Configurable seamless gearbox and electromechanical system

Abstract

Configurable seamless manual transmission (100, 506), including: - an input shaft (102, 508) configured to receive an input torque from a motor (502); - an output shaft (104, 510) configured to provide an output torque; - a gear assembly (106) that engages between the input shaft and the output shaft and is configured to transmit a torque from the input shaft to the output shaft, the gear assembly comprising: - a first gear element coupled to the input shaft (202), - a second gear element (108), - a third gear element (118) configured to mesh with the first gear element and the second gear element, and - a fourth gear element (110A, 110B) configured to rotatably mount the third gear element on it; - a first coupling (112) arranged with the input shaft and the gear assembly, wherein the first coupling is configured to variably engage and disengage the fourth gear element of the gear assembly in order to transmit the input torque from the input shaft to the gear assembly; and - a second clutch (114) arranged with the gear assembly and the output shaft, wherein the second clutch is configured to variably engage and disengage the second gear element of the gear assembly to transmit the input torque from the gear assembly to the output shaft, wherein the first clutch and the second clutch selectively engage and disengage the fourth gear element and the second gear element respectively simultaneously to provide variable transmission ratios to provide seamless torque from the input shaft to the output shaft.

Description

TECHNICAL AREA

[0001] The present disclosure relates generally to electromechanical cylinders and in particular to configurable seamless transmissions. The present disclosure also relates to an electromechanical system that uses the configurable seamless transmission. BACKGROUND

[0002] In general, mechanical systems in the automotive industry and other goods manufacturing and processing industries require precise and wide-ranging speed and force to operate the machinery. The desired force and speed range is typically achieved using linear actuators. A linear actuator is a mechanical device that converts a form of energy, such as electrical energy or pressure, into the linear motion of a component within it (such as a shaft or piston), with the component configured to move along a straight line. Linear actuators are widely used in mechanical systems for handling, lifting, lowering, pushing, pressing, or tilting.Linear actuators can typically be operated using electricity (referred to as electric, piezoelectric, or electromechanical actuators), pressurized fluid (referred to as hydraulic actuators), or compressed air (referred to as pneumatic actuators). It is understood that linear actuators are available in several configurations to suit any possible application, environment, or setting.

[0003] Traditionally, hydraulic and pneumatic actuators are largely used to provide pulling, pushing, or combined applications. Hydraulic actuators consist of a hollow cylinder with a piston inside, and an unbalanced pressure of a fluid is applied to the piston to generate a force that moves an attached external object. In particular, fluids are nearly incompressible, so hydraulic actuators provide a controlled and precise linear displacement of the piston. Similarly, pneumatic actuators consist of a hollow cylinder with a piston inside and use compressed air to pressurize the piston to generate a force that moves an attached external object. However, pneumatic actuators are not suitable for heavy-duty machinery or applications involving significant weight.Furthermore, hydraulic and pneumatic actuators are more susceptible to pressure loss and therefore less efficient.

[0004] Recently, electromechanical actuators coupled to one or more motors have been widely used as linear actuators. These actuators typically employ motors that convert energy into torque, which is then converted into a linear displacement of a component (such as a shaft) attached to the motor. In operation, electromechanical actuators consist of a shaft connected to the motor and a gearbox comprising a variety of gears. The gears are arranged to provide the torque to rotate the shaft. The high-speed rotation is reduced by the gearbox to increase the torque generated by rotating the shaft. However, electromechanical actuators are often inefficient when rapid operational processes require both fast and slow movements.Furthermore, a single fixed gear ratio is insufficient to enable fast and / or slow movement of the electromechanical actuator. In this context, the number or size of the electric motors could be increased. However, increasing the number or size of the electric motors increases installation costs and makes the device bulkier. Additionally, with conventional electromechanical actuators, it may be necessary to stop the motor to change the gear ratio and thus provide continuous torque.

[0005] Therefore, in light of the preceding discussion, there is a need to overcome the aforementioned disadvantages of conventional mechanical and hydraulic systems. SUMMARY

[0006] The objective of this disclosure is to provide a configurable seamless transmission. This disclosure also aims to provide an electromechanical system. Furthermore, it aims to provide a solution to the existing problem of controlling the motion of the drive shafts. One objective of this disclosure is to provide a solution that at least partially overcomes the problems encountered in the prior art and provides an efficient and robust electromechanical system for supplying continuous torque during frequent gear changes.

[0007] In one respect, an embodiment of the present disclosure provides a configurable seamless transmission comprising: - an input shaft configured to receive input torque from a motor; - an output shaft configured to provide output torque; - a gear assembly that engages between the input shaft and the output shaft and is configured to transmit torque from the input shaft to the output shaft, the gear assembly comprising: - a first gear element that is coupled to the input shaft, - a second gear element, - a third gear element configured to mesh with the first gear element and the second gear element, and - a fourth gear element configured to rotatably mount the third gear element on it; - a first coupling arranged with the input shaft and the gear assembly, wherein the first coupling is configured to variably engage and disengage the fourth gear element of the gear assembly in order to transmit the input torque from the input shaft to the gear assembly; and - a second coupling arranged with the gear assembly and the output shaft, wherein the second coupling is configured to variably engage and disengage the second gear element of the gear assembly in order to transmit the input torque from the gear assembly to the output shaft, wherein the first clutch and the second clutch selectively engage and disengage the fourth gear element and the second gear element respectively simultaneously to provide variable transmission ratios to supply seamless torque from the input shaft to the output shaft.

[0008] In another respect, an embodiment of the present disclosure provides an electromechanical system comprising: - a motor configured to provide input torque; - an electromechanical continuously variable cylinder to absorb an output torque; - a configurable seamless transmission mechanically coupled to the engine via an input shaft to receive the input torque from it, and coupled to the electromechanical continuously variable cylinder via the output shaft to transmit the output torque therein, wherein the configurable seamless transmission comprises: - a gear assembly that engages between the input shaft and the output shaft and is configured to transmit torque from the input shaft to the output shaft, the gear assembly comprising: - a first gear element that is coupled to the input shaft, - a second gear element, - a third gear element configured to mesh with both the first gear element and the second gear element, and - a fourth gear element configured to rotatably mount the third gear element on it; - a first coupling arranged with the input shaft and the gear assembly, wherein the first coupling is configured to variably engage and disengage the fourth gear element of the gear assembly in order to transmit the input torque from the input shaft to the gear assembly; and - a second coupling arranged with the gear assembly and the output shaft, wherein the second coupling is configured to variably engage and disengage the second gear element of the gear assembly in order to transmit the input torque from the gear assembly to the output shaft, wherein the first clutch and the second clutch selectively engage and disengage the fourth gear element and the second gear element, respectively, simultaneously to provide variable transmission ratios for the provision of seamless torque from the input shaft to the output shaft; and - a control unit configured to control: - to start, stop, and adjust the speed of the input shaft of the engine; and - the first clutch and the second clutch for selective engagement and disengagement of the gear arrangement.

[0009] Embodiments of the present disclosure substantially eliminate, or at least partially address, the aforementioned problems of the prior art and provide a configurable seamless transmission. The configurable seamless transmission is designed as an energy-efficient, environmentally friendly, and practical electromechanical system that is easy to install. Furthermore, the configurable seamless transmission provides a safer working environment and improved connectivity with automation systems. In addition, the configurable seamless transmission exhibits a lower noise level. Finally, the configurable seamless transmission is precise, thus enabling easy control of the shaft movement.Additionally, the configurable seamless transmission provides a wider range of speed and power variations while delivering continuous torque without requiring the motor to stop. Furthermore, the configurable seamless transmission reduces the number and size of electric motors used in conventional mechanical and electromechanical systems, thereby reducing the overall weight of the machine and enabling a wider range of implementations.

[0010] Additional aspects, advantages, features and functions of the present disclosure would become apparent from the drawings and the detailed description of the illustrative embodiments, which are interpreted in conjunction with the accompanying claims that follow.

[0011] It is understood that features of the present disclosure are susceptible to being combined in various combinations without deviating from the scope of protection of the present disclosure as defined by the attached claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The above summary and the following detailed description of illustrative embodiments will be more easily understood when read in conjunction with the accompanying drawings. For the purpose of illustrating the present disclosure, exemplary constructions of the disclosure are shown in the drawings. However, the present disclosure is not limited to the specific methods and instrumentation disclosed herein. Furthermore, the person skilled in the art will understand that the drawings are not to scale. Where possible, identical elements have been indicated with identical reference numerals.

[0013] Embodiments of the present disclosure are now described exclusively by way of example with reference to the following diagrams, wherein: Fig. 1A is a schematic illustration of a configurable seamless transmission according to an embodiment of the present disclosure; Fig. 1B is a cross-sectional view of a configurable seamless transmission according to an embodiment of the present disclosure; Fig. 2A is an exploded view of a gear assembly according to an embodiment of the present disclosure; Fig. 2B is a schematic illustration of a gear arrangement according to an embodiment of the present disclosure; Fig. 2C is a cross-sectional view of a gear arrangement according to an embodiment of the present disclosure; Fig. 3 a cross-sectional view of a configurable seamless transmission in a closed configuration according to an embodiment of the present disclosure; Fig. 4 a cross-sectional view of a configurable seamless transmission in a closed configuration according to another embodiment of the present disclosure; Fig. 5 is a block diagram of an electromechanical system according to an embodiment of the present disclosure; Fig. 6 a graphical representation of the acceleration parameters of an electromechanical system according to an embodiment of the present disclosure; Fig. 7 a graphical representation of the delay parameters of an electromechanical system according to an embodiment of the present disclosure; and Fig. 8 is a graphical representation of the change in the transmission ratio based on the rotational speed of a motor and the instantaneous torque at the input shaft of an electromechanical system according to an embodiment of the present disclosure.

[0014] In the accompanying drawings, an underlined number is used to represent an element above which the underlined number is positioned, or an element adjacent to which the underlined number is attached. An ununderlined number refers to an element identified by a line connecting the ununderlined number to the element. When a number is ununderlined and accompanied by an arrow, the ununderlined number is used to identify a general element to which the arrow points. DETAILED DESCRIPTION OF EXECUTION FORMS

[0015] The following detailed description illustrates embodiments of the present disclosure and ways in which they can be implemented. Although some ways of carrying out the present disclosure have been disclosed, the person skilled in the art would recognize that other embodiments for carrying out or practicing the present disclosure are also possible.

[0016] In one respect, an embodiment of the present disclosure provides a configurable seamless transmission comprising: - an input shaft configured to receive input torque from a motor; - an output shaft configured to provide output torque; - a gear assembly that engages between the input shaft and the output shaft and is configured to transmit torque from the input shaft to the output shaft, the gear assembly comprising: - a first gear element that is coupled to the input shaft, - a second gear element, - a third gear element configured to mesh with the first gear element and the second gear element, and - a fourth gear element configured to rotatably mount the third gear element on it; - a first coupling arranged with the input shaft and the gear assembly, wherein the first coupling is configured to variably engage and disengage the fourth gear element of the gear assembly in order to transmit the input torque from the input shaft to the gear assembly; and - a second coupling arranged with the gear assembly and the output shaft, wherein the second coupling is configured to variably engage and disengage the second gear element of the gear assembly in order to transmit the input torque from the gear assembly to the output shaft, wherein the first clutch and the second clutch selectively engage and disengage the fourth gear element and the second gear element respectively simultaneously to provide variable transmission ratios to supply seamless torque from the input shaft to the output shaft.

[0017] In another respect, an embodiment of the present disclosure provides an electromechanical system comprising: - a motor configured to provide input torque; - an electromechanical continuously variable cylinder to absorb an output torque; - a configurable seamless transmission mechanically coupled to the engine via an input shaft to receive the input torque from it, and coupled to the electromechanical continuously variable cylinder via the output shaft to transmit the output torque therein, wherein the configurable seamless transmission comprises: - a gear assembly that engages between the input shaft and the output shaft and is configured to transmit torque from the input shaft to the output shaft, the gear assembly comprising: - a first gear element that is coupled to the input shaft, - a second gear element, - a third gear element configured to mesh with both the first gear element and the second gear element, and - a fourth gear element configured to rotatably mount the third gear element on it; - a first coupling arranged with the input shaft and the gear assembly, wherein the first coupling is configured to variably engage and disengage the fourth gear element of the gear assembly in order to transmit the input torque from the input shaft to the gear assembly; and - a second coupling arranged with the gear assembly and the output shaft, wherein the second coupling is configured to variably engage and disengage the second gear element of the gear assembly in order to transmit the input torque from the gear assembly to the output shaft, wherein the first clutch and the second clutch selectively engage and disengage the fourth gear element and the second gear element, respectively, simultaneously to provide variable transmission ratios for the provision of seamless torque from the input shaft to the output shaft; and - a control unit configured to control: - to start, stop, and adjust the speed of the input shaft of the engine; and - the first clutch and the second clutch for selective engagement and disengagement of the gear arrangement.

[0018] The present disclosure provides the aforementioned configurable seamless transmission and the aforementioned electromechanical system. The electromechanical system utilizes the configurable seamless transmission, which is configured to provide variable gear ratios and a resulting continuous torque. In this respect, the configurable seamless transmission comprises at least two clutches that can be variably engaged and disengaged to achieve a wider speed range over the continuous torque without having to stop the engine. The engagement and disengagement of the at least two clutches allows the gear ratios to be smoothly changed, thereby altering the speed and acceleration of the output shaft.Advantageously, the configurable seamless transmission provides at least four gear ratios to selectively change torque and offer the benefits of an emergency braking system without requiring an additional braking system. Additionally, the configurable seamless transmission provides improved connectivity to automation systems. Furthermore, the configurable seamless transmission features a simple design with fewer components, resulting in lower power consumption and making the electromechanical system energy-efficient and environmentally friendly.

[0019] The term "gearbox" as used herein refers to a fully integrated mechanical device configured to transmit mechanical energy from a rotating power source to a driven part by increasing or decreasing the torque while simultaneously decreasing or increasing the rotational speed of the driven part. Specifically, the gearbox is an arrangement of gears and gear pairs arranged in a geometry configured to provide variable speed and variable torque from a rotating power source, such as the motor, to an output source, such as the output shaft. Typically, the gears arranged in the gearbox can be of any number or type, such as bevel gears, spiral bevel gears, worm gears, and planetary gears (or epicyclic gears), mounted on a shaft rotatably supported by a rolling element, such as a bearing.The term "configurable seamless transmission," as used herein, refers to a transmission configured to provide smooth shifting, such as from a high to a low gear and vice versa, while increasing or decreasing torque or decreasing or increasing the rotational speed of the driven component. The advantage of a configurable seamless transmission is that the driven component experiences no interruption in torque flow. Thus, the configurable seamless transmission can be used in a variety of different applications, such as wind turbines, agriculture, industry, construction, mining, and the automotive industry.

[0020] The term "input shaft," as used herein, refers to an elongated element whose proximal end is operationally coupled to the motor and whose distal end is operationally coupled to the gear assembly. Generally, the shaft transmits power between the power source and the power-consuming working machinery via other intermediate components. For example, the shaft may be a countershaft, a driveshaft, or an overhead shaft used for torque transmission. Specifically, the input shaft is configured herein to transmit the input torque from the motor to the gear assembly. The term "input torque" refers to a force that tends to cause the input shaft to rotate, as about an axis, in order to transmit the input torque, via an intermediate gear assembly and the first and second clutches, to the output shaft.Optionally, the input shaft can be a solid or hollow rod with a cylindrical, cuboid or any other polygonal shape.

[0021] Optionally, the motor can be an electric motor. Typically, an electric motor converts electrical energy into mechanical energy. Furthermore, electric motors can be driven by direct current (DC) sources, such as batteries or rectifiers, or by alternating current (AC) sources, such as a power grid, inverter, or electric generators. Electric motors usually generate a linear force or a rotational force, i.e., a torque, which is intended to rotate the drive component coupled to them, such as the input shaft. Generally, the electric motor is designed for continuous rotation and to provide torque over a considerable distance, which is covered by the configurable seamless gearbox and the power-receiving machine.Typically, electric motors for electromechanical systems are energy-efficient, lightweight, robust, mechanically simple, and inexpensive to manufacture. Optionally, smaller electric motors designed for electromechanical systems can also be more easily used for other purposes. Furthermore, the electric motor can provide instantaneous and constant torque at any speed within the electromechanical system, can be powered by electricity from renewable sources, and contributes little or nothing to the greenhouse effect. In addition to an electric motor, a hydraulic motor, a geared motor, a pneumatic motor, and similar components can also be selected, but are not limited to these options.

[0022] The term "output shaft," as used herein, refers to an elongated element whose proximal end is operationally coupled to the gear assembly and whose distal end is operationally coupled to the power-receiving machine to provide it with the required output torque. The term "output torque," as used herein, refers to a force that tends to cause the output shaft to rotate, as about an axis, in order to transmit the output torque from the gear assembly and the secondary coupling to the power-receiving machine. Optionally, the output shaft may be a solid or hollow bar of cylindrical, cuboid, or any other polygonal shape. It is understood that the shape and size of the input shaft and the output shaft may be the same or different.

[0023] The term "gear assembly," as used herein, refers to an arrangement of gears and gear pairs in a transmission, such as the configurable seamless transmission, to modulate the input torque from the input shaft to the output shaft, such as by increasing, decreasing, or maintaining it. Here, the gear assembly is implemented as a planetary gear system (or epicyclic gear system). Typically, the planetary gear system (or epicyclic gear system) comprises a carrier supporting a central sun gear, and a plurality of planet gears arranged on a ring gear that rotate around the central sun gear during operation. Furthermore, the planet gear and sun gear mesh such that their pitch circles roll without slippage.

[0024] The gear assembly comprises the first gear element, implemented as a central sun gear; the second gear element, implemented as a ring gear; the third gear element, implemented as planet gears; and the fourth gear element, implemented as a carrier. The first gear element is coupled to the input shaft to rotate it based on the input torque received from the motor. The third gear element meshes with both the first and second gear elements. This distributes the torque from the first gear element to the third gear element, which can then drive either the second gear element or the output shaft. Furthermore, the first gear element accepts a high-speed, low-torque input and drives the third gear element, thereby increasing the torque.The fourth gear element is configured to rotatably mount the third gear element upon it to control torque. The first gear element of the transmission drives the third gear element, which is fixed to the fourth gear element. When the first gear element is driven by the torque of the input shaft, the third gear element rotates the second gear element. Optionally, the first, second, third, and fourth gear elements are manufactured from steel, cast iron, aluminum, brass, plastic, composite materials, and the like, which exhibit high strength and are suitable for high rotational speeds.

[0025] Optionally, the configurable seamless transmission further includes a pair of bearings located at the end sections of the gear assembly, configured to rotatably support the input shaft, output shaft, and gear assembly. The term "bearing" as used herein refers to a rolling bearing that uses balls or rollers to maintain the distance between races. The races are rings separated by a groove in which the balls or rollers rest. Furthermore, one race may be stationary and the other attached to the rotating assembly (e.g., a hub or shaft). In this respect, the bearing is used to reduce rotational friction and protect the input and output shafts from radial and axial loads resulting from the motor's rotation.Furthermore, while facilitating movement, the bearing supports both the rotation of the input and output shafts and the force exerted by the gear assembly. The bearings are located between the input shaft and a first end section of the gear assembly, and between the output shaft and a second end section of the gear assembly. The bearings may include, but are not limited to, ball bearings, roller bearings, deep groove ball bearings, angular contact ball bearings, self-aligning bearings, and thrust bearings.

[0026] The terms "first clutch" and "second clutch," as used herein, refer to mechanical devices that engage and disengage the power transmission from the input shaft to the output shaft. Specifically, the first and second clutches engage and disengage the rotating input shaft and output shaft, respectively, to deliver the desired output torque. The first clutch is coupled to the input shaft and is configured to variably engage and disengage the fourth gear element of the gear assembly to transmit the input torque from the input shaft to the gear assembly. The second clutch is coupled to the output shaft and configured to variably engage and disengage the second gear element of the gear assembly to transmit the input torque from the gear assembly to the output shaft.Furthermore, the first and second clutches can be actuated by electrical power, whereby the input shaft and output shaft, respectively, are detachably connected when electrical power is supplied, and the input and output shafts are disconnected when electrical power is switched off. The first clutch detachably connects the input shaft to the fourth gear element of the gear assembly, and the second clutch detachably connects the transmission output shaft to the second gear element of the gear assembly.

[0027] Optionally, at least one of the first and second clutches is an electric multi-plate clutch. The term "multi-plate clutch," as used herein, refers to a clutch that uses two or more clutch discs simultaneously. Specifically, the electric multi-plate clutch operates electrically but transmits torque mechanically. The electric multi-plate clutch is also referred to as an electromechanical clutch. A clutch disc is typically a metal disc with friction lines on its outer surfaces. These friction lines contact the input and output shafts to deliver torque. Furthermore, the electric multi-plate clutch offers high torque transmission capacity and increased acceleration due to the increased friction of the two or more clutch discs. Advantageously, multi-plate clutches are smooth, simple, and easy to operate due to the arrangement of their friction lines.Furthermore, the disc couplings can be used in compact machines.

[0028] Alternatively, the couplings can include, but are not limited to, friction couplings, cone couplings, centrifugal couplings, semi-centrifugal couplings, diaphragm couplings, claw and splined shaft couplings, vacuum couplings, hydraulic couplings and freewheel couplings.

[0029] Furthermore, the first clutch and the second clutch selectively engage and disengage the fourth gear element and the second gear element, respectively, simultaneously to provide variable gear ratios for seamless torque transmission from the input shaft to the output shaft. The term "gear ratio," as used herein, means the ratio of the number of rotations of a drive gear to the number of rotations of a driven gear. It is understood that if the drive gear is the first gear element, the driven gear is at least one of: the second gear element, the third gear element, and the fourth gear element; and if the drive gear is the second gear element, the driven gear is at least one of: the first gear element, the third gear element, and the fourth gear element; and / or any such combinations.Furthermore, the output torque can also be varied by changing the gear ratio. For example, to increase the speed, an incremental gear ratio is used (e.g., 1:2, 1:4, 1:6, etc.), and to decrease the speed, a reducing gear ratio is used (e.g., 3:1, 5:1, 7:1, etc.). The term "seamless torque," as used herein, refers to the transmission's ability to transfer continuous torque from the input shaft to the output shaft without interruption or jerk. It is understood that the torque depends on the gear ratios and that seamless torque is provided when the gear ratios change smoothly by varying the engagement and disengagement of the first clutch and / or the second clutch with the input shaft and fourth gear element and / or the output shaft and second gear element.

[0030] The first and second clutches selectively engage and disengage simultaneously with the fourth and second gear elements, respectively, to enable variable gear ratios. The engagement and disengagement of the first and second clutches provides seamless torque delivery. This simultaneous selective engagement and disengagement results in continuous gear rotation and torque transmission, while simultaneously achieving a wider speed range across the continuous torque range without requiring the engine to stop. Engaging and disengaging the first and second clutches allows for changes to the gear ratio and, consequently, to alter the output shaft speed and acceleration.Typically, the transmission of torque from the engine to the output shaft is carried out smoothly and quietly by engaging and disengaging the first and second clutches to reduce possible vibrations, jerks or interruptions.

[0031] Optionally, the first and second clutches are located in: - the open configuration, when the first clutch and the second clutch are not engaged with the fourth gear element of the gear assembly or the second gear element of the gear assembly, respectively; or - the closed configuration when the first clutch and the second clutch are engaged with the fourth gear element of the gear assembly and the second gear element of the gear assembly, respectively.

[0032] In this respect, the term "open," as used herein, refers to the positioning of the first and second clutches in the opposite direction to the gear assembly. For example, the opposite direction is towards the input shaft for the first clutch and towards the output shaft for the second clutch. In the open configuration, the first and second clutches are coupled to the input shaft and output shaft, respectively, and do not engage with or mesh with the fourth gear element or the second gear element. Furthermore, the term "closed," as used herein, refers to the positioning of the first and second clutches in the same direction as the gear assembly. For example, the direction is towards the fourth gear element for the first clutch and towards the second gear element for the second clutch.In the closed configuration, the first and second clutches are coupled to the input and output shafts, as well as to the fourth and second gear elements, respectively. Advantageously, the selective open and closed configuration of the first and second clutches allows for a change in the transmission ratio and, consequently, a change in the output torque and the speed of the output shaft, as well as a continuous maintenance of the output torque.

[0033] The configurable seamless gearbox is available as an option: - a first gear ratio in which both the first clutch and the second clutch are in an open configuration; - a second transmission ratio in which the first clutch is in the open configuration and the second clutch is in a closed configuration; - a third gear ratio in which the first clutch is in the closed configuration and the second clutch is in the open configuration; and - a fourth gear ratio in which both the first clutch and the second clutch are in the closed configuration.

[0034] In this respect, it is understood that the selective open and closed configuration of the first and second clutches provides variable gear ratios, such as the first gear ratio, the second gear ratio, the third gear ratio, and the fourth gear ratio. The first gear ratio is achieved when neither the first nor the second clutch is engaged with the fourth gear element of the gear assembly, or the second gear element, respectively. Furthermore, such engagement of the first and second clutches provides the first gear ratio, which is similar to a neutral gear. The second gear ratio is achieved when the first clutch is not engaged with the fourth gear element of the gear assembly, while the second clutch is engaged with the second gear element.The third gear ratio is achieved when the first clutch is engaged with the fourth gear element of the gear assembly, while the second clutch is not engaged with the second gear element. The fourth gear ratio is achieved when both the first and second clutches are engaged with the fourth and second gear elements of the gear assembly, respectively. Furthermore, in the fourth gear ratio, both the input and output shafts are mechanically connected to the gear assembly via the first and second clutches, thus stopping the output torque.Advantageously, the fourth gear ratio can be used to provide an emergency braking system by simply controlling the first and second clutches, thus eliminating the need for a separate braking system (such as a mechanical spring as is typical). Furthermore, the emergency braking system advantageously reduces the size of the gearbox and eliminates structural and functional complexities associated with the conventional gearbox. For example, in a paper mill (machine), there are huge and heavy rolls of paper, and it is difficult to prevent them from rolling.In such a case, the first and second clutches can be effectively used to stop or decelerate the rolling paper by utilizing a mass and the entire body of the configurable seamless gearbox, with the first and second clutches being used to decelerate a high torque / load.

[0035] Optionally, the gear ratio can range from 1:1 to 1:10. The gear ratio can typically range from 1:1, 1:2, 1:3, 1:4, 1:5, 1:6, 1:7, 1:8, or 1:9 to 1:2, 1:3, 1:4, 1:5, 1:6, 1:7, 1:8, 1:9, or 1:10. In one example, with a gear ratio of 1:2, one rotation of the output shaft corresponds to two rotations of the input shaft. In another example, the gear ratio is 1:1.35. Advantageously, by changing the gear ratio, the output torque and the output shaft speed can be modified, and the output torque can be kept constant. Simultaneously, the motor speed is optimized to improve reliability and extend the service life of the electromechanical system.Optionally, a wide range of gear ratios allows for flexible use of the electromechanical system, for example, in a press when rapid acceleration and movement are required, such as with a 1:1 gear ratio to 4200 rpm from an upper position. As the workpiece is reached, the resistance begins to increase, while the motor speed and torque begin to decrease. By quickly changing gear ratios, for example to 1:4, high torque can still be maintained at a low speed below 1000 rpm. When the press reaches its lowest position, the gear ratio is changed back to 1:1 and the motor speed is adjusted, enabling rapid acceleration and movement back to the upper position at 4200 rpm in a time- and energy-efficient manner.

[0036] The term "electromechanical system," as used herein, refers to a power-receiving machine that utilizes the aforementioned configurable seamless transmission to receive continuous torque. The electromechanical system comprises a variety of components, at least one of which is physically coupled to the output shaft of the configurable seamless transmission. Typically, the rotary motion of the output shaft is converted into at least one linear displacement, bending motion, or rotary motion of the at least one component physically coupled to the output shaft.Optionally, the electromechanical system includes a variety of gears configured to transmit the received output torque (from the output shaft) over a distance to a final power-absorbing component of the electromechanical system, such as an electromechanical continuously variable cylinder or part thereof. Thus, the electromechanical system enables the movement of a large load over a predefined distance. Furthermore, the electromechanical system offers a wider control range and greater efficiency and can be widely implemented in automobiles, elevators, cranes, heavy machinery, robotic arms, modular beds, modular doors, and so on.

[0037] The electromechanical continuously variable cylinder is located at the receiving end of the electromechanical system to absorb the output torque. Typically, the electromechanical continuously variable cylinder is a hollow, elongated body containing a piston and associated components. The electromechanical continuously variable cylinder requires no oil and thus conserves natural resources.

[0038] Optionally, the electromechanical system further includes sensors, selected from at least one of: a temperature sensor and a motion sensor. The sensor typically detects a change in the value of a state or component of the electromechanical system and sends the sensor data to, for example, the electromechanical system's control unit for further analysis or action. The sensor usually converts a physical action into an electrical equivalent and provides the electrical signals that are processed by the control unit.

[0039] Optionally, the temperature sensor is configured to measure the temperature of the first clutch, the second clutch, and the oil temperature. The temperature sensor measures the temperature of the components or the interior of the electromechanical system as a whole to maintain an optimal operating temperature. Specifically, the temperature sensor measures the temperature of the first and second clutches, which engage and disengage with the gear assembly, and can detect the temperature rise in adjacent components, such as the gear assembly, input shaft, and output shaft, due to friction. Additionally, the temperature sensor can measure the oil temperature within the electromechanical system. It is understood that the electromechanical system may only use oil as a lubricant to lubricate the transmission and motor components.Furthermore, the temperature sensor can be configured to measure the temperature of the electromechanical continuously variable cylinder's components. Additionally, the temperature sensor can detect temperature rises in the electromechanical system's components and can also reduce the motor speed or shut down the electromechanical system to protect it from overheating, even when no external cooling system is required. Optionally, the temperature sensor can be a thermostat, thermocouple, resistance thermometer, thermistor, or similar device. Optionally, the temperature sensor can collect measurement data for service and future R&D purposes.

[0040] Optionally, the motion sensor is configured to measure the motor speed, the input shaft speed, and the output shaft speed. Specifically, the motion sensor measures the speed, position, velocity, and acceleration of the moving components of the motor, input shaft, and output shaft to define and select an optimal gear ratio. Furthermore, the motion sensor can measure the speed, position, velocity, and acceleration of the electromechanical continuously variable cylinder. Optionally, the motion sensor can be used outside the electromechanical system to measure, for example, the position of a lever arm connected to the electromechanical continuously variable cylinder, thus eliminating any potential bending between the electromechanical continuously variable cylinder and the lever arm.Optionally, the motion sensor can be a microwave sensor, vibration sensor, ultrasonic sensor or reflective motion sensor.

[0041] The control unit is configured to control the motor for starting, stopping, and adjusting the speed of the input shaft, as well as the first and second clutches, to selectively engage and disengage the gear assembly. The term "control unit," as used herein, refers to the software and / or hardware within an electromechanical system capable of implementing specific algorithms. Furthermore, the control unit utilizes a processor configured to perform the operations described above. It is understood that the processor may optionally include, but is not limited to, a microprocessor, a microcontroller, a CISC (Complex Instruction Set Computing) microprocessor, a RISC (Reduced Instruction Set Computer) microprocessor, a VLIW (Very Long Instruction Word) microprocessor, or any other type of processing circuitry.Furthermore, the term "processor" can refer to one or more individual processors, processing devices, and various elements associated with the control unit. Moreover, these individual processors, processing devices, and elements are arranged in various architectures to respond to and process the instructions that drive the electromechanical system.

[0042] The control unit can be coupled to one or more components of the electromechanical system, such as the motor, the clutch, the electromechanical continuously variable cylinder, and the sensors. Specifically, the control unit controls the motor and the first and second clutches to regulate the desired output torque required to operate the electromechanical continuously variable cylinder. The control unit can also be communicatively coupled to the sensors. It receives sensor data and controls the output of one or more components of the electromechanical system, such as the electromechanical continuously variable cylinder, based on this data. In this respect, the control unit is coupled to the sensors associated with the motor, the first clutch, the second clutch, and the electromechanical continuously variable cylinder.The control unit receives the sensor data from the sensors and controls the motor, the first clutch, the second clutch and the electromechanical continuously variable cylinder based on the sensor data.

[0043] Optionally, the control unit manages the first and second clutches so that the first clutch closes while the second clutch opens simultaneously at an optimized and controlled speed. The opening and closing of the first and second clutches refers to their open and closed configurations, respectively. Specifically, the control unit manages the simultaneous opening and closing of the first and second clutches to deliver the desired output speed while providing continuous torque.

[0044] Optionally, the control unit regulates the motor speed based on a change in the gear ratio. It is understood that the gear ratio changes depending on the load on the output shaft, or rather, depending on the load requirements at the output shaft. Furthermore, a change in the gear ratio leads to a change in the output torque and consequently to a change in the output shaft speed. Specifically, the change in speed is inversely proportional to the change in torque. Therefore, the control unit is configured to control the motor speed to change the torque in order to provide the desired speed and continuous torque at the output shaft.

[0045] Optionally, the control unit is linked to a storage unit, which stores data associated with at least one of the following: the engine, the electromechanical continuously variable cylinder, the configurable seamless transmission, the gear ratio, and sensor data. The term "storage unit," as used herein, refers to a hardware device, also known as storage, storage medium, digital storage unit, or storage medium, capable of storing information either temporarily or permanently. Generally, the storage unit stores data, files, and the like in any format. The storage unit may be used internally or externally, depending on the control unit's data storage requirements.Advantageously, the stored data can be used to determine the optimal operation of the electromechanical system and to make it faster and more efficient by having at least one preset data configuration of the electromechanical system in the storage unit, thus eliminating the need to rely on data stored in external storage or server systems. Optionally, the data stored in the storage unit can be used to collect usage data of the electromechanical system for service purposes, thereby increasing reliability and extending the service life of the electromechanical system.The storage unit may include, but is not limited to, an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. Examples of storage unit implementations include, but are not limited to, electrically erasable programmable read-only memory (EEPROM), random access memory (RAM), read-only memory (ROM), hard disk drive (HDD), flash memory, a Secure Digital (SD) card, a solid-state drive (SSD), a computer-readable storage medium, and / or CPU cache memory.

[0046] Optionally, the control unit is connected to a machine control unit. The machine control unit is capable of controlling one or more control units assigned to one or more machines, such as the electromechanical continuously variable cylinders. The machine control unit can be an automatic or manual system that controls multiple control units assigned to one or more machines. Furthermore, the machine control unit controls the electromechanical continuously variable cylinder and the control unit that controls the motor. In an example implementation, a mining drill includes one or more electromechanical systems for performing drilling. The mining drill has a drilling pattern that is pre-programmed in the control unit's memory.The machine control unit controls the one or more control units of the one or more electromechanical systems to execute pre-programmed drilling patterns fully automatically, unlike conventional mining drills (and / or harvesters or cranes) that use hydraulic cylinders and manually operated joysticks to control the systems. DETAILED DESCRIPTION OF THE DRAWINGS

[0047] Figures Fig. 1A and Fig. Figure 1B shows illustrations of a configurable seamless manual transmission 100. With reference to Fig. Figure 1A illustrates a schematic diagram of the configurable seamless transmission 100 according to an embodiment of the present disclosure. The configurable seamless transmission 100 comprises an input shaft 102 configured to receive input torque from a motor; an output shaft 104 configured to provide output torque; and a gear assembly 106 engaging between the input shaft 102 and the output shaft 104, configured to transmit torque from the input shaft 102 to the output shaft 104.The gear assembly 106 comprises a first gear element (not shown) coupled to the input shaft 102, a second gear element 108, a third gear element (not shown) configured to mesh with the first gear element and the second gear element 108, and a fourth gear element 110A, 110B configured to rotatably mount the third gear element thereon. The configurable seamless transmission 100 further comprises a first clutch 112 and a second clutch 114. The first clutch 112 is arranged with the input shaft 102 and the gear assembly 106, the first clutch 112 being configured to variably engage and disengage with the fourth gear element 110A, 110B of the gear assembly 106 to transmit the input torque from the input shaft 102 to the gear assembly 106.The second clutch 114 is coupled to the gear assembly 106 and the output shaft 104, the second clutch 114 being configured to variably engage and disengage with the second gear element 108 of the gear assembly 106 to transmit the input torque from the gear assembly 106 to the output shaft 104. Furthermore, the first clutch 112 and the second clutch 114 selectively engage and disengage the fourth gear element 110A, 110B and the second gear element 108, respectively, simultaneously to provide variable transmission ratios for seamless torque transmission from the input shaft 102 to the output shaft 104.

[0048] The configurable seamless gearbox 100 further comprises a pair of bearings 116A, 116B, which are arranged and configured at end sections of the gear assembly 106 to rotatably support the input shaft 102, the output shaft 104 and the gear assembly 106.

[0049] With reference to Fig. Figure 1B illustrates a cross-sectional view of the configurable seamless transmission 100 according to an embodiment of the present disclosure. As shown, the gear assembly 106 comprises the first gear element (not shown) coupled to the input shaft 102, the second gear element 108, the third gear element 118 configured to mesh with the first gear element and the second gear element 108, and the fourth gear element 110A, 110B configured to rotatably mount the third gear element 118 thereon.

[0050] Figures Fig. 2A, Fig. 2B and Fig. Figures 2C are illustrations of a gear arrangement 106. With reference to Fig. Figure 2A illustrates an exploded view of the gear assembly 106 according to an embodiment of the present disclosure. The gear assembly 106 comprises a first gear element 202, a second gear element 108, a third gear element 118 configured to mesh with the first gear element 202 and the second gear element 108, and a fourth gear element 110A, 110B configured to rotatably mount the third gear element 118 thereon. As shown, the first gear element 202 is a sun gear, the second gear element 108 is a ring gear, the third gear element 118 comprises the planet gears, and the fourth gear element 110A, 110B is the carrier supporting the first gear element 202, the second gear element 108, and the third gear element 118.It is understood that the fourth gear element 110A, 110B is a set of two parts, wherein the fourth gear element 110B locks the fourth gear element 110A when the second gear element 108 is loaded onto the fourth gear element 110A, 110B. Furthermore, a pair of bearings 116A, 116B, arranged at the end sections of the gear assembly 106, is configured to support the gear assembly 106 on the input shaft (shown as 102 in Figure 1). Fig. 1A) and the output shaft (shown as 104 in Fig. 1A) to be mounted rotatably.

[0051] With reference to Fig. Figure 2B illustrates a schematic diagram of the gear assembly 106 according to an embodiment of the present disclosure. The gear assembly 106 comprises the first gear element (shown as 202 in Figure 2B). Fig. 2A), the second gear element 108, the third gear element 118, which is configured to mesh with the first gear element and the second gear element 108, and the fourth gear element 110A, 110B, which is configured to rotatably mount the third gear element 118 on it. The pair of bearings 116A, 116B is located at the end sections of the gear assembly 106.

[0052] With reference to Fig. Figure 2C illustrates a cross-sectional view of the gear assembly 106 according to an embodiment of the present disclosure. The pair of bearings 116A, 116B is arranged at end sections of the gear assembly 106 as illustrated. The second gear element 108, the third gear element 118, and the fourth gear element 110A, 110B are also shown in the illustration. Fig. 2C illustrates.

[0053] With reference to Fig. Figure 3 illustrates a cross-sectional view of a configurable seamless transmission 100 in a closed configuration 300 according to an embodiment of the present disclosure. As shown, the first clutch 112 engages with the fourth gear element 110A of the gear arrangement 106.

[0054] With reference to Fig. Figure 4 illustrates a cross-sectional view of a configurable seamless transmission 100 in a closed configuration 400 according to another embodiment of the present disclosure. As shown, the second clutch 114 engages with the fourth gear element 110B and the second gear element 108 of the gear assembly 106.

[0055] With reference to Fig. Figure 5 illustrates a block diagram of an electromechanical system 500 according to an embodiment of the present disclosure. The electromechanical system 500 comprises a motor 502 configured to provide an input torque; an electromechanical continuously variable cylinder 504 to receive an output torque; and a configurable seamless transmission 506 (similar to the configurable seamless transmission 100 of Fig. 1A), which is mechanically connected to the motor 502 via an input shaft 508 (similar to the input shaft 102 of Fig. 1A) is coupled to receive the input torque from it, and via the output shaft 510 (similar to the output shaft 104 of Fig. 1A) is coupled to the electromechanical continuously variable cylinder 504 to deliver the output torque there.

[0056] Furthermore, the configurable seamless 506 transmission includes a gear arrangement (similar to the gear arrangement 106 of Fig. 1A), which engages between the input shaft 508 and the output shaft 510, configured to drive torque from the input shaft 508 to the output shaft 510. The gear assembly includes a first gear element, such as the first gear element 202 of Fig. 2A, which is coupled to the input shaft 508; a second gear element, such as the second gear element 108 of Fig. 1A; a third gear element, such as the third gear element 118 of Fig. 1A, which is configured to mesh with both the first gear element and the second gear element; and a fourth gear element, such as the fourth gear element 110A, 110B of Fig. 1A, which is configured to rotatably mount the third gear element on it.

[0057] Furthermore, the configurable seamless 506 transmission includes a first clutch, like the first clutch 112 from Fig. 1A), and a second clutch, such as the second clutch 114 of Fig. 1A. The first clutch is arranged with the input shaft 508 and the gear assembly, the first clutch being configured to variably engage and disengage the fourth gear element of the gear assembly to transmit the input torque from the input shaft 508 to the gear assembly. The second clutch is arranged with the gear assembly and the output shaft 510, the second clutch being configured to variably engage and disengage the second gear element of the gear assembly to transmit the input torque from the gear assembly to the output shaft 510. Furthermore, the first clutch and the second clutch selectively engage and disengage the fourth and second gear elements simultaneously to provide variable gear ratios for seamless torque transmission from the input shaft 508 to the output shaft 510.

[0058] In addition, the configurable seamless transmission 506 includes a control unit 512 which is configured to control: the motor 502 for: starting, stopping and adjusting the speed of the input shaft 508; and the first clutch and the second clutch for selective engagement and disengagement with the gear arrangement.

[0059] Additionally, the control unit 512 is connected to a machine control unit 514. The machine control unit 514 is capable of controlling one or more control units, such as the control unit 512, which is assigned to one or more machines, such as the electromechanical continuously variable cylinder 504.

[0060] With reference to Fig. Figure 6 illustrates a graphical representation of acceleration parameters of an electromechanical system according to an embodiment of the present disclosure. As shown, when changing the gear ratio from case 1 (i.e., the first clutch in the open configuration and the second clutch in the closed configuration (selected according to the third gear element, e.g., 2, 3, 4, 5, 6, or 7)) to case 2 (i.e., the first clutch in the closed configuration (gear ratio 1) and the second clutch in the open configuration), the motor speed increases to 0.8 (80%) relative to the maximum motor speed before the change and to 0.6 (60%) relative to the maximum motor speed after the change.

[0061] With reference to Fig. Figure 7 is a graphical representation of delay parameters of an electromechanical system according to an embodiment of the present disclosure. As shown, the motor speed decreases relative to a maximum motor speed when the gear ratio is changed from case 1 (i.e., the first clutch in the closed configuration (gear ratio 1) and the second clutch in the open configuration) to case 2 (i.e., the first clutch in the open configuration and the second clutch in the closed configuration (selected according to the third gear element, e.g., 2, 3, 4, 5, 6, or 7)).

[0062] With reference to Fig.Figure 8 illustrates a graphical representation of the change in the transmission ratio based on the rotational speed of a motor and the instantaneous torque at the input shaft of an electromechanical system according to an embodiment of the present disclosure. As shown, a transmission ratio of 1:4 changes to 1:1 at 1000 rpm, a transmission ratio of 1:3 changes to 1:1 at 1300 rpm, and a transmission ratio of 1:2 changes to 1:1 at 1700 rpm.

[0063] Modifications to embodiments of the present disclosure described above are possible without deviating from the scope of protection of the present disclosure as defined by the appended claims. Terms such as "including," "comprising," "containing," "having," and "is," used to describe and claim the present disclosure, are not to be interpreted exclusively; that is, they permit the presence of items, components, or elements not expressly described. References to the singular are also to be understood as references to the plural.

Claims

[1] Configurable seamless manual transmission (100, 506), comprising: - an input shaft (102, 508) configured to receive an input torque from a motor (502); - an output shaft (104, 510) configured to provide an output torque; - a gear assembly (106) that engages between the input shaft and the output shaft and is configured to transmit a torque from the input shaft to the output shaft, the gear assembly comprising: - a first gear element coupled to the input shaft (202), - a second gear element (108), - a third gear element (118) configured to mesh with the first gear element and the second gear element, and - a fourth gear element (110A, 110B) configured to rotatably mount the third gear element on it; - a first coupling (112) arranged with the input shaft and the gear assembly, wherein the first coupling is configured to variably engage and disengage the fourth gear element of the gear assembly in order to transmit the input torque from the input shaft to the gear assembly; and - a second clutch (114) arranged with the gear assembly and the output shaft, wherein the second clutch is configured to variably engage and disengage the second gear element of the gear assembly to transmit the input torque from the gear assembly to the output shaft, wherein the first clutch and the second clutch selectively engage and disengage the fourth gear element and the second gear element respectively simultaneously to provide variable transmission ratios to provide seamless torque from the input shaft to the output shaft. [2] Configurable seamless transmission (100, 506) according to claim 1, wherein the configurable seamless transmission provides: - a first gear ratio in which both the first clutch (112) and the second clutch (114) are in an open configuration; - a second transmission ratio in which the first clutch is in the open configuration and the second clutch is in a closed configuration; - a third gear ratio in which the first clutch is in the closed configuration and the second clutch is in the open configuration; and - a fourth gear ratio in which both the first clutch and the second clutch are in the closed configuration. [3] Configurable seamless transmission (100, 506) according to claim 2, wherein the first clutch (112) and the second clutch (114) are located in: - the open configuration, when the first clutch and the second clutch are not engaged with the fourth gear element of the gear assembly or the second gear element of the gear assembly, respectively; or - the closed configuration (300, 400) when the first clutch and the second clutch are engaged with the fourth gear element (110A, 110B) of the gear assembly (106) and the second gear element (108) of the gear assembly, respectively. [4] Configurable seamless transmission (100) according to one of the preceding claims, wherein a transmission ratio is in a range of 1:1 to 1:

10. [5] Configurable seamless transmission (100, 506) according to one of the preceding claims, wherein at least one of the first clutch (112) and the second clutch (114) is an electric multi-plate clutch. [6] Configurable seamless transmission (100) according to claim 1, further comprising a pair of bearings (116A, 116B) arranged and configured at end sections of the gear assembly (106) to rotatably support the input shaft (102, 508), the output shaft (104, 510) and the gear assembly. [7] Electromechanical system (500), comprising: - a motor (502) configured to provide input torque; - an electromechanical continuously variable cylinder (504) to receive an output torque; - a configurable seamless transmission (100, 506) mechanically coupled to the motor via an input shaft (102, 508) to receive the input torque from it, and coupled to the electromechanical continuously variable cylinder via the output shaft (104, 510) to deliver the output torque thereto, wherein the configurable seamless transmission comprises: - a gear assembly (106) that engages between the input shaft and the output shaft and is configured to transmit torque from the input shaft to the output shaft, the gear assembly comprising: - a first gear element coupled to the input shaft (202), - a second gear element (108), - a third gear element (118) configured to mesh with both the first gear element and the second gear element, and - a fourth gear element (110A, 110B) configured to rotatably mount the third gear element on it; - a first coupling (112) arranged with the input shaft and the gear assembly, wherein the first coupling is configured to variably engage and disengage the fourth gear element of the gear assembly in order to transmit the input torque from the input shaft to the gear assembly; and - a second clutch (114) arranged with the gear assembly and the output shaft, wherein the second clutch is configured to variably engage and disengage the second gear element of the gear assembly to transmit the input torque from the gear assembly to the output shaft, wherein the first clutch and the second clutch selectively engage and disengage the fourth gear element and the second gear element, respectively, simultaneously to provide variable transmission ratios to provide seamless torque from the input shaft to the output shaft; and - a control unit (512) configured to control: - to start, stop, and adjust the speed of the input shaft of the engine; and - the first clutch and the second clutch for selective engagement and disengagement of the gear arrangement. [8] Electromechanical system (500) according to claim 7, further comprising sensors, wherein the sensors are selected from at least one of: a temperature sensor and a motion sensor. [9] Electromechanical system (500) according to claim 7 or 8, wherein - the temperature sensor is configured to measure - a temperature of the first clutch (112) and the second clutch (114), and - an oil temperature; and - the motion sensor is configured to measure: - a speed of the engine (502), - a speed of the input shaft (102, 508) and - a rotational speed of the output shaft (104, 510). [10] Electromechanical system (500) according to claim 7 or 9, wherein the control unit (512) controls the first clutch (112) and the second clutch (114) such that the first clutch is closed and the second clutch is opened at the same time at an optimized and controlled speed. [11] Electromechanical system (500) according to claims 7 to 10, wherein the control unit (512) controls the speed of the motor (502) based on a change in the gear ratio. [12] Electromechanical system (500) according to claims 7 to 11, wherein the control unit (512) is linked to a storage unit (514) and wherein the storage unit stores data linked to at least one of: the motor (502), the electromechanical continuously variable cylinder (504), the configurable seamless transmission (100, 506), the gear ratio and sensor data. [13] Electromechanical system (500) according to claims 7 to 12, wherein the motor (502) is an electric motor.

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