and stopping the rotation of the stator structure 24. In another example, the brake shoe can engage the inner surface 44 of the sleeve 34, similar to a drum brake, or the brake shoe can engage the peripheral edge of each stator 30, 32, similar to a locking brake.

[0034] Each stator 30, 32 of stator structure 24 includes Figure 1 and Figure 3The shoulder 35 is shown in the diagram. The shoulder extends from the stator parallel to the central axis 36 and is located radially inside a proximal surface 54 opposite to the distal surface 42 of the stator 30 along the central axis 36. The shoulder can also be described as extending toward the rotor 22. Each shoulder 35 partially defines a central aperture of the stators 30, 32 and is secured to a sleeve 34. The inner surface of each shoulder 35 may be cylindrical and / or complementary to the sleeve 34. The outer surface 37 of each shoulder 35 may be radially inclined inward from the widest point proximal to the proximal side of the proximal surface 54 and / or curved to the narrowest point at the edge of the shoulder.

[0035] The first swing plate 26 and the second swing plate 28 each have a central swing axis 46. Each swing plate forms an angle with respect to the rotor 22 and the stator structure 24. Each swing axis 46 can be described as forming a non-zero swing angle 48. The swing angle 48 can be the same for each swing plate, but the swing angle can lie in different planes. That is, each swing axis 46 can form the same angle with the central axis 36, but the swing axis 46 of the first swing plate 26 can define a first plane with the central axis, while the swing axis 46 of the second swing plate 28 can define a second plane with the central axis. The first plane and the second plane can be the same or perpendicular.

[0036] The first oscillating plate 26 and the second oscillating plate 28 are each configured to rotate and nutate about the central axis 36 so that the oscillation axis 46 precesses about the central axis. The oscillating plates 26 and 28 can each rotate together with the rotor 22 and nut about the corresponding stators 30 and 32. When the stator structure 24 rotates freely, the oscillating plates may not nutate, and the oscillating plates, rotor, and stator structure can all rotate together. When the stator structure 24 slows down or stops relative to the rotor 22, nutation of the oscillating plates can be induced. Nutting may dissipate energy, thereby slowing down the rotation of the oscillating plates and consequently slowing down the rotor.

[0037] The oscillating plates 26 and 28 can be described as having a point closest to the rotor 22. That is, at any given time, a point on the outer circumference of each oscillating plate is closest to the rotor. This point can move as the oscillating plates nutate. At any given time, the closest point of the first oscillating plate 26 can be aligned with the closest point of the second oscillating plate 28, or can be out of phase by 90 degrees, 180 degrees, or 270 degrees. When the oscillating plates nutate, the closest point of the first oscillating plate 26 can maintain the same phase shift relative to the closest point of the second oscillating plate 28.

[0038] like Figure 3The diagram shows a cross-sectional view of the braking module 20, with each swing plate 26, 28 spaced apart from the sleeve 34. Each swing plate rotates around the shoulder 35 of its corresponding stator 30, 32 without bearings. Specifically, the shoulder 35 of the first stator 30 supports and is axially aligned with the first swing plate 26, and the shoulder 35 of the second stator 32 supports and is axially aligned with the second swing plate 28.

[0039] The outer surface 37 of the shoulder 35 of each stator 30, 32 is complementaryly shaped to the inner surface 59 of each oscillating plate 26, 28. Both the outer surface 37 and the inner surface 59 are curved and deviate from a true cylindrical shape. The curvature of the surfaces 37, 59 can be selected to align each oscillating plate 26, 28 at a selected oscillation angle and allow smooth rotation at that angle.

[0040] When Figure 3 When assembled as shown, the braking module 20 has an integral cylindrical shape, with its inner diameter D1 defined by the inner surface 44 of the sleeve 34, and its outer diameter D2 defined by the outer edges of the stators 30 and 32, the oscillating plates 26 and 28, and the rotor 22. To form this shape, each of the stator, oscillating plate, and rotor has approximately equal outer diameters.

[0041] The inner diameter D3 of each of the stators 30, 32 and the rotor 22 is approximately equal to the outer diameter of the sleeve 34. The inner diameter D4 of the swing plates 26, 28 is smaller than the diameter D3 and is approximately equal to the outer diameter of the shoulder 35 of the stators 30, 32. In this example, the diameter D4 varies axially. That is, the shoulder 35 is inclined from the distal end to the proximal end to allow for the swing angle of the swing plates 26, 28.

[0042] The braking module 20 is designed to eliminate eccentric forces and balance the oscillating plates 26 and 28. If the braking module experiences vibration or displacement, the complementary truncated conical shapes cause the oscillating plates to return to alignment. More specifically, the first side 38 and the second side 39 of the rotor 22 are each truncated conical. That is, each side is angled relative to a plane perpendicular to the central axis 36, such that every point on the surface includes a truncated conical line that can extend to a vertex located away from the central axis of the rotor. When the rotor 22 is assembled with the first oscillating plate 26 and the second oscillating plate 28 in the braking module 20, the truncated conical vertex of the first side 38 is close to the center of mass of the first oscillating plate 26, and the truncated conical vertex of the second side 39 is close to the center of mass of the second oscillating plate 28.

[0043] The proximal surface 54 of each of stators 30 and 32 is also truncated conical. That is, the surface is angled relative to a plane perpendicular to the central axis 36, such that every point on the surface includes a truncated conical line that extends to a vertex on the central axis located proximal to the stator. When the first stator 30 is assembled with the first oscillating plate 26 in the braking module 20, the truncated conical vertex of the proximal surface 54 is close to the center of mass of the first oscillating plate. Similarly, when the second stator 32 is assembled with the second oscillating plate 28 in the braking module 20, the truncated conical vertex of the proximal surface 54 is close to the center of mass of the second oscillating plate.

[0044] Swing plates 26 and 28 each have a proximal surface 58 and an opposing distal surface 60. Each surface is a truncated cone. That is, the proximal surface 58 and the distal surface 60 are each angled relative to a plane perpendicular to the swing axis 46, such that every point on the surface includes a truncated conical line that extends to a cone apex located on the swing axis near the center of mass of the swing plate.

[0045] Each of the oscillating plates 26, 28, stators 30, 32, and rotor 22 includes teeth and may be referred to as gears. Rotor 22 includes a plurality or a set of rotor teeth 50 disposed on each of the first side 38 and the second side 39. The number of rotor teeth 50 on the first side 38 may be equal to the number of rotor teeth 50 on the second side 39. The number may be any suitable number. In the example shown, there are sixteen rotor teeth on each side. The number of rotor teeth can be selected to allow for the desired width of each tooth. That is, the number of teeth can be selected according to the radius of rotor 22 such that the angular width of the teeth corresponds to the desired tooth size. Wide teeth provide sufficient strength to withstand the high torque loads under braking conditions.

[0046] Each rotor tooth may include two mating surfaces, and each mating surface may be planar, composed of more than one plane, or may be composed of one or more surfaces having curvature. One or both mating surfaces of the rotor tooth 50 may be defined by a composite involute of a circle and an ellipse, as further detailed below. Alternatively, the curve may be a projection of a virtual ellipse onto the tooth position for all angles between 0 and 2π radians. Each rotor tooth extends from the rotor 22 along the central axis 36.

[0047] The first stator 30 and the second stator 32 are matched but mirror images in orientation. The description of the first stator 30 is to be understood as equivalent to the description of the second stator 32. The stator 30 includes a plurality or a set of stator teeth 52 disposed on a proximal surface 54. The stator teeth 52 extend parallel to the central axis 36 toward the rotor 22. The number of stator teeth 52 can be any suitable number. In the example shown, there are ninety stator teeth. The shapes of the stator teeth can be combined to select the number of stator teeth to provide effective engagement between the stator and the oscillating plate.

[0048] Each stator tooth includes two mating surfaces. Each mating surface may be planar, composed of more than one plane, or composed of one or more surfaces with curvature. In the depicted example, stator tooth 52 may be described as wedge-shaped. Each stator tooth may be anchored to and / or extend from both the proximal surface 54 and the shoulder 35.

[0049] When assembled in the braking module 20, the first swing plate 26 and the second swing plate 28 are also matched, but are mirror images in orientation. The description of the first swing plate 26 can be understood as an equivalent description of the second swing plate 28. The reference to the interaction with the first stator 30 can be understood as applicable to the second stator 32 of the second swing plate 28.

[0050] Multiple or a group of face teeth 64 are disposed on the distal side 60 of the oscillating plate 26. The face teeth are configured to engage the stator teeth 52 of the stator 30. The face teeth 64 extend axially from the distal side 60 along the oscillation axis 46. The number of face teeth 64 can be any suitable number. In the depicted example, there are ninety face teeth. The number of face teeth can be selected to match the number of stator teeth 52 to achieve a 1:1 gear ratio. In some examples, the number of face teeth can be selected to achieve other desired gear ratios. For example, a different gear ratio may be needed to reduce the rotational speed of the stator to facilitate engagement of the braking mechanism. In such examples, the number of face teeth 64 can be greater than or less than the number of stator teeth 52.

[0051] Each face tooth includes two mating surfaces, which may be planar, composed of more than one planar surface, or composed of one or more surfaces with curvature. In this example, face tooth 64 is shaped to be complementary to stator tooth 52 and can be described as wedge-shaped.

[0052] The oscillating plate 26 also includes a plurality or a set of oscillating teeth 62 disposed on the proximal surface 58. These oscillating teeth are configured to engage the rotor teeth 50 of the rotor 22. The oscillating teeth 62 extend axially from the proximal surface 58 along the oscillation axis 46. The number of oscillating teeth 62 can be any suitable number. In the illustrated example, there are fifteen oscillating teeth. The number of oscillating teeth can be selected to differ from the number of rotor teeth 50 by one, or by a similarly small number. Small differences in the number of teeth can provide high torque density and increase the ratio of rotation to nutation performed by the oscillating plate, as further explained below.

[0053] Each oscillating tooth 62 includes a first engagement surface and a second engagement surface on the opposite side of the tooth. Each surface may be planar, composed of more than one plane, or composed of one or more surfaces having curvature. One or both engagement surfaces of the oscillating tooth 62 may be defined by a composite involute of a circle and an ellipse, as described below. Alternatively, the curve may be a projection of a virtual ellipse onto the tooth position for all angles between 0 and 2π radians.

[0054] Both the oscillating plate 26 and the rotor 22 are substantially circular, with the projection of the oscillating plate onto the rotor being elliptical. Multiple oscillating teeth 62 and rotor teeth 50 can be profiled by projecting this virtual ellipse onto the tooth positions. The elliptical projection of the oscillating plate 26 onto the rotor 22 can thus be constrained to non-eccentric rotation. If allowed, eccentric motion could lead to large unbalanced forces, resulting in unacceptable system performance.

[0055] For each of the plurality of oscillating teeth 62 and rotor teeth 50, one or both of the first and second mating surfaces may be defined by a composite involute of a circle and an ellipse. That is, the curve of each of the first and second mating surfaces may be defined by the following equation:

[0056]

[0057] Where C is a constant proportional to the radius of the oscillating plate. You can take 0° to The value of D in radians, and D can be a positive constant less than 1. The value of D may be approximately 0.65, although other values ​​are also possible. The equation can be normalized to the unit or rotor radius.

[0058] The curve of the first mating surface can be a mirror image of the curve of the second mating surface, reflected in a plane passing through the apex of the tooth and containing the axis of rotation. Furthermore, the first and second mating surfaces can smoothly converge at the apex of each tooth. The cross-sectional shape of the tooth can therefore be defined by a composite involute of a circle and an ellipse.

[0059] The first oscillating plate 26 engages with both the rotor 22 and the first stator 30, meshing with each part. Similarly, the second oscillating plate 28 engages with both the rotor 22 and the second stator 32, meshing with each part. Rotation of the rotor 22 causes the oscillating plates 26 and 28 to rotate, which in turn causes the stators 30 and 32 to rotate. When the stators 30 and 32 are slowed down by braking, the oscillating plates are nutated, which in turn causes the rotor 22 to slow down.

[0060] The engagement between each oscillating plate and rotor 22 can be between a subset of oscillating teeth 62 and rotor teeth 50. When the rotor rotates in a given direction, the engagement surfaces of the rotor teeth can contact the engagement surfaces of the oscillating teeth. That is, through the interaction between the engagement surfaces of multiple rotor teeth and the engagement surfaces of multiple oscillating teeth, the rotor may apply contact forces to the oscillating plates. These contact forces can cause the oscillating plates to rotate in the same given direction of rotation.

[0061] The engagement between each oscillating plate and its corresponding stator can be between a subset of face teeth 64 and stator teeth 52. When the oscillating gear rotates in a given direction of rotation, the engagement surfaces of the face teeth can contact the engagement surfaces of the stator teeth. That is, through the interaction between the engagement surfaces of multiple face teeth and the engagement surfaces of multiple stator teeth, the oscillating plate may apply a contact force to the stator.

[0062] Without braking engagement of stator structure 24, stators 30 and 32 can rotate freely. The contact force between the face teeth 64 of the oscillating plates 26 and 28 and the stator teeth 52 then allows stators 30 and 32 to rotate in a given direction. In this example, each oscillating plate has ninety face teeth, and each stator has ninety stator teeth. That is, each stator and its corresponding oscillating plate interact and rotate according to a 1:1 gear ratio. For each complete rotation of the oscillating plate, the stator also completes exactly one complete rotation. Other choices regarding the input and number of face teeth are also possible and will result in different gear ratios.

[0063] When the braking action engages the stator structure 24, the rotation of the stators 30 and 32 can be slowed down or stopped relative to the rotor 22. The contact force between the face teeth 64 and the stator teeth 52 can then cause the oscillating plates 26 and 28 to nutate.

[0064] In the example of brake module 20, rotor 22 has sixteen rotor teeth, and each oscillating plate 26, 28 has fifteen oscillating teeth. When each oscillating plate nutates, each oscillating tooth 62 can engage with one of the multiple rotor teeth 50 during a single nutation. Since there is one more rotor tooth than oscillating tooth, the oscillating plate may rotate slightly during a single nutation. In this example, the oscillating plate may rotate 1 / 16 of a full rotation during a single nutation. In other words, if the oscillating plate rotates 1 / 16 of a full rotation, it may complete a full nutation due to its interaction with the rotor. Therefore, the oscillating plate and rotor can interact according to a 16:1 gear ratio. The oscillating plate can rotate precisely once for every 16 nutations. Other choices of the number of rotor teeth and oscillating teeth are also possible, which would result in different gear ratios. To balance brake module 20, the same gear ratio can be selected for both oscillating plates.

[0065] The braking module can be understood as a mechanical constraint system controlled by Euler's equations of the oscillating disc, which generates a rotating inertial reference frame. Considering Euler's z-axis equations,

[0066]

[0067] Where T is the torque, I is the moment of inertia, and ω is the angular velocity. This equation shows that, depending on the direction of the torque, the shaft will experience a counter-rotation. Torque, or kinetic energy, can enter the system and be accepted as counter-rotation. There is no stored net momentum, and all input energy can be used to change the momentum vector of the oscillating plate.

[0068] As previously described, the oscillating teeth 62 and rotor teeth 50 can be configured to provide mechanical constraints on the motion of the oscillating plates 26 and 28. Under this mechanical constraint, the relationship between the input rotational torque, the kinetic energy of one of the oscillating plates, and the rotational strain torque of the rotor 22 can be expressed as follows:

[0069]

[0070] Where θ is the angle between the swing axis 46 and the central axis 36, and T z The torque is input through the rotation of rotor 22.

[0071] There are likely two other factors: torque ratio and friction. The torque ratio is a result of Euler's requirement that for every 4θ nutations, each oscillating plate must also rotate one oscillating tooth 62. The gear ratio can be converted to the torque ratio by dividing the nutation by the rotational increment expressed by the gear ratio or the angular width of one oscillating tooth.

[0072] The torque ratio of the system can be written as

[0073]

[0074] Where GR is the gear ratio between rotor 22 and swing plates 26 and 28.

[0075] Since the frictional force is linearly related to the velocity, it is proportional to the angular velocity of the oscillating plate. The governing equations of the system can be written as follows:

[0076]

[0077] Where μ is the appropriate coefficient of friction between the oscillating tooth 62 and the rotor tooth 50.

[0078] The braking module system can also be considered based on a virtual ellipse formed by projecting a wobbling plate onto the rotor. Each wobbling plate and rotor typically has a contact point. The edges of the virtual ellipse define a continuous contact line where the ellipse intersects the wobbling plate and rotor in three dimensions. Under nutation of the wobbling plate, the shape of the virtual ellipse remains unchanged, with the wobbling plate covering four times the angle between the wobbling axis 46 and the central axis 36. As nutation occurs, only the rotating frame of the contact line defined by Euler can advance. Each point on the contact line can fall on an involute function of compound geometric twist, and this function is symmetric under both rotation and nutation, thus allowing continuous energy transfer to and from the virtual ellipse.

[0079] As the inertial frame rotates, the virtual ellipse can be static, where all points on the contact line rotate at a constant angular rate in their own horizontal plane. Points on the radial edge of the oscillating plate observed during nutation can exhibit vertical motion with constantly varying velocities. This variation in velocity may require a constant acceleration of the oscillating plate's inertia, thus absorbing the kinetic energy input to the system.

[0080] Due to the absorption of this kinetic energy, the braking power of the braking module 20 is proportional to the square of the rotor's angular velocity. In fact, the braking power is directly proportional to the square of the angular velocity because each of the first oscillating plate 26 and the second oscillating plate 28 can similarly absorb energy. Therefore, the braking module 20 can have greater braking power at higher speeds and less braking power when the rotor 22 approaches zero angular velocity.

[0081] When rotor 22 is stationary, braking module 20 has no braking power. That is, the braking module may not keep the rotor stationary. Conversely, if stator structure 24 remains stationary, braking module 20 can resist or oppose an increase in the rotor's angular velocity, and its power increases with increasing angular velocity. Therefore, braking module 20 may not cause the brake wheels to slip. Once the wheels reach zero angular velocity or steering stops, the braking module will no longer apply braking force. However, it may be advantageous to combine braking module 20 with another braking mechanism, such as a parking brake, to keep the braking system stationary.

[0082] As described above, the nutation motion of the oscillating plates 26 and 28 applies an axial force. That is, a force parallel to the central axis 36, which tends to separate the rotor 22 from the stators 30 and 32. However, the axial force in the braking module 20 is balanced by including two oscillating plates. The force applied to the rotor 22 by the first oscillating plate 26 is balanced by the force applied to the rotor by the second oscillating plate 28. The rotor 22 can thus be centered between the oscillating plates along the sleeve 34.

[0083] Similarly, the axial force applied to the first stator 30 of the stator structure 24 by the first oscillating plate 26 is balanced by the force applied to the second stator 32 of the stator structure by the second oscillating plate 28. Therefore, the stator structure 24 may not experience a net axial force in either direction along the central axis 36. This balancing force allows the brake module 20 to be installed without a thrust bearing.

[0084] B. Explanatory Disc Braking System

[0085] like Figures 4 to 5 As shown, this section describes an illustrative braking system 100. Braking system 100 is an example of the nutation braking system described above. The braking system includes a braking module 120 mounted in wheel 102. Many components of braking module 120 are the same as or similar to those of braking module 20, and therefore have similar designations.

[0086] Braking module 120 includes a rotor 122 and a stator structure 124. A first oscillating plate 126 is disposed between a first side of the rotor 122 and a first stator 130 of the stator structure 124. A second oscillating plate 128 is disposed between a second side of the rotor 122 and a second stator 132 of the stator structure 124. Each stator 130, 132 includes a flat surface 142 away from the rotor 122. Each of the rotor, oscillating plate, and stator is toothed, as described above for braking module 20. Stator structure 124 also includes a hollow cylindrical sleeve 134. The cylindrical sleeve defines a central opening 133 of braking module 120. The braking module is mounted in a wheel 102, wherein a wheel axle 104 extends through the central opening 133.

[0087] Rotor 122 is keyed to wheel 102. That is, rotor 122 includes a protrusion 123 extending from the outer edge of the rotor. The protrusion extends into a corresponding slot 105 in the rim of the wheel. As wheel 102 rotates, slot 105 engages protrusion 123 to cause rotor 122 to rotate with the wheel. However, rotor 122 and brake module 120 are free to move axially, parallel to wheel axle 104, and / or along the elongated axis of slot 105. Rotor 122 and / or brake module 120 can be described as floating and / or slidably coupled to wheel 102. In this example, rotor 122 is analogous to the rotor mount of a floating disc brake. In some examples, rotor 122 may be mounted according to other mechanisms and / or technologies known in the field of brake design.

[0088] A hydraulic caliper assembly 106 is also mounted in the wheel 102. This hydraulic caliper assembly 106 includes a pair of brake pads 108 and 109. The caliper assembly 106 is mounted on the wheel axle 104 and also extends through the central opening 133 of the brake module 120. The brake pad 109 is fixed relative to the wheel 102, while the brake pad 108 is movable along the wheel axle 104 by the hydraulic action of the caliper assembly 106. The brake pads are disposed on either side of the stator structure 124, with the fixed brake pad 109 adjacent to the second stator 132 and the movable brake pad 108 adjacent to the first stator 130.

[0089] Braking system 100 may be described as a disc brake, and braking module 120 may be similar to disc-engaged caliper assembly 106 of the disc brake. In some examples, braking module 120 may be used instead of disc brake. Caliper assemblies and / or wheels configured for hydraulic use with disc brakes may be adapted and / or retrofitted for use with braking system 100.

[0090] The braking system 100 has a braking mode and a non-braking or free mode. Figure 4 The braking system in non-braking mode is shown. The rotor 122 is approximately centered in slot 105, and the braking module 120 is spaced apart from the caliper assembly 106. Specifically, the distal surface 142 of the first stator 130 is spaced apart from the brake pad 108, and the distal surface 142 of the second stator 132 is spaced apart from the brake pad 109. In this mode, the rotor 122 rotates with the wheel 102. The oscillating plates 126, 128 and the stator structure 124 also rotate freely with the rotor and wheel.

[0091] Figure 5A braking system 100 in braking mode is shown. To transition from non-braking mode to braking mode, the brake pad 108 is moved along the axle 104 by the hydraulic action of the caliper assembly 106 to contact the distal surface 142 of the first stator 130. The brake module 120 is pushed along the axle 104, wherein the protrusion 123 moves in the slot 105 until the distal surface 142 of the second stator 132 contacts the brake pad 109.

[0092] In braking mode, stator structure 124 is slowed and / or stopped through frictional contact between brake pads 108, 109 and the first stator 130 and the second stator 132. Rotor 122 rotates with wheel 102. The difference in rotational speed between the rotor and stator induces nutation of oscillating plates 126, 128. This nutation absorbs rotational energy, thereby slowing down oscillating plates 126, 128, which in turn slows down rotor 122 and wheel 102.

[0093] Under certain conditions, traction loss may occur between the brake pads 108, 109 and the stators 130, 132. For example, slippage may occur if the torque applied to the axle 104 exceeds the product of the force exerted by the brake pads on the stator, the coefficient of friction suitable for the materials of the brake pads and stator structures, and the distance from the axis of rotation of the wheel to the contact point between the brake pads and the stator. In such cases, the brake module 120 will release the torque load. That is, the rotation of the stators 130, 132 can be limited, but not prevented. Some rotational energy of the shaft 104 can be dissipated by the nutation of the oscillating plate, while the remaining rotational energy can be transferred to the stator.

[0094] C. Explanatory Hybrid Braking System

[0095] like Figures 6 to 7 As shown, this section describes an illustrative braking system 200. Braking system 200 is an example of the nutation braking system described above. The braking system includes a braking module 220 mounted in wheel 202. Many components of braking system 200 are the same as or similar to those of braking system 100, and therefore have similar designations.

[0096] Braking module 220 includes a rotor 222 and a stator structure 224. A first oscillating plate 226 is disposed between a first side of the rotor 222 and a first stator 230 of the stator structure 224. A second oscillating plate 228 is disposed between a second side of the rotor 222 and a second stator 232 of the stator structure 224. Each of the rotor, oscillating plate, and stator is toothed, as described above for braking module 20. Stator structure 224 also includes a hollow cylindrical sleeve 234. The cylindrical sleeve defines a central opening 233 of braking module 220. The braking module is mounted in a wheel 202, wherein a wheel axle 204 extends through the central opening 233.

[0097] Rotor 222 is suspended in wheel 202, with the periphery of the rotor rigidly fixed to the wheel. As a result, wheel 202 and rotor 222 rotate together. Brake shoe 206 is mounted on axle 204 in the central opening 233 of brake module 220. This brake shoe may be hydraulically actuated, cam-driven, or include any suitable actuation mechanism. Brake lining 208 of the brake shoe is configured to engage the inner surface 244 of cylindrical sleeve 234.

[0098] Braking system 200 also includes a disc brake 270. The disc brake can be used as an auxiliary and / or parking brake to provide holding force when wheel 202 is stationary. In this example, disc brake 270 includes a single floating disc 272 that engages wheel 202 and a hydraulic caliper assembly 274 with brake pads 276. Braking system 200 may include any effective one or more auxiliary brakes, including but not limited to fixed disc brakes, drum brakes, multi-disc brakes, and / or expansion tube brakes.

[0099] Braking system 200 may be described as a drum brake or a hybrid disc and drum brake, and brake module 220 may be similar to the drum-engaged brake shoe 206 of a drum brake. In some examples, brake module 220 may be used instead of a drum brake. Brake shoes and / or wheels configured for use with drum brakes may be adapted and / or modified for use with braking system 200.

[0100] In this example, the disc brake 270 and brake module 220 are configured for independent operation. That is, each of the disc brake and brake module has a braking mode and a non-braking mode, and the modes can be changed independently. The caliper assembly 274 and brake shoe 206 are structurally linked to facilitate anchoring to a non-rotating structure, but are operated by a separate hydraulic system. In some examples, the disc brake 270 and brake module 220 may be operatively linked. For example, the caliper assembly 274 and brake shoe 206 may be actuated by a single hydraulic system.

[0101] Figure 4 The brake module 220 and disc brake 270 are shown in their unbraking mode. In the brake module 220, the lining 208 of the brake shoe 206 is spaced apart from the inner surface 244 of the cylindrical sleeve 234. In the unbraking mode of the brake module, the swing plates 226, 228 and the stator structure 224 rotate freely with the rotor 222 and the wheel 202.

[0102] Figure 5 The brake module 220 and disc brake 270 are shown in braking mode. In order to... Figure 4The free mode conversion shown allows the brake module 220 to be initially placed in braking mode. Once the wheel 202 has slowed sufficiently, the disc brake 270 can be placed in braking mode to bring the wheel to a complete stop and keep it stationary. When the brake module 220 changes to braking mode, the brake shoe 206 expands to bring the liner 208 into contact with the inner surface 244 of the cylindrical sleeve 234.

[0103] In the braking mode of the braking module, the stator structure 224 is slowed down and / or stopped through frictional contact between the liner 208 and the inner surface 244. The rotor 222 rotates with the wheel 202. The difference in rotational speed between the rotor and the stator induces nutation of the oscillating plates 226 and 228. This nutation absorbs rotational energy, thereby slowing down the oscillating plates 226 and 228, which in turn slows down the rotor 222 and the wheel 202.

[0104] D. Explanatory method for brake wheels

[0105] This section describes the steps of an illustrative method 300 for dissipating rotational energy using a braking system; see also Figure 8 The aspects of the braking system described above can be utilized in the method steps described below. Where appropriate, references may be made to components and systems that can be used to perform each step. These references are for illustrative purposes only and are not intended to limit the possible ways in which any particular step of the method can be performed.

[0106] Figure 8 This is a flowchart illustrating the steps performed in an illustrative method, and may not list the complete process or all steps of the method. Although described below and Figure 8 The steps of method 300 are shown, but not all of these steps need to be performed, and in some cases, they may be performed simultaneously or in a different order than that shown.

[0107] In step 310, the method includes connecting a drive shaft to a braking module. The braking module may be rotatably connected to the drive shaft, directly and / or indirectly. For example, the rotor of the braking module may be rigidly fixed to the drive shaft via one or more spokes. In another example, the braking module may be connected to the axle of a wheel driven by the drive shaft, may be keyed to the wheel, and / or may be connected to the wheel via a spline interface. The drive shaft may be included in a vehicle such as an aircraft, automobile, or train, or may be included in the engine of other machines such as a generator or manufacturing equipment. In some examples, step 310 may include connecting the braking module to another rotating body that requires braking.

[0108] Step 312 of the method includes rotating a drive shaft. The drive shaft can be rotated by any effective means, including but not limited to a combustion engine, an electric motor, a pneumatic motor, and / or a connection device to another rotating body. Step 314 includes rotating a braking module, which can be achieved through the connection device between the drive shaft and the braking module created in step 310.

[0109] Sub-step 316 of step 314 includes the rotor of the rotary braking module. The rotor can be rotatably connected to the drive shaft in any effective manner. That is, the rotor can rotate together with the drive shaft, and acceleration or deceleration of the drive shaft can cause a corresponding acceleration of the rotor. Similarly, deceleration of the rotor can cause a corresponding deceleration of the drive shaft.

[0110] Sub-step 318 of step 314 includes a pair of oscillating plates of a rotary braking module. Each oscillating plate may include a set of teeth that engage with a corresponding set of teeth on a corresponding side of the rotor. The contact between the rotor teeth and the teeth of the oscillating plates causes the oscillating plates to rotate with the rotor.

[0111] Substep 320 of step 314 involves rotating a pair of stator structures. Each stator structure may include a set of teeth that engage with a corresponding set of teeth on a corresponding one of a pair of oscillating plates. The contact between the teeth of the oscillating plates and the teeth of the stator causes the stator to rotate with the oscillating plates and the rotor.

[0112] In step 322, the method includes inducing nutation of the oscillating plates. The oscillating plates may be angled relative to the rotor and stator. Each oscillating plate may also have a different number of teeth than the corresponding set of teeth on the rotor and / or the corresponding stator. The number of teeth may differ by one, or by a similarly small number. The teeth of the oscillating plates, rotor, and / or stator may be shaped to reduce eccentric motion and allow nutation without constraint.

[0113] Sub-step 324 includes slowing down the stator structure. The stator structure may be slowed down relative to the rotor such that the contact force between each stator tooth and the corresponding oscillating plate tooth causes the oscillating plate to nutate. The stator structures may be slowed down simultaneously and equally such that the oscillating plates begin nutating simultaneously and continue nutating at equal rates.

[0114] Optional sub-step 326 of sub-step 324 includes engaging the brake pad with the outer side of each stator structure. Each stator may include a flat surface such that the brake pad can frictionally contact the stator during rotation, thereby slowing the stator down. For example, the axial surface of each stator opposite the corresponding oscillating plate may be in contact. In some examples, the brake module may be configured for engagement via a hydraulic disc brake caliper.

[0115] Optional sub-step 328 of sub-step 324 includes engaging the brake shoe with the hollow cylinder of the brake module. The stator structure pair can be rigidly connected via the hollow cylinder. For example, a cylindrical sleeve can extend through the central aperture of the stator structure, the oscillating plate, and the rotor. The brake shoe disposed inside the sleeve can make frictional contact with the sleeve, thereby slowing down the sleeve and the connected stator structure.

[0116] Sub-step 330 of step 322 involves balancing the axial forces between the oscillating plates. Although the orientations are opposite, the pair of oscillating plates can be matched. Therefore, under nutation, the oscillating plates can generate equal and opposing axial forces. Axial movement and / or floating of the rotor can be permitted, such that the balancing axial forces of the oscillating plates tend to center the rotor. The stator structure can be rigidly connected as a structure, such that the axial forces of the oscillating plates do not cause net motion of the structure.

[0117] Step 332 of method 300 includes slowing down the drive shaft. As described above, the rotor is rotatably linked to the drive shaft such that slowing down the rotor can cause a corresponding slowing down of the drive shaft. Sub-step 334 of step 332 includes slowing down the rotor with the oscillating plate. The rotor can then slow down the drive shaft.

[0118] In sub-step 324, the nutation of the oscillating plate caused by the deceleration of the stator structure can absorb rotational energy. Therefore, with the absorption of energy, the rotational speed of the oscillating plate may decrease. The interaction between the teeth of the oscillating plate and the corresponding teeth of the rotor can then slow down the rotor.

[0119] Method 300, particularly steps 312 to 332, can be repeated throughout the operation of a machine or vehicle including a braking module. Typically, steps 322 to 332 of the method are performed when the drive shaft is not driven or under torque load. That is, the brake may not be applied simultaneously with the drive shaft. In some examples, the braking module may function as a speed limiter, emergency brake, or other mechanism. In such examples, steps 322 to 332 can be performed simultaneously with the drive shaft, for example, to limit the shaft speed and / or absorb excess rotational energy.

[0120] Illustrative combinations and other examples

[0121] This section describes additional aspects and features of the braking system, which are presented without limitation as a series of paragraphs, some or all of which may be designated by alphanumeric means for clarity and efficiency. Each of these paragraphs may be combined with one or more other paragraphs in any suitable manner, and / or with disclosures elsewhere in this application. Some of the following paragraphs explicitly refer to and further limit the other paragraphs, providing examples of suitable combinations, but not limitation thereto.

[0122] A. A braking system, comprising:

[0123] A rotor, rotatably connected to a shaft configured to rotate about a central axis, the rotor having a first side opposite to the second side.

[0124] The first stator structure on the first side of the rotor and the second stator structure on the second side of the rotor, and

[0125] A first oscillating plate between a first side of the rotor and a first stator structure, and a second oscillating plate between a second side of the rotor and a second stator structure, wherein each of the first oscillating plate and the second oscillating plate is configured to nutate when the first stator structure and the second stator structure reduce their rotational speed compared to the rotational speed of the rotor.

[0126] A1. The braking system according to A, wherein the first stator structure is rigidly connected to the second stator structure via a hollow cylindrical sleeve.

[0127] A2. The braking system according to A1 further includes:

[0128] The brake shoe is configured to engage frictionally with the inner surface of the hollow cylindrical sleeve, thereby slowing down the first stator structure and the second stator structure and inducing nutation of the first oscillating plate and the second oscillating plate.

[0129] A3. The braking system according to any one of A to A2 further includes:

[0130] A brake pad is configured to simultaneously frictionally engage the first stator structure and the second stator structure, thereby inducing nutation of the first oscillating plate and the second oscillating plate.

[0131] A4. The braking system according to any one of A to A3, wherein the axle is a wheel axle connected to a wheel on a vehicle.

[0132] A5. The braking system according to A4, wherein wheels are configured for the landing and takeoff of the aircraft.

[0133] A6. The braking system according to any one of A to A5, wherein each stator structure has a shoulder and adjacent swing plates are axially aligned by contact with the shoulder.

[0134] A7. The braking system according to any one of A to A6, wherein the force parallel to the central axis caused by the nutation of the first oscillating plate is balanced by the force caused by the nutation of the second oscillating plate.

[0135] A8. The braking system according to any one of A to A7, wherein the rotor, the first oscillating plate and the second oscillating plate, and the first stator structure and the second stator structure move without support from bearings.

[0136] A9. The braking system according to any one of A to A8, wherein each sway plate has an inner side and an outer side, and each sway plate has teeth on the inner side and teeth on the outer side, the teeth on the inner side being larger than the teeth on the outer side.

[0137] A10. The braking system according to A9, wherein each stator has an inner side and teeth on the inner side, the number of teeth on the inner side of each stator being equal to the number of teeth on the outer side of each oscillating plate.

[0138] A11. The braking system according to A9 or A10, wherein the rotor has an equal number of teeth on the first and second sides, and the number of teeth on each side of the rotor differs by one from the number of teeth on the inner side of each oscillating plate.

[0139] A12. The braking system according to any one of A to A11, wherein each swing plate is arranged at an angle relative to the central axis.

[0140] A13. The braking system according to any one of A to A12, wherein the rotor is rigidly connected to the shaft.

[0141] B. A braking system, comprising:

[0142] First stator gear;

[0143] The second stator gear is rigidly connected to the first stator gear;

[0144] The rotor gear is disposed between the first stator gear and the second stator gear;

[0145] A first oscillating gear, which engages a first stator gear and a rotor gear; and

[0146] The second oscillating gear engages the second stator gear and the rotor gear;

[0147] The rotation of the rotor gear causes the first oscillating gear, the second oscillating gear, the first stator gear, and the second stator gear to rotate; and

[0148] The slowing down of the first and second stator gears relative to the rotor gears induces nutation in the first and second oscillating gears, and the nutation of the first and second oscillating gears slows down the rotor gears.

[0149] B1. The braking system according to B, wherein the periphery of the rotor gear is rigidly connected to the axle.

[0150] B2. The braking system according to B or B1 further includes a brake pad configured to selectively contact the flat outer surface of each of the first stator gear and the second stator gear.

[0151] B3. The braking system according to any one of B to B2 further includes a hollow cylindrical sleeve connecting the first stator gear and the second stator gear, and brake shoes configured to selectively contact the inner surface of the hollow cylindrical sleeve.

[0152] B4. The braking system according to any one of B to B3, wherein the first stator gear, the second stator gear, the rotor gear, the first oscillating gear, and the second oscillating gear are annular.

[0153] B5. The braking system according to any one of B to B4, wherein the rotor gear has a rotation axis, the first oscillating gear has a first oscillating axis, the second oscillating gear has a second oscillating axis, and the first oscillating axis and the second oscillating axis are each arranged at a certain tilt angle relative to the rotation axis.

[0154] B6. The braking system according to any one of B to B5, wherein each stator gear includes a shoulder, and each engaging oscillating gear is axially aligned by contact with the shoulder.

[0155] C. A method for dissipating rotational energy in a braking system, comprising:

[0156] It provides a drive shaft connected to the rotor and a pair of swing plates engaging on the opposite side of the rotor, each swing plate having an outer side engaging with the stator structure.

[0157] The drive shaft, rotor, a pair of oscillating plates, and stator structure rotate at the same speed.

[0158] Nutting of a pair of oscillating plates is induced by slowing down the rotational speed of the stator structure.

[0159] C1. According to the method described in C, the drive shaft is connected to the wheels of the aircraft.

[0160] C2. The method according to C or C1, wherein each stator structure has an outer side, and the induction step includes frictionally engaging the brake pad with the outer side of each stator structure.

[0161] C3. The method according to any one of C to C2, wherein the stator structure is connected by a hollow cylinder, and the induction step includes frictionally engaging the brake shoes with the inner surface of the hollow cylinder.

[0162] C4. The method according to any one of C to C3, wherein the induction step comprises balancing the axial force from one of the pair of oscillating plates with the axial force from the other of the pair of oscillating plates.

[0163] C5. The method according to any one of C to C4, wherein the rotation and induction steps are performed without support from the bearing.

[0164] C6. The method according to any one of C to C5 further includes slowing down the drive shaft by causing the rotor to slow down with a pair of oscillating plates.

[0165] Advantages, features and benefits

[0166] The different examples of braking systems described herein offer several advantages compared to known solutions for braking rotational motion. For example, the illustrative examples described herein allow most of the rotational energy to be dissipated without generating heat output.

[0167] In addition, among other benefits, the illustrative examples described herein allow for passive anti-slip functionality by automatically releasing the torque load in the event of a loss of traction.

[0168] In addition, among other benefits, the illustrative examples described herein can be easily added to existing vehicle designs or retrofitted to replace existing braking systems.

[0169] In addition, among other benefits, the illustrative examples described herein allow for the realization of balanced systems without the use of bearings.

[0170] No known system or device can perform these functions, especially in such a small size. Therefore, the illustrative examples described herein are particularly useful for aircraft and other vehicles that require lightweight and compact high-performance braking systems. However, not all examples described herein offer the same advantages or to the same degree.

[0171] in conclusion

[0172] The disclosure set forth above may cover a number of different examples with independent utility. Although each of them has been disclosed in its preferred form(s), the specific examples disclosed and illustrated herein should not be considered limiting, as many variations are possible. With regard to the use of certain headings within this disclosure, such headings are for organizational purposes only. The subject matter of this disclosure includes all novel and non-obvious combinations and sub-combinations of the various elements, features, functions, and / or properties disclosed herein. The following claims specifically point to certain combinations and sub-combinations considered novel and non-obvious. Other combinations and sub-combinations of features, functions, elements, and / or properties may be claimed in applications claiming priority to this or related applications. Such claims, whether broader, narrower, identical, or different in scope from the original claims, are also considered to be included within the subject matter of this disclosure.

Claims

1. A braking system (100, 200), comprising: Shafts (104, 204), which are configured to rotate about the central axis (36), Rotors (22, 122, 222) are rotatably connected to the shafts (104, 204), and the rotors have a first side (38) opposite to the second side (39). The first stator structure (30, 130, 230) on the first side of the rotor and the second stator structure (32, 132, 232) on the second side of the rotor. A friction braking mechanism configured to slow down the rotation of the first stator structure and the second stator structure, and A first oscillating plate (26, 126, 226) is located between and engages with the first side of the rotor and the first stator structure, and a second oscillating plate (28, 128, 228) is located between and engages with the second side of the rotor and the second stator structure, wherein: The first stator structure is rigidly connected to the second stator structure, and Each of the first and second oscillating plates is configured to nutate when the rotational rates of the first and second stator structures are reduced by the friction braking mechanism.

2. The braking system (100, 200) according to claim 1, wherein the first stator structure (30, 130, 230) is rigidly connected to the second stator structure (32, 132, 232) by means of a hollow cylindrical sleeve (34, 134, 234).

3. The braking system (100, 200) according to claim 2, wherein the friction braking mechanism comprises: Brake shoe (206) is configured to frictionally engage the inner surface (44, 244) of the hollow cylindrical sleeve (34, 134, 234), thereby slowing down the rotation of the first stator structure (30, 130, 230) and the second stator structure (32, 132, 232) and inducing nutation of the first oscillating plate (26, 126, 226) and the second oscillating plate (28, 128, 228).

4. The braking system (100, 200) according to claim 1, wherein the friction braking mechanism comprises: Brake pads (108, 109) are configured to simultaneously frictionally engage the first stator structure (30, 130, 230) and the second stator structure (32, 132, 232), thereby inducing nutation of the first oscillating plate (26, 126, 226) and the second oscillating plate (28, 128, 228).

5. The braking system (100, 200) according to claim 1, wherein the axle (104, 204) is a wheel axle connected to a wheel (102, 202) on a vehicle.

6. The braking system (100, 200) according to claim 5, wherein the wheel is configured for landing and takeoff of the aircraft.

7. The braking system (100, 200) according to any one of claims 1 to 6, wherein each of the first stator structure (30, 130, 230) and the second stator structure (32, 132, 232) has a shoulder (35), the first oscillating plate (26, 126, 226) is axially aligned by contact with the shoulder of the first stator structure (30, 130, 230) and the second oscillating plate (28, 128, 228) is axially aligned by contact with the shoulder of the second stator structure (32, 132, 232).

8. The braking system (100, 200) according to any one of claims 1 to 6, wherein the force parallel to the central axis (36) generated by the nutation of the first oscillating plate (26, 126, 226) is balanced by the force generated by the nutation of the second oscillating plate (28, 128, 228).

9. The braking system (100, 200) according to any one of claims 1 to 6, wherein the rotor (22, 122, 222), the first oscillating plate (26, 126, 226) and the second oscillating plate (28, 128, 228), and the first stator structure (30, 130, 230) and the second stator structure (32, 132, 232) move without support from bearings.

10. The braking system (100, 200) according to any one of claims 1 to 6, wherein: Each of the first oscillating plate (26, 126, 226) and the second oscillating plate (28, 128, 228) has an inner side (58) and an outer side (60), each of the first oscillating plate (26, 126, 226) and the second oscillating plate (28, 128, 228) has a tooth (62) on the inner side and a tooth (64) on the outer side, and the tooth on the inner side is larger than the tooth on the outer side.

11. A braking system, comprising: First stator gear; The second stator gear is rigidly connected to the first stator gear; A rotor gear is arranged between the first stator gear and the second stator gear; A first oscillating gear engages the first stator gear and the rotor gear; The second oscillating gear engages the second stator gear and the rotor gear; as well as A friction braking mechanism configured to slow down the rotation of the first stator gear and the second stator gear. in: The rotation of the rotor gear causes the first oscillating gear, the second oscillating gear, the first stator gear, and the second stator gear to rotate; Slowing down the first stator gear and the second stator gear relative to the rotor gear will induce nutation in the first oscillating gear and the second oscillating gear, and The nutation of the first oscillating gear and the second oscillating gear will slow down the rotor gear.

12. The braking system of claim 11, wherein the periphery of the rotor gear is rigidly connected to the axle.

13. The braking system of claim 11, wherein the first stator gear, the second stator gear, the rotor gear, the first oscillating gear, and the second oscillating gear are annular.

14. The braking system according to claim 11, wherein: The rotor gear has a rotation axis. The first oscillating gear has a first oscillating axis. The second oscillating gear has a second oscillating axis, and Each of the first swing axis and the second swing axis is inclined relative to the rotation axis.

15. A method for dissipating rotational energy in a braking system (100, 200), the method comprising the following steps: A drive shaft (104, 204) is provided connected to the rotor (22, 122, 222) and a pair of swing plates (26, 28, 126, 128, 226, 228) engaging the opposite sides (38, 39) of the rotor, each swing plate having an outer side (60) engaging the stator structure (30, 32, 130, 132, 230, 232). The drive shaft, the rotor connected to the drive shaft, a pair of oscillating plates, and a pair of stator structures rotate at a rotational speed, wherein each of the pair of oscillating plates engages a corresponding side of the rotor, and each of the pair of stator structures engages the outer side of a corresponding oscillating plate of the pair of oscillating plates. The nutation of the pair of oscillating plates is induced by slowing down the rotational speed of the pair of stator structures using a friction braking mechanism.

16. The method of claim 15, wherein the drive shaft (104, 204) is connected to the wheels (102, 202) of the aircraft.

17. The method of claim 15, wherein: Each of the pair of stator structures (30, 32, 130, 132, 230, 232) has an outer side (42, 142), and The step of inducing the nutation of the pair of oscillating plates includes frictionally engaging the respective brake pads (108, 109) with the outer side of the respective one of the pair of stator structures.

18. The method according to any one of claims 15 to 17, wherein: The stator structures in the pair of stator structures (30, 32, 130, 132, 230, 232) are interconnected by hollow cylinders (34, 134, 234), and The step of inducing the nutation of the pair of oscillating plates includes frictionally engaging the brake shoe (206) with the inner surface (44, 204) of the hollow cylinder.

19. The method according to any one of claims 15 to 17, wherein the step of inducing the nutation of the pair of oscillating plates comprises balancing the axial force from one of the oscillating plates (26, 126, 226) with the axial force from the other oscillating plate (28, 128, 228) of the pair of oscillating plates.

20. The method according to any one of claims 15 to 17, further comprising slowing the drive shaft by slowing the rotor (22, 122, 222) using the pair of oscillating plates (26, 28, 126, 128, 226, 228), wherein each of the pair of oscillating plates is nutating.

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