Translated from  German


GelenkauÃenteil
Outer joint part


** 43  43  **


Gelenkinnenteil
Inner joint part


    /// \brief Whether all parameters are valid and the system can proceed
    private: bool validConfig{false};


  /// will not print a warning message if a child model does not exist yet.
  /// Otherwise, a warning message is printed. Defaults to false.


      if (kNullEntity != this->childLinkEntity)
      {
        // Attach the models
        // We do this by creating a detachable joint entity.
        this->detachableJointEntity = _ecm.CreateEntity();


    /// \brief Whether to suppress warning about missing child model.
    private: bool suppressChildWarning{false};


UmbÃ¶rdelung
Flanging


Wheel driving and mounting component has CV joint comprising detachable joint
outer section linked to hub and inner section for connecting to drive shaft


Aus FertigungsgrÃ¼nden ist es gÃ¼nstig, wenn die erste Verzahnung am
NabenkÃ¶rper an einem separaten Treibring ausgebildet ist, der auf die Radnabe
aufgeschoben und auf dieser unlÃ¶sbar festgelegt ist. Hierbei kÃ¶nnen zur
Verdrehsicherung zwischen beiden Teilen diese mit ineinandergreifenden
LÃ¤ngsverzahnungen versehen sein. Der Treibring kann hierbei insbesondere
durch eine UmbÃ¶rdelung des NabenkÃ¶rpers axial auf der Radnabe gesichert
sein. Dabei kann der Treibring axial gegen einen inneren Lagerring einer
ersten WÃ¤lzkÃ¶rperreihe anliegen, der ebenfalls auf den NabenkÃ¶rÂ per
aufgeschoben ist und der zugleich von dem Treibring gegen einen inneren
Lagerring einer zweiten WÃ¤lzkÃ¶rperreihe verspannt ist. Der zweite innere
Lagerring ist hierbei in der Regel unÂ mittelbar aus dem NabenkÃ¶rper
ausgebildet.  For manufacturing reasons, it is favorable if the first toothing
is formed on the hub body on a separate drive ring which pushed onto the wheel
hub and permanently attached to it is. This can be used to prevent rotation
between the two parts these be provided with interlocking longitudinal teeth.
The driving ring can in particular be flanged of the hub body must be axially
secured on the wheel hub. there can the drive ring axially against an inner
bearing ring first row of rolling elements, which is also on the hub body is
deferred by and at the same time against the driving ring braced an inner
bearing ring of a second row of rolling elements is. The second inner bearing
ring is usually un indirectly formed from the hub body.


    if ("__model__" == this->childModelName)
    {
      modelEntity = this->model.Entity();
    }
    else
    {
      modelEntity = _ecm.EntityByComponents(
          components::Model(), components::Name(this->childModelName));
    }
    if (kNullEntity != modelEntity)
    {
      this->childLinkEntity = _ecm.EntityByComponents(
          components::Link(), components::ParentEntity(modelEntity),
          components::Name(this->childLinkName));


** 53  53  **


    /// \brief Helper function to publish the state of the detachment
    private: void PublishJointState(bool attached);


** 82  82  **


#include "gz/sim/components/DetachableJoint.hh"
#include "gz/sim/components/Link.hh"
#include "gz/sim/components/Model.hh"
#include "gz/sim/components/Name.hh"
#include "gz/sim/components/ParentEntity.hh"
#include "gz/sim/components/Pose.hh"
#include "gz/sim/Model.hh"
#include "gz/sim/Util.hh"


     Granted
Application number


     2001-09-13
     2000-02-23  Application filed by GKN Automotive GmbH  filed  Critical  GKN Automotive GmbH
     2000-02-23  Priority to DE2000108182  priority  Critical  patent/DE10008182B4/en
     2000-12-14  Priority to US10/204,835  priority  patent/US6739422B2/en
     2000-12-14  Priority to JP2001561923A  priority  patent/JP2003527271A/en
     2000-12-14  Priority to PCT/EP2000/012709  priority  patent/WO2001063135A1/en
     2000-12-14  Priority to AU2001230115A  priority  patent/AU2001230115A1/en
     2001-09-13  Publication of DE10008182A1  publication  Critical  patent/DE10008182A1/en
     2004-03-18  Application granted  granted  Critical
     2004-03-18  Publication of DE10008182B4  publication  Critical  patent/DE10008182B4/en
     2020-02-24  Anticipated expiration  legal-status  Critical
     Status  Expired - Fee Related  legal-status  Critical  Current


** 80  80  **


Aus der WO 99/13232 ist eine Baueinheit der genannten Art beÂ kannt, bei der
der Sicherungsring zur Montage in die Ringnut auf der Radnabe eingesetzt und
mittels einer Klammer so kontrahiert wird, daÃ er vollstÃ¤ndig innerhalb des
FuÃdurchmessers der VerÂ zahnung liegt oder bei der der Sicherungsring in
die Ringnut im GelenkauÃenteil eingesetzt wird und mittels eines Keils so
exÂ pandiert wird, daÃ er vollstÃ¤ndig auÃerhalb des FuÃdurchmessers der
Verzahnung liegt. Danach wird das GegenstÃ¼ck montiert, das heiÃt das
GelenkauÃentiel aufgeschoben bzw. die Radnabe eingeÂ schoben, bis die darin
ausgeformte Ringnut mit dem SicherungsÂ ring axial in Ãberdeckung liegt, und
die Klammer bzw. der Keil radial nach auÃen entfernt. Hierbei expandiert der
SicherungsÂ ring, so daÃ er auch in die Ringnut im GelenkauÃenteil
eingreift bzw. der Sicherungsring kontrahiert, so daÃ er auch in die RingÂ
nut in der Radnabe eingreift. In beiden AusfÃ¼hrungen ist eine Ausklinkung am
Ende des GelenkauÃenteils vorgesehen, die die Klammer bzw. den Keil sowie
radial abgebogene Enden des SicheÂ rungsrings aufnimmt. Zum Darstellen der
Manipulierbarkeit des Sicherungsrings im Wege eines Entfernens der Klammer
bzw. des Keils bei im RadtrÃ¤ger montierter Radnabe ist eine Radialbohrung im
RadtrÃ¤ger vorgesehen, die in axialer Ãbereinstimmung mit den Ringnuten bzw.
mit der Ausklinkung am GelenkauÃenteil liegt und Zugriff zu einem
Laschenansatz an der Klammer bzw. dem Keil von auÃerhalb des RadtrÃ¤gers
ermÃ¶glicht. Ist die Montage der BaueinÂ heit durch Entfernen der Klammer
bzw. des Keils abgeschlossenen, ist eine Demontage nur noch unter ZerstÃ¶rung
des Sicherungsrings durch Aufbringen von AxialkrÃ¤ften zwischen Radnabe und
GelenkÂ auÃenteil mÃ¶glich.  From WO 99/13232 a unit of the type mentioned
be knows where the locking ring for mounting in the ring groove the wheel hub
inserted and contracted by means of a bracket is that it is completely within
the foot diameter of the ver serration or where the locking ring in the ring
groove in the Â Joint outer part is used and by means of a wedge so ex is
panded that he is completely outside the foot diameter the toothing lies. Then
the counterpart is mounted, the the outer joint part is pushed on or the wheel
hub is inserted until the ring groove formed in it with the fuse ring lies
axially in overlap, and the bracket or the wedge removed radially outward. The
fuse expands ring, so that it also engages in the annular groove in the outer
joint part or the locking ring contracts so that it also in the ring engages
only in the wheel hub. In both versions there is one Notch provided at the end
of the outer joint part, which the Bracket or wedge and radially bent ends of
the siche ring rings. To illustrate the manipulability of the Circlip by
removing the clip or the With the wheel hub mounted in the wheel carrier,
there is a radial bore provided in the wheel carrier, which is in axial
accordance with the Ring grooves or with the notch on the outer joint part and


RadtrÃ¤ger
Wheel carrier


* `output_topic` (optional): Topic name to be used for publishing the state of
the detachment. If empty, a default topic will be created with a pattern
`/model/<child_model_name>/detachable_joint/state`. If multiple detachable plugin is
used in one model, `output_topic` is REQUIRED to publish child models state
individually.


** 12  12th  **


** 64  64  **


**Fig.** 5a zeigt die Baueinheit nach **Fig.** 4 mit vom RadÂ trÃ¤ger
getrennter Radnabe und Gelenkeinheit im LÃ¤ngsschnitt gemÃ¤Ã **Fig.** 4a;
**Fig.** 5a shows the assembly of **Figure** 4 with the wheel carrier separate
wheel hub and joint unit in longitudinal section according to **Fig.** 4a.


    /// \brief Whether child entity is attached
    private: std::atomic<bool> isAttached{false};


Auge
eye


** 75  75  **


** 38  38  **


** 58  58  **


Durchgangsloch
Through hole


     2000-02-23
Legal status (The legal status is an assumption and is not a legal conclusion.
Google has not performed a legal analysis and makes no representation as to
the accuracy of the status listed.)


* Cited by examiner, â Cited by third party  Publication number  |  Priority date  |  Publication date  |  Assignee  |  Title
---|---|---|---|---
[ DE19700313A1  (  en  ) ](/patent/DE19700313A1/en) *  |  1996-01-24  |
1997-07-31  |  Gkn Automotive Ag  |  Wheel hub constant-velocity joint unit
[ WO1999013232A1  (  en  ) ](/patent/WO1999013232A1/en) *  |  1997-09-10  |
1999-03-18  |  Gkn Automotive Ag  |  Securing members together by spring rings
[ DE19751855C1  (  en  ) ](/patent/DE19751855C1/en) *  |  1997-11-22  |
1999-04-29  |  Gkn Automotive Ag  |  Coupling for motor vehicle transmission

  * 2000
    * 2000-02-23  DE  DE2000108182  [ patent/DE10008182B4/en  ](/patent/DE10008182B4/en) not_active  Expired - Fee Related


##  Info


** 77  77  **


* Cited by examiner, â Cited by third party  Publication number  |  Priority date  |  Publication date  |  Assignee  |  Title
---|---|---|---|---
[ DE19700313A1  (  en  ) ](/patent/DE19700313A1/en) *  |  1996-01-24  |
1997-07-31  |  Gkn Automotive Ag  |  Wheel hub constant-velocity joint unit
[ WO1999013232A1  (  en  ) ](/patent/WO1999013232A1/en) *  |  1997-09-10  |
1999-03-18  |  Gkn Automotive Ag  |  Securing members together by spring rings
[ DE19751855C1  (  en  ) ](/patent/DE19751855C1/en) *  |  1997-11-22  |
1999-04-29  |  Gkn Automotive Ag  |  Coupling for motor vehicle transmission

##  Cited By (2)


  // Supress Child Warning
  this->suppressChildWarning =
      _sdf->Get<bool>("suppress_child_warning", this->suppressChildWarning)
          .first;


** 29  29  **


Lagerinnenring
Bearing inner ring


Bevorzugte AusfÃ¼hrungsbeispiele von erfindungsgemÃ¤Ãen BaueinÂ heiten zur
Anbringung an einem Kraftfahrzeug werden nachstehend anhand der beigefÃ¼gten
Zeichnungen erlÃ¤utert.  Preferred embodiments of building blocks according to
the invention Units for attachment to a motor vehicle are shown below
explained with reference to the accompanying drawings.


Flanschauge
Flange eye


    /// \brief Name of attachment link in the child model
    private: std::string childLinkName;


** 60  60  **


Detachable Joints


Date  |  Code  |  Title  |  Description
---|---|---|---
2001-09-13  |  OP8  |  Request for examination as to paragraph 44 patent law
|
2004-07-29  |  8327  |  Change in the person/name/address of the patent owner
|


     2000-02-23
Publication date


Publication number  |  Publication date
---|---
[ DE10008182B4  (  en  ) ](/patent/DE10008182B4/en) |  2004-03-18

##  Similar Documents


Um Belastungsspitzen auszuschlieÃen und einen harmonischen KrÃ¤fÂ teverlauf
sicherzustellen, ist die Ausbrechung in axialer AnÂ sicht im wesentlichen
U-fÃ¶rmig bzw. gegebenenfalls in axialer Ansicht im wesentlichen U-fÃ¶rmig
ausgebildet.  To rule out peak loads and a harmonious force Ensuring the
course of the movement is the breakout in axial direction view essentially
U-shaped or possibly in the axial View essentially U-shaped.


        _ecm.CreateComponent(
            this->detachableJointEntity,
            components::DetachableJoint({this->parentLinkEntity,
                                         this->childLinkEntity, "fixed"}));
        this->attachRequested = false;
        this->isAttached = true;
        this->PublishJointState(this->isAttached);
        gzdbg << "Attaching entity: " << this->detachableJointEntity
               << std::endl;
      }
      else
      {
        gzwarn << "Child Link " << this->childLinkName
                << " could not be found.\n";
      }
    }
    else if (!this->suppressChildWarning)
    {
      gzwarn << "Child Model " << this->childModelName
              << " could not be found.\n";
    }
  }


**Fig.** 5b zeigt die Baueinheit nach **Fig.** 4 mit vom RadÂ trÃ¤ger
getrennter Radnabe und Gleichlaufgelenk in Schattendarstellung gemÃ¤Ã
**Fig.** 4b.  **Fig.** 5b shows the assembly of **Fig.** 4 with the wheel
carrier separate wheel hub and constant velocity joint in the shadow
representation of **Fig.** 4b.


** 72  72  **


  * [ Espacenet  ](https://worldwide.espacenet.com/publicationDetails/biblio?CC=DE&NR=10008182A1&KC=A1&FT=D)
  * [ Global Dossier  ](https://globaldossier.uspto.gov/#/result/publication/DE/10008182/1)
  * [ DPMA  ](https://register.dpma.de/DPMAregister/pat/PatSchrifteneinsicht?docId=DE10008182A1)
  * [ Discuss  ](https://patents.stackexchange.com/questions/tagged/DE10008182A1)


Deckel
cover


  * [ Index ](classes.html)
  * [ List ](annotated.html)
  * [ Hierarchy ](hierarchy.html)
  * [ Members: All ](functions.html)
  * [ Members: Functions ](functions_func.html)
  * [ Members: Variables ](functions_vars.html)
  * [ Members: Typedefs ](functions_type.html)
  * [ Members: Enumerations ](functions_enum.html)
  * [ Members: Enumerator ](functions_eval.html)


** 19  19th  **


The system has the following parameters:


** 27  27  **


In **Fig.** 2 sind die gleichen Einzelheiten wie in **Fig.** 1 mit gleichen
Bezugszeichen beziffert. Auf die entsprechende BeÂ schreibung wird Bezug
genommen. Radnabeneinheit **41** , RadtrÃ¤ger **11** 1  und
Gleichlaufgelenkeinheit **71** sind lÃ¤ngs an der Drehachse in
Explosionsdarstellung gespreizt gezeigt. Am RadtrÃ¤ger **11** 1  sind Ã¼ber
die bereits in **Fig.** 1 bezeichneten Einzelheiten hinaus keine weiteren
erkennbar. An der Radnabeneinheit **41** ist die AuÃenverzahnung **52** in
ihrer gesamten axialen Erstreckung und mit ihrer Ringnut **53** deutlich
erkennbar. Am GelenkauÃenteil **72** des Gleichlaufgelenks **71** ist durch
die Ausklinkung **74** eine InnenÂ verzahnung **75** sichtbar, in der eine
weitere Ringnut **76** eingeÂ dreht ist. Die Innenverzahnung **75** kommt bei
montierter BaueinÂ heit **10** mit der AuÃenverzahnung **52** an der Radnabe
**41** in EinÂ griff, wobei dann die Ringnut **53** mit der Ringnut **76** in
ÃberdecÂ kung kommt und beide gemeinsam einen Sicherungsring **57**
aufnehmen kÃ¶nnen.  In **Fig.** 2 the same details as in **Fig.** 1 are
numbered with the same reference numerals. Reference is made to the
corresponding description. Wheel hub unit **41** , wheel carrier **11** 1  and
constant velocity joint unit **71** are shown spread apart along the axis of
rotation in an exploded view. No further details can be seen on the wheel
carrier **11** 1  beyond the details already indicated in **FIG.** 1\. On the
wheel hub unit **41** , the external toothing **52 is** clearly recognizable
in its entire axial extent and with its annular groove **53** . On the outer
joint part **72 of** the constant velocity joint **71** an internal toothing
**75 is** visible through the notch **74** , in which a further annular groove
**76 is** rotated. The internal toothing **75** comes with assembled Bauein
unit **10** with the external toothing **52** on the wheel hub **41** in a
grip, then the annular groove **53** comes with the annular groove **76** in
overdec kung and both can accommodate a retaining ring **57** together.


** 23  23  **


    /// \brief Callback for detach request topic
    private: void OnDetachRequest(const msgs::Empty &_msg);


  if (_sdf->HasElement("topic"))
  {
    if (_sdf->HasElement("detach_topic"))
    {
      if (_sdf->Get<std::string>("topic") !=
          _sdf->Get<std::string>("detach_topic"))
      {
        gzerr << "<topic> and <detach_topic> tags have different contents. "
                 "Please verify the correct string and use <detach_topic>."
              << std::endl;
      }
      else
      {
        gzdbg << "Ignoring <topic> tag and using <detach_topic> tag."
              << std::endl;
      }
    }
    else
    {
      detachTopics.insert(detachTopics.begin(),
                          _sdf->Get<std::string>("topic"));
    }
  }


Dichtungsring
Sealing ring


** 79  79  **


** 21  21  **


#ifndef GZ_SIM_SYSTEMS_DETACHABLEJOINT_HH_
#define GZ_SIM_SYSTEMS_DETACHABLEJOINT_HH_


* `<child_model>`: The name of the model containing the child link in the detachable
joint.


**Fig.** 4 zeigt eine komplett montierte Baueinheit in einer zweiten
AusfÃ¼hrung mit gelenkseitiger AusbreÂ chung,
a) im LÃ¤ngsschnitt durch die Drehachse in LiÂ niendarstellung
b) in Ansicht von der Gelenkseite mit PhantomÂ darstellung des
Gleichlaufdrehgelenks in perspektivischer Schattendarstellung;  **Fig.** 4
shows a fully assembled structural unit in a second embodiment with
articulated side Ausbre Chung,
a) in longitudinal section through the axis of rotation in Li niendarstellung
b) in a view from the joint side with a phantom representation of the constant
velocity joint in a perspective shadow representation;


WÃ¤lzkÃ¶rperreihe
Row of rolling elements


** 63  63  **


Die Erfindung betrifft eine Baueinheit zur Lagerung eines Rades eines
Kraftfahrzeuges und zur Antriebsverbindung des Rades mit einer Antriebswelle,
umfassend einen RadtrÃ¤ger, der am KraftÂ fahrzeug anbringbar ist und ein
ringfÃ¶rmiges Teil und mehrere Lenkerarme umfaÃt, eine Radnabe, die drehbar
im ringfÃ¶rmigen Teil des RadtrÃ¤gers gelagert ist und einen Flansch zum
AnschrauÂ ben des Rades aufweist, ein WÃ¤lzlager mit zwei WÃ¤lzkÃ¶rperreihen
zur Lagerung der Radnabe im RadtrÃ¤ger, das in das ringfÃ¶rmige Teil des
RadtrÃ¤gers einsetzbar ist, und ein Gleichlaufgelenk, das ein GelenkauÃenteil
aufweist, das mit der Radnabe lÃ¶sbar verbindbar ist, und ein Gelenkinnenteil
aufweist, das mit der Antriebswelle verbindbar ist, wobei die Verbindung
zwischen der Radnabe und dem GelenkauÃenteil mittels ineinandergreifender
Verzahnungen hergestellt ist, von denen eine erste Verzahnung an einem Teil
der Radnabe und eine zweite Verzahnung an einem HÃ¼lÂ senansatz am
GelenkauÃenteil ausgebildet ist, und wobei die axiale Sicherung der
ineinandergreifenden Verzahnungen mittels eines Sicherungsringes hergestellt
ist, der in zwei Ringnuten eingreift, von denen eine erste Ringnut an dem Teil
der Radnabe im Bereich der ersten Verzahnung und eine zweite Ringnut an dem
HÃ¼lsenansatz im Bereich der zweiten Verzahnung ausgebildet ist.  The
invention relates to a structural unit for mounting a wheel a motor vehicle
and the drive connection of the wheel with a drive shaft comprising a wheel
carrier that is at the power Vehicle is attachable and an annular part and
several Handlebar arms includes a wheel hub that is rotatable in the annular
Part of the wheel carrier is mounted and a flange for screwing ben of the
wheel has a rolling bearing with two rows of rolling elements for storing the
wheel hub in the wheel carrier, which in the ring-shaped Part of the wheel
carrier can be used, and a constant velocity joint, which has an outer joint
part which is detachable with the wheel hub is connectable, and has an inner
joint part which with the Drive shaft is connectable, the connection between
the Wheel hub and the outer joint part by means of interlocking Toothings is
made, of which a first toothing part of the wheel hub and a second set of
teeth on a sleeve senansatz is formed on the outer joint part, and wherein the
axial securing of the interlocking gears by means of a circlip is made in two
ring grooves engages, of which a first annular groove on the part of the wheel
hub in the area of the first toothing and a second annular groove on the
Sleeve approach is formed in the region of the second toothing.


  class DetachableJoint
      : public System,
        public ISystemConfigure,
        public ISystemPreUpdate
  {
    /// Documentation inherited
    public: DetachableJoint() = default;


* Cited by examiner, â Cited by third party  Publication number  |  Priority date  |  Publication date  |  Assignee  |  Title
---|---|---|---|---
[ US11434958B2  (  en  ) ](/patent/US11434958B2/en) *  |  2017-05-03  |
2022-09-06  |  Neapco Intellectual Property Holdings, Llc  |  High retention
force serviceable plug-on joint assembly

##  Citations (3)


  if (_sdf->HasElement("parent_link"))
  {
    auto parentLinkName = _sdf->Get<std::string>("parent_link");
    this->parentLinkEntity = this->model.LinkByName(_ecm, parentLinkName);
    if (kNullEntity == this->parentLinkEntity)
    {
      gzerr << "Link with name " << parentLinkName
             << " not found in model " << this->model.Name(_ecm)
             << ". Make sure the parameter 'parent_link' has the "
             << "correct value. Failed to initialize.\n";
      return;
    }
  }
  else
  {
    gzerr << "'parent_link' is a required parameter for DetachableJoint. "
              "Failed to initialize.\n";
    return;
  }


    /// \brief Name of child model
    private: std::string childModelName;


     2000-02-23
Filing date


Gewindebohrung
Tapped hole


     DE
     Germany
Prior art keywords


WÃ¤lzlager
roller bearing


**Fig.** 1 zeigt eine komplett montierte Baueinheit in einer ersten
AusfÃ¼hrung mit flanschseitiger Ausbrechung von oben,
a) in Liniendarstellung
b) in Schattendarstellung;  **Fig.** 1 shows a fully assembled structural unit
in a first embodiment, with break-away flange side from above,
a) in line representation
b) in shadow;


Application Number  |  Priority Date  |  Filing Date  |  Title
---|---|---|---
DE2000108182  [ DE10008182B4  (  en  ) ](/patent/DE10008182B4/en) |
2000-02-23  |  2000-02-23  |  Unit for the storage and drive connection of a
wheel

##  Publications (2)


In vorteilhafter Weise bietet der Gegenstand der vorliegenden Erfindung eine
kurzbauende Baueinheit der genannten Art, die mit einfachen Hilfsmitteln
zerstÃ¶rungsfrei und ohne LÃ¶sen der BauÂ gruppen RadtrÃ¤ger und
Radnabeneinheit von dem Gleichlaufgelenk einer Gelenkwelle getrennt werden
kann. Hierbei sind gute ZuÂ gÃ¤nglichkeit fÃ¼r die Montage und im
wesentlichen unbeeintrÃ¤chÂ tigte Festigkeit sichergestellt.  The subject of
the present offers advantageously Invention a short construction unit of the
type mentioned, with simple aids non-destructively and without loosening the
construction groups wheel carrier and wheel hub unit from the constant
velocity joint a propeller shaft can be separated. Here are good to
Accessibility for assembly and essentially unaffected ensured strength.


1\. Baueinheit ( **10** ) zur Lagerung eines Rades eines KraftfahrÂ zeuges
und zur Antriebsverbindung des Rades mit einer AnÂ triebswelle, umfassend
einen RadtrÃ¤ger ( **11** ), der am KraftÂ fahrzeug anbringbar ist und ein
Ringteil ( **15** ) und mehrere Lenkerarme ( **16** ) umfaÃt, eine Radnabe (
**41** ), die drehbar im Ringteil ( **15** ) des RadtrÃ¤gers ( **11** )
gelagert ist und einen Flansch ( **46** ) zum Anschrauben des Rades aufweist,
ein WÃ¤lzÂ lager ( **51** ) mit zwei WÃ¤lzkÃ¶rperreihen ( **61** , **62** )
zur Lagerung der Radnabe ( **41** ) im RadtrÃ¤ger ( **11** ), das in das
Ringteil ( **15** ) des RadtrÃ¤gers ( **11** ) einsetzbar ist, und ein
GleichÂ laufgelenk ( **71** ), das ein GelenkauÃenteil ( **72** ) aufweist,
das mit der Radnabe ( **41** ) lÃ¶sbar verbindbar ist, und ein GelenkÂ
innenteil ( **77** ) aufweist, das mit der Antriebswelle verÂ bindbar ist,
wobei die Verbindung zwischen der Radnabe ( **41** ) und dem GelenkauÃenteil
( **72** ) mittels ineinandergreifender Verzahnungen ( **52** , **75** )
hergestellt ist, von denen eine erste Verzahnung ( **52** ) an einem Teil der
Radnabe ( **41** ) und eine zweite Verzahnung ( **75** ) an einem
HÃ¼lsenansatz ( **82** ) am GeÂ lenkauÃenteil ( **72** ) ausgebildet ist,
und wobei die axiale Sicherung der ineinandergreifenden Verzahnungen mittels
eines Sicherungsringes ( **57** ) hergestellt ist, der in zwei Ringnuten (
**53** , **76** ) eingreift, von denen eine erste Ringnut ( **53** ) an dem
Teil der Radnabe ( **41** ) im Bereich der ersten Verzahnung ( **52** ) und
eine zweite Ringnut ( **76** ) an dem HÃ¼lsenÂ ansatz ( **82** ) im Bereich
der zweiten Verzahnung ( **75** ) ausgeÂ bildet ist, **dadurch
gekennzeichnet** , daÃ am RadtrÃ¤ger ( **11** 1  ) im Ringteil ( **15** 1  )
in zumindest einer Umfangsposition eine Ausbrechung ( **27** 1  ) ausgebildet
ist, die von der Radseite in das Ringteil ( **15** 1  ) axial einschneidet und
daÃ bei im RadtrÃ¤ger ( **11** 1  ) festgelegtem WÃ¤lzlager ( **51** ) und
bei mit der Radnabe ( **41** ) verbundenem GelenkauÃenteil die beiden
Ringnuten ( **53** , **76** ) axial korrespondierend zur Ausbrechung ( **27**
1  ) liegen, so daÃ der Sicherungsring ( **57** ) mittels eines
Zangenwerkzeuges durch die Ausbrechung ( **27** 1  ) hindurch handhabbar ist.
1\. assembly ( **10** ) for storing a wheel of a motor vehicle and for driving
connection of the wheel to a drive shaft, comprising a wheel carrier ( **11**
) which can be attached to the motor vehicle and comprises a ring part (
**15** ) and a plurality of handlebar arms ( **16** ), a wheel hub ( **41** )
which is rotatably mounted in the ring part ( **15** ) of the wheel carrier (
**11** ) and has a flange ( **46** ) for screwing on the wheel, a rolling
bearing ( **51** ) with two rows of rolling elements ( **61** , **62** ) for
mounting the wheel hub ( **41** ) in the wheel carrier ( **11** ), which can
be used in the ring part ( **15** ) of the wheel carrier ( **11** ), and a


Auge
eye


The system has the following parameters:


Country  |  Link
---|---
DE  (  1  )  |  [ DE10008182B4  (  en  ) ](/patent/DE10008182B4/en)

##  Cited By (1)


** 51  51  **


     GKN Automotive GmbH
Priority date (The priority date is an assumption and is not a legal
conclusion. Google has not performed a legal analysis and makes no
representation as to the accuracy of the date listed.)


LagerauÃenring
Bearing outer ring


** 33  33  **


    /// \brief Entity of attachment link in the child model
    private: Entity childLinkEntity{kNullEntity};


  this->outputTopic = validTopic(outputTopics);
  if (this->outputTopic.empty())
  {
    gzerr << "No valid output topics for DetachableJoint could be found.\n";
    return;
  }
  gzdbg << "Output topic is: " << this->outputTopic << std::endl;


**57** ) can be handled with a pliers tool through the cutout ( **27** 2  ).
3\. Baueinheit nach einem der AnsprÃ¼che 1 und 2, dadurch gekennzeichnet, daÃ
in Umfangsrichtung unmittelbar zu beiden Seiten der Ausbrechung ( **27** )
Verschraubungen ( **63** , **64** ) zwischen dem Ringteil ( **15** ) des
RadtrÃ¤gers ( **11** ) und dem LagerauÃenring ( **59** ) des WÃ¤lzlagers (
**51** ) vorgesehen sind.  3\. Assembly according to one of claims 1 and 2,
characterized in that in the circumferential direction directly on both sides
of the knockout ( **27** ) screw connections ( **63** , **64** ) between the
ring part ( **15** ) of the wheel carrier ( **11** ) and the bearing outer
ring ( **59** ) of Rolling bearing ( **51** ) are provided.  4\. Baueinheit
nach Anspruch 2, dadurch gekennzeichnet, daÃ die Ausbrechung ( **27** 2  ) im
Bereich eines Lenkerarms ( **16** 2  ) liegt, in den sie radial einschneidet.
4\. Unit according to claim 2, characterized in that the cutout ( **27** 2  )
is in the region of a handlebar arm ( **16** 2  ), in which it cuts radially.
5\. Baueinheit nach einem der AnsprÃ¼che 1 bis 3, dadurch gekennzeichnet, daÃ
die Ausbrechung ( **27** ) in radialer Ansicht im wesentliÂ chen U-fÃ¶rmig
ist.  5\. Assembly according to one of claims 1 to 3, characterized in that
the cutout ( **27** ) is in a radial view in wesentli Chen U-shaped.  6\.
Baueinheit nach Anspruch 4, dadurch gekennzeichnet, daÃ die Ausbrechung (
**27** 2  ) in axialer Ansicht im wesentliÂ chen U-fÃ¶rmig ist.  6\. Unit
according to claim 4, characterized in that the knockout ( **27** 2  ) is in
axial view in wesentli Chen U-shaped.  7\. Baueinheit nach einem der
AnsprÃ¼che 1 bis 6, dadurch gekennzeichnet, daÃ die Verzahnungen ( **52** ,
**75** ) ineinandergreifende Naben- und Wellenverzahnungen sind und am
HÃ¼lsenansatz ( **82** ) im Bereich der Nabenverzahnung eine umfangsbegrenzte
und axial begrenzte Ausklinkung ( **74** ) ausgebildet ist, die die zweite
Ringnut ( **76** ) unterbricht und die bei mit der Radnabe ( **41** )
verbundenem GelenkauÃenteil ( **72** ) die erste Ringnut ( **53** ) in der
Wellenverzahnung der Radnabe ( **41** ) und den SicherungsÂ ring ( **57** )
umfangsbegrenzt freilegt.  7\. Unit according to one of claims 1 to 6,
characterized in that the toothings ( **52** , **75** ) are intermeshing hub
and shaft toothings and a circumferential and axially limited notch ( **74** )
is formed on the sleeve extension ( **82** ) in the region of the hub
toothing, which interrupts the second ring groove ( **76** ) and which, when
connected to the wheel hub ( **41** ), the joint outer part ( **72** ) exposes
the first ring groove ( **53** ) in the shaft toothing of the wheel hub (
**41** ) and the securing ring ( **57** ) to a limited extent.  8\. Baueinheit
nach einem der AnsprÃ¼che 1 bis 7, dadurch gekennzeichnet, daÃ die erste
Verzahnung ( **52** ) an einem separaten Treibring ( **55** ) ausgebildet ist,
der auf die Radnabe ( **41** ) aufgeschoben und auf dieser unlÃ¶sbar


    /// \brief Gazebo communication node.
    private: transport::Node node;


**Fig.** 2 zeigt die Baueinheit nach **Fig.** 1 demontiert mit vom RadtrÃ¤ger
getrennter Radnabe und GelenkauÃenÂ teil ohne Sicherungsring,
a)in Liniendarstellung
b) in Schattendarstellung;  **Fig.** 2 shows the assembly of **FIG.** 1
removed with separate from the wheel hub and outer joint part without
retaining ring,
a) in line representation
b) in shadow;


     DE10008182A1
DE10008182A1  DE2000108182  DE10008182A  DE10008182A1  DE 10008182 A1
DE10008182 A1  DE 10008182A1  DE 2000108182  DE2000108182  DE 2000108182  DE
10008182 A  DE10008182 A  DE 10008182A  DE 10008182 A1  DE10008182 A1  DE
10008182A1  Authority


**Fig.** 3 zeigt den RadtrÃ¤ger nach den **Fig.** 1 und 2 als Einzelheit in
SchrÃ¤gansicht von der Flanschseite in Schattendarstellung;  **Fig.** 3 shows
the wheel carrier according to **Figures** 1 and 2 as a detail in an oblique
view from the flange side in the shadow representation.


** 78  78  **


Due to a limitation in the implementation of this system, if detached models
need to collide with a parent model or other detached models that have the same
parent, the parent model needs to have `<self_collide>` set to true. However,
due to an issue in DART, the default physics engine, it is important that none of the parent
or child models be in collision in their initial (attached) state.
Furthermore, it is important to note that reattaching a child model is not
currently supported while the child model and parent model are in contact.
Therefore, it is imperative to ensure that there is no collision between the
child and parent model when attempting to perform the reattachment process.


using namespace gz;
using namespace sim;
using namespace systems;


Der vorliegenden Erfindung liegt die Aufgabe zugrunde, eine BauÂ einheit der
genannten Art so weiterzubilden, daÃ eine erleichÂ terte Montage und
Demontage des Gleichlaufgelenks und damit zuÂ gleich eine verbesserte
MÃ¶glichkeit zum Austausch von GelenkwelÂ len am Kraftfahrzeug mÃ¶glich wird.
Eine LÃ¶sung hierfÃ¼r besteht darin, daÃ im RadtrÃ¤ger im Ringteil in
zumindest einer UmfangsÂ position eine Ausbrechung ausgebildet ist, die von
der Radseite in das Ringteil axial einschneidet, und daÃ bei im RadtrÃ¤ger
festgelegtem WÃ¤lzlager und bei mit der Radnabe verbundenem GeÂ
lenkauÃenteil die beiden Ringnuten axial korrespondierend zur Ausbrechung
liegen, so daÃ der Sicherungsring mittels eines Zangenwerkzeugs durch die
Ausnehmung hindurch handhabbar ist. Eine andere LÃ¶sung besteht darin, daÃ am
RadtrÃ¤ger im Ringteil in zumindest einer Umfangsposition eine Ausbrechung
ausgebildet ist, die von der Gelenkseite in das Ringteil axial einschneidet,
und daÃ bei im RadtrÃ¤ger festgelegtem WÃ¤lzlager und bei mit der Radnabe
verbundenem GelenkauÃenteil die beiden Ringnuten axial korrespondierend zur
Ausbrechung liegen, so daÃ der SicherungsÂ ring mittels eines
Zangenwerkzeuges durch die Ausbrechung hinÂ durch handhabbar ist. Mit den
hier angegebenen Mitteln kann eine Gelenkwelle montiert und insbesondere
zerstÃ¶rungsfrei demontiert werden, ohne daÃ das Fahrzeugrad von der Radnabe
und die Radnabe vom RadtrÃ¤ger demontiert werden muÃ und ohne daÃ der
RadtrÃ¤ger in irgendeiner Weise vom Kraftfahrzeug gelÃ¶st werden muÃ. Der
fÃ¼r die Montage und Demontage erforderliche Verschiebeweg zum LÃ¶sen der
ineinandergreifenden Verzahnungen ist im differentialÂ seitigen
Gleichlaufgelenk konstruktiv notwendigerweise vorhanÂ den. Ohne die
Festigkeit des RingkÃ¶rpers wesentlich zu beeinÂ trÃ¤chtigen, erlaubt die
Gestaltung der Ausbrechung den notwendiÂ gen Zugriff zum Sicherungsring.
Hierzu ist die Welle mit dem GelenkauÃenteil in eine Drehposition zu bringen,
in der die Enden des Sicherungsrings radial betrachtet unterhalb der AusÂ
klinkung zu liegen kommen. Dabei liegt der Sicherungsring axial betrachtet
innerhalb der LÃ¤ngserstreckung der Ausbrechung.  The present invention has
for its object a construction unit of the type mentioned so that a facilit
Lower assembly and disassembly of the constant velocity joint and thus too an
improved way to exchange articulated parts len on the motor vehicle is
possible. There is a solution to this in that in the wheel carrier in the ring
part in at least one extent position a breakout is formed from the wheel side
cuts axially in the ring member, and that in the wheel carrier fixed roller
bearing and with Ge connected to the wheel hub steering outer part, the two
ring grooves axially corresponding to Breakout lie, so that the retaining ring
by means of a Pliers tool can be handled through the recess. Another solution
is that on the wheel carrier in the ring part A cutout is formed in at least


Ringnut
Ring groove


Aus der DE 197 00 313 A1 ist eine Anordnung der genannten Art bekannt, bei der
der Sicherungsring nach Art eines Schnapprings, der selbstÃ¤ndig in die
Innennut in der Innenverzahnung des GeÂ lenkauÃenteils eingreift,
ausgefÃ¼hrt ist. Eine derartige AnÂ ordnung ist nicht zerstÃ¶rungsfrei zu
demontieren. Vielmehr wird der Sicherungsring beim gewaltsamen axialen
Entfernen von RadnaÂ beneinheit und Gleichlaufgelenk zerquetscht, wobei
zugleich SchÃ¤den an den Verzahnungen auftreten kÃ¶nnen. Aus der DE 197 51 855
C1 ist eine Anordnung der eingangs genannten Art bekannt, bei der der
Sicherungsring radial von auÃen frei zugÃ¤nglich ist und axial zur
Gelenkseite vor dem Ringteil des RadtrÃ¤gers liegt.  DE 197 00 313 A1
describes an arrangement of the type mentioned known in which the snap ring in
the manner of a snap ring, which independently in the inner groove in the
internal teeth of the Ge steering outer part engages, is executed. Such a type
order is not to be dismantled non-destructively. Rather it will the locking
ring during the violent axial removal of Radna ben unit and constant velocity
joint crushed, while at the same time Damage to the gears can occur. From DE
197 51 855 C1 an arrangement of the type mentioned at the outset is known,
where the circlip is freely accessible radially from the outside and lies
axially to the hinge side in front of the ring part of the wheel carrier. Â


** 71  71  **


  *     * F  —  MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    * F16  —  ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    * F16D  —  COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    * F16D3/00  —  Yielding couplings, i.e. with means permitting movement between the connected parts during the drive
    * F16D3/16  —  Universal joints in which flexibility is produced by means of pivots or sliding or rolling connecting parts
    * F16D3/20  —  Universal joints in which flexibility is produced by means of pivots or sliding or rolling connecting parts one coupling part entering a sleeve of the other coupling part and connected thereto by sliding or rolling members
    * F16D3/22  —  Universal joints in which flexibility is produced by means of pivots or sliding or rolling connecting parts one coupling part entering a sleeve of the other coupling part and connected thereto by sliding or rolling members the rolling members being balls, rollers, or the like, guided in grooves or sockets in both coupling parts
    * F16D3/223  —  Universal joints in which flexibility is produced by means of pivots or sliding or rolling connecting parts one coupling part entering a sleeve of the other coupling part and connected thereto by sliding or rolling members the rolling members being balls, rollers, or the like, guided in grooves or sockets in both coupling parts the rolling members being guided in grooves in both coupling parts
    * F16D3/2237  —  Universal joints in which flexibility is produced by means of pivots or sliding or rolling connecting parts one coupling part entering a sleeve of the other coupling part and connected thereto by sliding or rolling members the rolling members being balls, rollers, or the like, guided in grooves or sockets in both coupling parts the rolling members being guided in grooves in both coupling parts where the grooves are composed of radii and adjoining straight lines, i.e. undercut free [UF] type joints
  *     * B  —  PERFORMING OPERATIONS; TRANSPORTING
    * B60  —  VEHICLES IN GENERAL
    * B60B  —  VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    * B60B27/00  —  Hubs
  *     * F  —  MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    * F16  —  ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    * F16D  —  COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    * F16D1/00  —  Couplings for rigidly connecting two coaxial shafts or other movable machine elements
    * F16D1/10  —  Quick-acting couplings in which the parts are connected by simply bringing them together axially
    * F16D1/108  —  Quick-acting couplings in which the parts are connected by simply bringing them together axially having retaining means rotating with the coupling and acting by interengaging parts, i.e. positive coupling
  *     * F  —  MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    * F16  —  ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    * F16D  —  COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    * F16D1/00  —  Couplings for rigidly connecting two coaxial shafts or other movable machine elements
    * F16D1/10  —  Quick-acting couplings in which the parts are connected by simply bringing them together axially
    * F16D1/108  —  Quick-acting couplings in which the parts are connected by simply bringing them together axially having retaining means rotating with the coupling and acting by interengaging parts, i.e. positive coupling
    * F16D1/116  —  Quick-acting couplings in which the parts are connected by simply bringing them together axially having retaining means rotating with the coupling and acting by interengaging parts, i.e. positive coupling the interengaging parts including a continuous or interrupted circumferential groove in the surface of one of the coupling parts
  *     * F  —  MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    * F16  —  ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    * F16D  —  COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    * F16D3/00  —  Yielding couplings, i.e. with means permitting movement between the connected parts during the drive
    * F16D3/16  —  Universal joints in which flexibility is produced by means of pivots or sliding or rolling connecting parts
    * F16D3/20  —  Universal joints in which flexibility is produced by means of pivots or sliding or rolling connecting parts one coupling part entering a sleeve of the other coupling part and connected thereto by sliding or rolling members
    * F16D3/22  —  Universal joints in which flexibility is produced by means of pivots or sliding or rolling connecting parts one coupling part entering a sleeve of the other coupling part and connected thereto by sliding or rolling members the rolling members being balls, rollers, or the like, guided in grooves or sockets in both coupling parts
    * F16D3/223  —  Universal joints in which flexibility is produced by means of pivots or sliding or rolling connecting parts one coupling part entering a sleeve of the other coupling part and connected thereto by sliding or rolling members the rolling members being balls, rollers, or the like, guided in grooves or sockets in both coupling parts the rolling members being guided in grooves in both coupling parts
    * F16D2003/22326  —  Attachments to the outer joint member, i.e. attachments to the exterior of the outer joint member or to the shaft of the outer joint member
  *     * F  —  MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    * F16  —  ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    * F16D  —  COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    * F16D2300/00  —  Special features for couplings or clutches
    * F16D2300/12  —  Mounting or assembling


The `DetachableJoint` system allows two models to start off rigidly attached
and then detach during simulation by publishing to a topic. The system
internally uses a fixed joint between two links, each belonging to two separate
models. Because the system uses joints to connect models, the resulting
kinematic topology has to be a tree, i.e., kinematic loops are not currently
supported. This affects the choice of the parent link, and therefore, the
parent model, which is the model that contains the `DetachableJoint` system.
Once detached, the joint can be re-attached by publishing to a topic.
When reattaching, the child model will be attached to the parent model at its
current pose/configuration. To achieve reattachment at a specific pose, the
child model can be positioned accordingly through a set_pose service call prior
to reattaching the joint.


Application Number  |  Priority Date  |  Filing Date  |  Title
---|---|---|---
DE2000108182  [ DE10008182B4  (  en  ) ](/patent/DE10008182B4/en) |
2000-02-23  |  2000-02-23  |  Unit for the storage and drive connection of a
wheel
US10/204,835  [ US6739422B2  (  en  ) ](/patent/US6739422B2/en) |  2000-02-23
|  2000-12-14  |  Assembly for supporting and drivingly connecting a wheel
JP2001561923A  [ JP2003527271A  (  en  ) ](/patent/JP2003527271A/en) |
2000-02-23  |  2000-12-14  |  Component unit for supporting and drivingly
coupling wheels
PCT/EP2000/012709  [ WO2001063135A1  (  en  ) ](/patent/WO2001063135A1/en) |
2000-02-23  |  2000-12-14  |  Component for mounting and driving a wheel
AU2001230115A  [ AU2001230115A1  (  en  ) ](/patent/AU2001230115A1/en) |
2000-02-23  |  2000-12-14  |  Component for mounting and driving a wheel

##  Applications Claiming Priority (1)


** 54  54  **


    /// \brief The model associated with this system.
    private: Model model;


Baueinheit
Unit


  if (_sdf->HasElement("child_link"))
  {
    this->childLinkName = _sdf->Get<std::string>("child_link");
  }
  else
  {
    gzerr << "'child_link' is a required parameter for DetachableJoint."
              "Failed to initialize.\n";
    return;
  }


** 47  47  **


Dichtungsring
Sealing ring


Lenkerarm
Handlebar arm


#include <vector>


In **Fig.** 5a sind die Komponenten der Baueinheit **10** 2  RadtrÃ¤ger **11**
2  , Radnabeneinheit **41** und Gleichlaufgelenk **71** entlang ihrer Achse
explosionsartig auseinandergezogen. In **Fig.** 5b sind insÂ besondere die an
den Ringenden **65** , **66** liegenden Aufbiegungen zu erkennen. Diese kommen
in der Ausbrechung **27** zu liegen und bilÂ den zugleich eine
Verdrehsicherung gegenÃ¼ber der Ausbrechung **27** . Anstelle der Aufbiegungen
kÃ¶nnen auch vergrÃ¶Ãerte Augen oder dergleichen an den Ringenden **65** ,
**66** vorgesehen werden.  In **Fig.** 5a, the components of the assembly
**10** 2  wheel carrier **11** 2  , wheel hub unit **41** and constant
velocity joint **71 are** exploded apart along their axis. In **Fig.** 5b in
particular the bends lying on the ring ends **65** , **66** can be seen. These
come to rest in the knockout **27** and at the same time provide protection
against rotation relative to the knockout **27** . Instead of the bends,
enlarged eyes or the like can also be provided on the ring ends **65** ,
**66** .


Flanschauge
Flange eye


[ DE10219018A1  (  en  ) ](/patent/DE10219018A1/en) |  2003-12-18  |  Wheel
hub unit for constant velocity universal joint has centering collar that
engages through aperture of wheel hub in a radially play-free manner, and
which is provided near base of shaft journal
[ DE102007038878A1  (  en  ) ](/patent/DE102007038878A1/en) |  2008-02-28  |
Connecting device axially fixed between shaft extensions supported against
assembly and hinge, has lock nut screwed through internal thread onto external
thread of shaft extensions
[ DE102020117721B3  (  en  ) ](/patent/DE102020117721B3/en) |  2021-12-23  |
Wheel bearing unit for a motor vehicle
[ DE102006034035B4  (  en  ) ](/patent/DE102006034035B4/en) |  2011-03-10  |
Wheel hub-swivel arrangement with axial securing of the wheel hub by secured
locking ring
[ DE10001421C2  (  en  ) ](/patent/DE10001421C2/en) |  2001-10-25  |  Gearbox
with integrated rotary play clutch
[ DE10326120B4  (  en  ) ](/patent/DE10326120B4/en) |  2005-06-16  |  steering
shaft

##  Legal Events


** 36  36  **


** 50  50  **


#include <gz/plugin/Register.hh>
#include <gz/transport/Node.hh>


##  Claims (  9  )


  // Setup subscriber for attach topic
  auto msgCb = std::function<void(const transport::ProtoMsg &)>(
      [this](const auto &)
      {
        if (this->isAttached){
          gzdbg << "Already attached" << std::endl;
          return;
        }
        this->attachRequested = true;
      });


Gewindebohrung
Tapped hole


** 73  73  **


```
world---B1---vehicle_blue
     \      /   /
       ---B2   /
       \      /
         ---B3
```


Gleichlaufgelenk
Constant velocity joint


* Cited by examiner, â Cited by third party  Publication number  |  Priority date  |  Publication date  |  Assignee  |  Title
---|---|---|---|---
[ US11434958B2  (  en  ) ](/patent/US11434958B2/en) *  |  2017-05-03  |
2022-09-06  |  Neapco Intellectual Property Holdings, Llc  |  High retention
force serviceable plug-on joint assembly
[ US11598376B2  (  en  ) ](/patent/US11598376B2/en) |  2017-05-03  |
2023-03-07  |  Neapco Intellectual Property Holdings, Llc  |  High retention
force serviceable plug-on joint assembly

##  Also Published As


Nach einer gÃ¼nstigen Weiterbildung der zweitgenannten LÃ¶sung ist vorgesehen,
daÃ die Ausbrechung im Bereich eines Lenkerarms liegt, in den sie radial
einschneidet. Auch hierdurch wird die Materialreduzierung am RingkÃ¶rper
infolge der Ausbrechung durch die Ã¼berbrÃ¼ckende Funktion des Lenkerarms
egalisiert.  After a favorable further development of the second solution
mentioned provided that the breakout in the region of a handlebar arm lies, in
which it cuts radially. This also makes the Material reduction on the ring
body due to the breakout equalizes the bridging function of the handlebar.


** 44  44  **


Publication number


** 34  34  **


#include "gz/sim/Model.hh"
#include "gz/sim/System.hh"


#include <gz/msgs/empty.pb.h>


* `attach_topic` (optional): Topic name to be used for re-attaching connections.
 If empty, a default topic will be created with a pattern
`/model/<model_name>/detachable_joint/attach`. If multiple detachable plugin is
used in one model, `attach_topic` is REQUIRED to attach child models individually.


    /// \brief Whether attachment has been requested
    private: std::atomic<bool> attachRequested{true};


     DE2000108182
Other languages


##  Links


    /// \brief Topic to be used for publishing detached state
    private: std::string outputTopic;


    /// \brief Entity of the detachable joint created by this system
    private: Entity detachableJointEntity{kNullEntity};


//////////////////////////////////////////////////
void DetachableJoint::OnDetachRequest(const msgs::Empty &)
{
  if (!this->isAttached){
    gzdbg << "Already detached" << std::endl;
    return;
  }
  this->detachRequested = true;
}


Sicherungsring
Circlip


Access to a tab on the bracket or wedge from outside of the wheel carrier. Is
the assembly of the building completed by removing the clip or wedge, is
disassembly only by destroying the locking ring by applying axial forces
between the wheel hub and the joint outer part possible.


Kugel
Bullet


Ausklinkung
Notching


Ringnut
Ring groove


* `detach_topic` (optional): Topic name to be used for detaching connections.
 If empty, a default topic will be created with a pattern
`/model/<model_name>/detachable_joint/detach`. If multiple detachable plugin is
used in one model, `detach_topic` is REQUIRED to detach child models individually.


Ringende
Ring end


** 39  39  **


GZ_ADD_PLUGIN(DetachableJoint,
                    System,
                    DetachableJoint::ISystemConfigure,
                    DetachableJoint::ISystemPreUpdate)


** 26  26  **


    /// Documentation inherited
    public: void PreUpdate(
                const gz::sim::UpdateInfo &_info,
                gz::sim::EntityComponentManager &_ecm) final;


The wheel driving and mounting component includes a CV joint (71) comprising a
joint outer section (72) which can be attached to the wheel hub (41) and a
joint inner section for connecting to the drive shaft. The joint between the
wheel hub and the joint outer section is in the form of meshing teeth. There
is a gap or boring (27) in the annular piece (15) of the wheel support to take
a circlip.


** 22  22  **


  * [ List ](namespaces.html)
  * [ Members ](namespacemembers.html)
  * [ Functions ](namespacemembers_func.html)
  * [ Typedefs ](namespacemembers_type.html)
  * [ Variables ](namespacemembers_vars.html)
  * [ Enumerations ](namespacemembers_enum.html)
  * [ Enumerator ](namespacemembers_eval.html)


** 61  61  **


** 35  35  **


#include <sdf/Element.hh>


Bezugszeichliste  Reference symbol list


WÃ¤lzkÃ¶rperreihe
Row of rolling elements


** 17  17th  **


** 14  14  **


     GKN Driveline International GmbH
Original Assignee


// TODO(CH3): Deprecated, remove on version 8
GZ_ADD_PLUGIN_ALIAS(DetachableJoint,
  "ignition::gazebo::systems::DetachableJoint")


     [ DE10008182B4  (  en  ](/patent/DE10008182B4/en)
Inventor


** 70  70  **


one circumferential position which cuts axially into the ring part from the
joint side, and that with fixed in the wheel bearing and with the Wheel hub
connected outer joint part axially the two ring grooves correspond to the
outbreak, so that the fuse ring with a pliers tool through the knockout is
manageable by. With the means specified here, a PTO shaft mounted and in
particular disassembled non-destructively without the vehicle wheel from the
wheel hub and the wheel hub must be dismantled from the wheel carrier and
without the wheel carrier must be detached from the motor vehicle in any way.
The displacement path required for assembly and disassembly Â Loosening the
interlocking gears is in the differential design constant-velocity joint
necessarily exist the. Without significantly affecting the strength of the
ring body the design of the outbreak allows the necessary access to the
circlip. The shaft with the Bring outer joint part in a rotational position in
which the Radially viewed ends of the locking ring below the off click come to
rest. The locking ring lies axially considered within the longitudinal extent
of the eruption.


    /// \brief A publisher to send state of the detachment
    private: transport::Node::Publisher outputPub;


** 25  25th  **


** 69  69  **


/////////////////////////////////////////////////
void DetachableJoint::Configure(const Entity &_entity,
               const std::shared_ptr<const sdf::Element> &_sdf,
               EntityComponentManager &_ecm,
               EventManager &/*_eventMgr*/)
{
  this->model = Model(_entity);
  if (!this->model.Valid(_ecm))
  {
    gzerr << "DetachableJoint should be attached to a model entity. "
           << "Failed to initialize." << std::endl;
    return;
  }


[ _insert_drive_file_ Tutorials ](tutorials.html) _library_books_ Classes
_toc_ Namespaces  [ _insert_drive_file_ Files ](files.html) [ _launch_ Gazebo
Website ](http://gazebosim.org)


StirnflÃ¤che
Face


* `<parent_link>`: Name of the link in the model containing this system that will be
used as the parent link in the detachable joint.


  outputTopics.push_back("/model/" + this->childModelName +
      "/detachable_joint/state");


Wellenverzahnung
Shaft teeth


  // Setup detach topic
  std::vector<std::string> detachTopics;
  if (_sdf->HasElement("detach_topic"))
  {
    detachTopics.push_back(_sdf->Get<std::string>("detach_topic"));
  }
  detachTopics.push_back("/model/" + this->model.Name(_ecm) +
      "/detachable_joint/detach");


** 18  18th  **


** 52  52  **


** 45  45  **


##  Patent Citations (3)


  * ` <parent_link> ` : Name of the link in the model containing this system that will be used as the parent link in the detachable joint.
  * ` <child_model> ` : The name of the model containing the child link in the detachable joint.
  * ` <child_model_link> ` : Name of the link in the ` <child_model> ` that will be used as the child link in the detachable joint.
  * ` topic ` (optional): Topic name to be used for detaching connections. Using <detach_topic> is preferred. If empty, a default topic will be created with a pattern ` /model/<model_name>/detachable_joint/detach ` .
  * ` detach_topic ` (optional): Topic name to be used for detaching connections. If empty, a default topic will be created with a pattern ` /model/<model_name>/detachable_joint/detach ` . If multiple detachable plugin is used in one model, ` detach_topic ` is REQUIRED to detach child models individually.
  * ` attach_topic ` (optional): Topic name to be used for re-attaching connections. If empty, a default topic will be created with a pattern ` /model/<model_name>/detachable_joint/attach ` . If multiple detachable plugin is used in one model, ` attach_topic ` is REQUIRED to attach child models individually.
  * ` output_topic ` (optional): Topic name to be used for publishing the state of the detachment. If empty, a default topic will be created with a pattern ` /model/<child_model_name>/detachable_joint/state ` . If multiple detachable plugin is used in one model, ` output_topic ` is REQUIRED to publish child models state individually.


//////////////////////////////////////////////////
void DetachableJoint::PreUpdate(
  const UpdateInfo &/*_info*/,
  EntityComponentManager &_ecm)
{
  GZ_PROFILE("DetachableJoint::PreUpdate");
  // only allow attaching if child entity is detached
  if (this->validConfig && !this->isAttached)
  {
    // return if attach is not requested.
    if (!this->attachRequested){
      return;
    }
    // Look for the child model and link
    Entity modelEntity{kNullEntity};


Vorzugsweise sind die Verzahnungen am HÃ¼lsenansatz und an der Radnabe
ineinandergreifende Naben- und Wellenverzahnungen, wobei am HÃ¼lsenansatz im
Bereich der Nabenverzahnung eine umfangsÂ begrenzte und axial begrenzte
Ausklinkung ausgebildet ist, die die zweite Ringnut unterbricht und die bei
mit der Radnabe verÂ bundenem GelenkauÃenteil die erste Ringnut in der
WellenverzahÂ nung der Radnabe und den Sicherungsring umfangsbegrenzt
freilegt. In die Ausklinkung kÃ¶nnen dann die Enden des SicherungsÂ rings
eingreifen und sich an dieser in Umfangsrichtung abÂ stÃ¼tzen. Die Ã¼ber die
Ausklinkung nach auÃen vorstehenden Enden des Sicherungsrings sind hier durch
die Ausbrechung hindurch fÃ¼r den zur Montage und Demontage notwendigen
Zugriff frei.  Preferably, the teeth on the sleeve shoulder and on the
Interlocking hub and shaft gears, where a circumferential at the sleeve
approach in the area of the hub teeth limited and axially limited notch is
formed, the the second ring groove interrupts and ver with the wheel hub tied
outer joint part the first ring groove in the shaft toothing The wheel hub and
the circlip are exposed to a limited extent. Â The ends of the fuse can then
be inserted into the notch engage around and on this in the circumferential
direction support. The ends projecting beyond the notch the circlip are here
through the knockout for free access for assembly and disassembly.


  this->detachTopic = validTopic(detachTopics);
  if (this->detachTopic.empty())
  {
    gzerr << "No valid detach topics for DetachableJoint could be found.\n";
    return;
  }
  gzdbg << "Detach topic is: " << this->detachTopic << std::endl;


##  ID=7631919


Ringende
Ring end


  // Setup attach topic
  std::vector<std::string> attachTopics;
  if (_sdf->HasElement("attach_topic"))
  {
    attachTopics.push_back(_sdf->Get<std::string>("attach_topic"));
  }
  attachTopics.push_back("/model/" + this->model.Name(_ecm) +
      "/detachable_joint/attach");
  this->attachTopic = validTopic(attachTopics);
  if (this->attachTopic.empty())
  {
    gzerr << "No valid attach topics for DetachableJoint could be found.\n";
    return;
  }
  gzdbg << "Attach topic is: " << this->attachTopic << std::endl;


NabenkÃ¶rper
Hub body


#include <memory>
#include <string>
#include <gz/transport/Node.hh>


** 62  62  **


##  Family Applications (1)


In den **Fig.** 4 bis 6 sind die gleichen Einzelheiten wie in den **Fig.** 1
bis 3 mit gleichen Ziffern bezeichnet. Die EinzelheiÂ ten des abweichenden
RadtrÃ¤gers sind mit dem Index **2** bezeichnet. In **Fig.** 4a ist abweichend
von der Darstellung der **Fig.** 1 bis 3 im RadtrÃ¤ger **11** 2  , dessen
Lenkerarm **16** 2  abgebrochen dargestellt, und von dem weiterhin das
Lagerauge **29** 2  geschnitten dargestellt ist, ist eine Ausbrechung **27** 2
ausgebildet, die sich im wesentliÂ chen parallel zur Drehachse der Baueinheit
**10** 2  erstreckt und zugleich von dieser aus radial in den Lenkerarm **16**
2  hineinÂ reicht. Von der Radnabeneinheit **41** sind der NabenkÃ¶rper
**45** und der Radflansch **46** erkennbar. Vom Radlager **51** sind Ã¼ber den
LagerauÃenring **59** hinaus zwei WÃ¤lzkÃ¶rperreihen **61** , **62** sowie
ein Lagerinnenring **60** erkennbar, der auf dem NabenkÃ¶rper **45** sitzt.
Dieser ist mit einem Treibring **55** verbaut, in dem die Ringnut **53**
ausgefÃ¼hrt ist. Am Ende des NabenkÃ¶rpers **45** befindet sich eine
UmbÃ¶rdelung **56** , mit dem der Treibring **55** gehalten ist. In die
Ringnut **53** ist ein Sicherungsring **57** eingesetzt. Im Radlager **51**
ist ein Dichtungsring **58** und der bereits angesprochene DichÂ tungsring
**54** erkennbar. Am Gleichlaufgelenk **71** sind auÃer dem GelenkauÃenteil
**72** mit der Ausklinkung **74** noch ein GelenkinnenÂ teil **77** , ein
KugelkÃ¤fig **78** und drehmomentÃ¼bertragende Kugeln **79** dargestellt sowie
ein abdichtender Blechdeckel **80** erkennbar. Das GelenkauÃenteil **72** ist
auf den Treibring **55** aufgeschoben, wobei der Sicherungsring **57** in die
beiden in Ãbereinstimmung befindliÂ chen Ringnuten **53** , **76**
eingreift.  In **Figs.** 4 to 6, the same details are as indicated in
**Figs.** 1 to 3 with the same numerals. The details of the deviating wheel
carrier are identified by index **2** . In **Fig.** 4a, deviating from the
representation of **FIGS.** 1 to 3 in the wheel carrier **11** 2  , the
handlebar arm **16** 2 is shown  broken off, and from which the bearing eye
**29** 2 is  shown in section, an outbreak **27** 2 is  formed, which is
essentially Chen extends parallel to the axis of rotation of the assembly
**10** 2  and at the same time extends radially into the handlebar arm **16**
2  . The hub body **45** and the wheel flange **46 can be seen** from the
wheel hub unit **41** . From the wheel bearing **51** , two rows of rolling
elements **61** , **62** and an inner bearing ring **60** , which sits on the
hub body **45** , can be seen beyond the outer bearing ring **59** . This is
installed with a drive ring **55** in which the annular groove **53 is**
executed. At the end of the hub body **45** there is a flange **56** with
which the drive ring **55 is** held. A locking ring **57 is** inserted into
the annular groove **53** . In the wheel bearing **51** , a sealing ring
**58** and the aforementioned sealing ring **54 can be seen** . On the


**Fig.** 6 zeigt den RadtrÃ¤ger nach den **Fig.** 4 und 5 als Einzelheit in
perspektivischer SchattendarstelÂ lung.  **Fig.** 6 shows the wheel carrier
according to **FIGS.** 4 and 5 as a detail in a perspective shadow
representation.


Radflansch
Wheel flange


** 31  31  **


Application Number  |  Title  |  Priority Date  |  Filing Date
---|---|---|---
DE2000108182  Expired - Fee Related  [ DE10008182B4  (  en  )
](/patent/DE10008182B4/en) |  2000-02-23  |  2000-02-23  |  Unit for the
storage and drive connection of a wheel

##  Country Status (1)


festgelegt ist.  8\. Unit according to one of claims 1 to 7, characterized in
that the first toothing ( **52** ) is formed on a separate drive ring ( **55**
) which is pushed onto the wheel hub ( **41** ) and is permanently attached to
this.  9\. Baueinheit nach Anspruch 8, dadurch gekennzeichnet, daÃ der
Treibring ( **55** ) axial gegen einen inneren Lagerring ( **60** ) einer
ersten WÃ¤lzkÃ¶rperreihe ( **61** ) anliegt, der auf die Radnabe ( **41** )
aufgeschoben ist und gegen einen inneren LaÂ gerring einer zweiten
WÃ¤lzkÃ¶rperreihe ( **62** ) verspannt ist.  9\. The assembly of claim 8,
characterized in that the drive ring ( **55** ) axially against an inner
bearing ring ( **60** ) of a first row of rolling elements ( **61** ) which is
pushed onto the wheel hub ( **41** ) and against an inner bearing ring of a
second row of rolling elements ( **62** ) is tense.


Die **Fig.** 1a und 1b werden nachfolgend gemeinsam beschrieben. Eine
erfindungsgemÃ¤Ãe Baueinheit **10** 1  umfaÃt einen RadtrÃ¤ger **11** 1  ,
eine Radnabe **41** und ein Gleichlaufgelenk **71** . Am RadtrÃ¤ger **11** 1
ist ein zentrales Ringteil **15** 1  erkennbar, an dem ein erster Lenker arm
16  1  , mit einem Befestigungsauge **17** 1  , und ein zweiter Lenkerarm
**18** 1  , mit zwei Befestigungsaugen **19** 1  , **20** 1  erkennbar sind.
Weitere Befestigungsaugen **21** 1  , **22** 1  , **23** 1  sind mit
unterschiedlicher BohÂ rungsrichtung unmittelbar am Ringteil **15** 1
angeformt. Im Ringteil **15** 1  ist eine zur Radnabeneinheit **41** hin
offene Ausbrechung **27** 1  , die sich parallel zur Achse des Ringteils bis
zu einer FlanschÂ flÃ¤che **28** 1  des Ringteils **15** 1  erstreckt und in
dieser mÃ¼ndet. Die Radnabeneinheit **41** umfaÃt ein Radlager **51** mit
einem LagerauÃenÂ ring **59** , an dem Anschraubaugen **63** , **64** zur
Anschraubung an der FlanschflÃ¤che **28** 1  des Ringteils **15** 1  erkennbar
sind, die unmittelÂ bar zu beiden Seiten der Ausbrechung **27** 1  liegen. Im
Radlager **51** ist der NabenkÃ¶rper **45** gelagert, der einen Radflansch
**46** trÃ¤gt, der vier Flanschaugen **47-50** erkennen lÃ¤Ãt. Auf die
Radnabe **41** ist eine Kappe **42** aufgesetzt. Die Gleichlaufgelenkeinheit
**71** zeigt ein GelenkauÃenteil **72** mit einem HÃ¼lsenansatz **82** , an
dem in der radnabenseitigen StirnflÃ¤che **73** eine Ausklinkung **74** ausÂ
gefÃ¼hrt ist, die in Ãbereinstimmung mit der Ausbrechung **27** 1  im
Ringteil **15** 1  des RadtrÃ¤gers **11** 1  gedreht ist. Durch diese AusÂ
klinkung **74** ist eine AuÃenverzahnung **52** sichtbar, in der eine Ringnut
**53** eingedreht ist. Weiter ist noch ein Dichtungsring **54** durch die
Ausbrechung **27** 1  sichtbar.  **FIGS.** 1a and 1b are described together
below. An assembly **10** 1  according to the invention comprises a wheel
carrier **11** 1  , a wheel hub **41** and a constant velocity joint **71** .
On the wheel carrier **11** 1  , a central ring part **15** 1 can be seen  ,
on which a first link arm 16  1  , with a mounting eye **17** 1  , and a
second link arm **18** 1  , with two mounting eyes **19** 1  , **20** 1  can
be seen. Further fastening eyes **21** 1  , **22** 1  , **23** 1  are formed
with different drilling direction directly on the ring part **15** 1  . In the
ring part **15** 1  is an open to the wheel hub unit **41** outbreak **27** 1
, which extends parallel to the axis of the ring part up to a flange surface
**28** 1 of  the ring part **15** 1  and opens into this. The wheel hub unit
**41** comprises a wheel bearing **51** with a bearing outer ring **59** , on
the screw eyes **63** , **64** for screwing on the flange surface **28** 1 of
the ring part **15** 1  can be seen, the bar immediately on both sides of the
cutout **27** 1  . In the wheel bearing **51** , the hub body **45 is**
mounted, which carries a wheel flange **46** , which shows four flange eyes


Due to a limitation in the implementation of this system, if detached models
need to collide with a parent model or other detached models that have the
same parent, the parent model needs to have ` <self_collide> ` set to true.
However, due to an issue in DART, the default physics engine, it is important
that none of the parent or child models be in collision in their initial
(attached) state. Furthermore, it is important to note that reattaching a
child model is not currently supported while the child model and parent model
are in contact. Therefore, it is imperative to ensure that there is no
collision between the child and parent model when attempting to perform the
reattachment process.


##  Priority Applications (5)


For example, [ detachable_joint.sdf ](https://github.com/gazebosim/gz-
sim/blob/ign-gazebo2/examples/worlds/detachable_joint.sdf) demonstrates a four
wheel vehicle that holds three objects that are later detached from the
vehicle. As seen in this example, the parent model is the vehicle. The
kinematic topology is the following.


Auge
eye


** 76  76  **


##  Description


    /// \brief Whether detachment has been requested
    private: std::atomic<bool> detachRequested{false};


In **Fig.** 6 ist der RadtrÃ¤ger **11** 2  mit den bereits erlÃ¤uterten
Einzelheiten erkennbar, die hier in gleicher Weise beziffert sind. Es ist
besonders deutlich die radseitige Ausbrechung **27** 2  erkennbar, die sich
symmetrisch zur LÃ¤ngsachse der Bohrung **35** 2  und radial in den Lenkerarm
**16** 2  hinein erstreckt. Es ist nachÂ vollziehbar, daÃ unter Nutzung der
Ausbrechung **27** 2  ein freier Zugriff auf den die Radnabeneinheit **41**
und das Gleichlaufgelenk **71** verbindenden Sicherungsring **57** gegeben
ist.  In **FIG.** 6, the wheel carrier **11** 2  can be seen with the already
explained details which are numbered in the same way here. The cutout **27** 2
on  the wheel side can be seen particularly clearly, which extends
symmetrically to the longitudinal axis of the bore **35** 2  and radially into
the link arm **16** 2  . It is understandable that, using the knockout **27**
2,  there is free access to the securing ring **57** connecting the wheel hub
unit **41** and the constant velocity joint **71** .


##  Classifications


Nach einer gÃ¼nstigen Ausgestaltung fÃ¼r beide LÃ¶sungen ist vorÂ gesehen,
daÃ in Umfangsrichtung unmittelbar zu beiden Seiten der Ausbrechung
Verschraubungen zwischen dem Ringteil des RadtrÃ¤gers und dem LagerauÃenring
des WÃ¤lzlagers vorgesehen sind. Hiermit wird die Materialreduzierung am
RingkÃ¶rper infolge der AusbreÂ chung festigkeitsmÃ¤Ãig durch die Anbindung
an den LagerauÃenring ausgeglichen.  After a favorable design for both
solutions is before seen that in the circumferential direction directly on
both sides of the Break-out screw connections between the ring part of the
wheel carrier and the bearing outer ring of the rolling bearing are provided.
Herewith the material reduction on the ring body due to the spread strength
due to the connection to the bearing outer ring balanced.


  this->validConfig = true;
}


Translated from  German


* `<child_model_link>`:  Name of the link in the `<child_model>` that will be used
as the child link in the detachable joint.


Radnabe
wheel hub


** 37  37  **


```
world---vehicle_blue---B1
                    \
                      ---B2
                      \
                        ---B3
```
If the objects were each parent models, instead, there would be multiple
kinematic loops, as shown below.


FlanschflÃ¤che
Flange surface


** 66  66  **


** 24  24th  **


**47-50** . A cap **42 is** placed on the wheel hub **41** . The constant
velocity joint unit **71** shows an outer joint part **72** with a sleeve
shoulder **82** on which a notch **74 is** guided in the wheel hub-side end
face **73** , which is rotated in accordance with the cutout **27** 1  in the
ring part **15** 1 of  the wheel carrier **11** 1  . From this notch **74** an
external toothing **52 is** visible, in which an annular groove **53 is**
screwed. A sealing ring **54** is also visible through the knockout **27** 1
.


constant velocity joint ( **71** ), which has an outer joint part ( **72** )
which can be detachably connected to the wheel hub ( **41** ) , and has an
inner joint part ( **77** ) which is ver bindable to the drive shaft, the
connection between the wheel hub ( **41** ) and the outer joint part ( **72**
) being made by means of interlocking toothings ( **52** , **75** ), of which
a first toothing ( **52** ) on a part of the wheel hub ( **41** ) and a second
set of teeth ( **75** ) on a sleeve extension ( **82** ) on the outer joint
part ( **72** ) is formed, and wherein the axial securing of the interlocking
toothings is produced by means of a locking ring ( **57** ) which in two
annular grooves ( **53** , **76** ) engages, of which a first annular groove (
**53** ) on the part of the wheel hub ( **41** ) in the region of the first
toothing ( **52** ) and a second annular groove ( **76** ) on the sleeve
extension ( **82** ) in the region of second toothing ( **75** ) is formed,
**characterized** in that on the wheel carrier ( **11** 1  ) in the ring part
( **15** 1  ) in at least one circumferential position, an outbreak ( **27** 1
) is formed axially from the wheel side in the ring part ( **15** 1  ) cuts in
and that with the roller bearing ( **51** ) fixed in the wheel carrier (
**11** 1  ) and with the outer joint part connected to the wheel hub ( **41**
), the two ring grooves ( **53** , **76** ) lie axially corresponding to the
knockout ( **27** 1  ), so that the securing ring ( **57** ) can be handled
through the cutout ( **27** 1  ) by means of a pliers tool.  2\. Baueinheit (
**10** ) zur Lagerung eines Rades eines KraftfahrÂ zeuges und zur
Antriebsverbindung des Rades mit einer AnÂ triebswelle, umfassend einen
RadtrÃ¤ger ( **11** ), der am KraftÂ fahrzeug anbringbar ist und ein Ringteil
( **15** ) und mehrere Lenkerarme ( **16** ) umfaÃt, eine Radnabe ( **41** ),
die drehbar im Ringteil ( **15** ) des RadtrÃ¤gers ( **11** ) gelagert ist und
einen Flansch ( **46** ) zum Anschrauben des Rades aufweist, ein WÃ¤lzÂ lager
( **51** ) mit zwei WÃ¤lzkÃ¶rperreihen ( **61** , **62** ) zur Lagerung der
Radnabe ( **41** ) im RadtrÃ¤ger ( **11** ), das in das Ringteil ( **15** )
des RadtrÃ¤gers ( **11** ) einsetzbar ist, und ein GleichÂ laufgelenk (
**71** ), das ein GelenkauÃenteil ( **72** ) aufweist, das mit der Radnabe (
**41** ) lÃ¶sbar verbindbar ist, und ein GelenkÂ innenteil ( **77** )
aufweist, das mit der Antriebswelle verÂ bindbar ist, wobei die Verbindung
zwischen der Radnabe ( **41** ) und dem GelenkauÃenteil ( **72** ) mittels
ineinandergreifender Verzahnungen ( **52** , **75** ) hergestellt ist, von
denen eine erste Verzahnung ( **52** ) an einem Teil der Radnabe ( **41** )
und eine zweite Verzahnung ( **75** ) an einem HÃ¼lsenansatz ( **82** ) am
GeÂ lenkauÃenteil ( **72** ) ausgebildet ist, und wobei die axiale Sicherung
der ineinandergreifenden Verzahnungen mittels eines Sicherungsringes ( **57**
) hergestellt ist, der in zwei Ringnuten ( **53** , **76** ) eingreift, von


##  API Reference


//////////////////////////////////////////////////
void DetachableJoint::PublishJointState(bool attached)
{
  msgs::StringMsg detachedStateMsg;
  if (attached)
  {
    detachedStateMsg.set_data("attached");
  }
  else
  {
    detachedStateMsg.set_data("detached");
  }
  this->outputPub.Publish(detachedStateMsg);
}


\---B2 /


Auge
eye


GZ_ADD_PLUGIN_ALIAS(DetachableJoint,
  "gz::sim::systems::DetachableJoint")


** 74  74  **


** 48  48  **


  // Setup subscriber for detach topic
  this->node.Subscribe(
      this->detachTopic, &DetachableJoint::OnDetachRequest, this);


** 56  56  **


In **Fig.** 3 ist das Ringteil **15** 1  des RadtrÃ¤gers **11** 1  von der
FlanschflÃ¤che **28** 1  her in Ansicht gezeigt, wobei die radiale Erstreckung
der Ausbrechung **27** 1  sehr deutlich wird. Am Ringteil **15** 1  sind
weitere Augen **24** 1  , **25** 1  , **26** 1  mit parallel zur Achse verÂ
laufenden Bohrungen sichtbar sowie weitere grÃ¶Ãere Augen **29** 1  , **30**
1  fÃ¼r Drehzapfen bzw. Lenker. In der FlanschflÃ¤che **28** 1  sind GeÂ
windebohrungen **31** 1  , **32** 1  , **33** 1  , **34** 1  zur Anschraubung
des LagerÂ auÃenrings **59** ausgefÃ¼hrt. Weiter ist eine Ringnut **36** 1
zur AufÂ nahme des bereits angesprochenen Dichtungsrings **54** 1  im DurchÂ
gangsloch **35** 1  des Ringteils **15** 1  erkennbar.  In **Fig.** 3, the
ring member of the wheel carrier **11** 1  **15** 1  shown from the flange
surface **28** 1  in her view with the radial extension of the break-away
**27** 1  becomes very clear. On the ring part **15** 1  , further eyes **24**
1  , **25** 1  , **26** 1  with holes running parallel to the axis ver are
visible, as well as further larger eyes **29** 1  , **30** 1  for pivot or
handlebar. In the flange surface **28** 1  Ge threaded holes **31** 1  ,
**32** 1  , **33** 1  , **34** 1  for screwing the bearing outer ring **59
are** executed. Furthermore, an annular groove **36** 1  to take on the
already mentioned sealing ring **54** 1  in the through hole **35** 1 of  the
ring part **15** 1 can be seen  .


Ringnut
Ring groove


 // only allow detaching if child entity is attached
  if (this->isAttached)
  {
    if (this->detachRequested && (kNullEntity != this->detachableJointEntity))
    {
      // Detach the models
      gzdbg << "Removing entity: " << this->detachableJointEntity << std::endl;
      _ecm.RequestRemoveEntity(this->detachableJointEntity);
      this->detachableJointEntity = kNullEntity;
      this->detachRequested = false;
      this->isAttached = false;
      this->PublishJointState(this->isAttached);
    }
  }
}


** 65  65  **


* `topic` (optional): Topic name to be used for detaching connections. Using
<detach_topic> is preferred. If empty, a default topic will be created with a
pattern `/model/<model_name>/detachable_joint/detach`.


Kappe
cap


** 55  55  **


#  Gazebo Sim


Zu diesem Zweck ist mit der Radnabe ein Treibring verbunden, der in die
entsprechende Verzahnung zum Verzahnungseingriff mit dem GelenkauÃenteil
trÃ¤gt, welcher axial Ã¼ber das Nabenende hinaus verlÃ¤ngert ist. Hiermit
verlÃ¤ngert sich die GesamtlÃ¤nge der Baueinheit, wodurch gleichzeitig
verfÃ¼gbare LÃ¤nge fÃ¼r die GeÂ lenkwelle verlorengeht, deren Bestandteil das
Gleichlaufgelenk ist. Diese LÃ¤nge ist ein besonders kritischer Punkt, da mit
einer VerkÃ¼rzung der Gelenkwelle bei vorgegebenen maximalen Gelenkwinkeln
eine Verringerung der Lenkwinkel bzw. der FederÂ wege verbunden ist.  For
this purpose, a drive ring is connected to the wheel hub into the
corresponding toothing for meshing with the Outer joint part, which axially
beyond the hub end is extended. This extends the overall length of the Unit,
whereby at the same time available length for the Ge steering shaft is lost,
part of which is the constant velocity joint is. This length is a particularly
critical point because with a shortening of the cardan shaft at the given
maximum Joint angles a reduction in the steering angle or the spring is
connected.


** 30  30th  **


/*
 * Copyright (C) 2019 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
 */


namespace gz
{
namespace sim
{
// Inline bracket to help doxygen filtering.
inline namespace GZ_SIM_VERSION_NAMESPACE {
namespace systems
{
  /// \brief A system that initially attaches two models via a fixed joint and
  /// allows for the models to get detached during simulation via a topic. A
  /// model can be re-attached during simulation via a topic. The status of the
  /// detached state can be monitored via a topic as well.
  ///
  /// Parameters:
  ///
  /// - `<parent_link>`: Name of the link in the parent model to be used in
  /// creating a fixed joint with a link in the child model.
  ///
  /// - `<child_model>`: Name of the model to which this model will be connected
  ///
  /// - `<child_link>`: Name of the link in the child model to be used in
  /// creating a fixed joint with a link in the parent model.
  ///
  /// - `<topic>` (optional): Topic name to be used for detaching connections.
  /// Using <detach_topic> is preferred.
  ///
  /// - `<detach_topic>` (optional): Topic name to be used for detaching
  /// connections. If multiple detachable plugin is used in one model,
  /// `detach_topic` is REQUIRED to detach child models individually.
  ///
  /// - `<attach_topic>` (optional): Topic name to be used for attaching
  /// connections. If multiple detachable plugin is used in one model,
  /// `attach_topic` is REQUIRED to attach child models individually.
  ///
  /// - `<output_topic>` (optional): Topic name to be used for publishing
  /// the state of the detachment. If multiple detachable plugin is used in
  /// one model, `output_topic` is REQUIRED to publish child models state
  /// individually.
  ///
  /// - `<suppress_child_warning>` (optional): If true, the system


** 42  42  **


Auge
eye


** 57  57  **


     Werner Krude
     Heinzwilli Fuchs
Current Assignee (The listed assignees may be inaccurate. Google has not
performed a legal analysis and makes no representation or warranty as to the
accuracy of the list.)


##  Abstract


constant velocity joint **71** , in addition to the outer joint part **72**
with the notch **74** , an inner joint part **77** , a ball cage **78** and
torque-transmitting balls **79** are shown, and a sealing metal cover **80 can
be seen** . The outer joint part **72** is pushed onto the drive ring **55** ,
the locking ring **57** engaging in the two ring grooves **53** , **76**
located in agreement, Chen.


#include <gz/common/Profiler.hh>


Innenverzahnung
Internal teeth


** 49  49  **


Publication  |  Publication Date  |  Title
---|---|---
[ DE102004048079C5  (  en  ) ](/patent/DE102004048079C5/en) |  2011-05-12  |
Connecting arrangement between a shaft journal and a constant velocity joint
with gland
[ DE102008009361B4  (  en  ) ](/patent/DE102008009361B4/en) |  2009-11-12  |
Connection arrangement with retaining ring
[ DE102012214884B3  (  en  ) ](/patent/DE102012214884B3/en) |  2014-02-27  |
Coupling arrangement and coupling element
[ DE19911111C1  (  en  ) ](/patent/DE19911111C1/en) |  2001-01-11  |
Arrangement with a constant velocity fixed joint and a connecting shaft
[ DE2334938C3  (  en  ) ](/patent/DE2334938C3/en) |  1975-06-19  |  Positive
coupling
[ WO2007054190A1  (  en  ) ](/patent/WO2007054190A1/en) |  2007-05-18  |
Wheel hub/rotary joint arrangement having a spur toothing system
[ EP1287282B1  (  en  ) ](/patent/EP1287282B1/en) |  2004-11-10  |  Screw
connection
[ WO2008022625A1  (  en  ) ](/patent/WO2008022625A1/en) |  2008-02-28  |
Connecting arrangement between a shaft journal and a joint part
[ DE102009017007B4  (  en  ) ](/patent/DE102009017007B4/en) |  2016-10-20  |
Connection system and constant velocity joint
[ DE19648998B4  (  en  ) ](/patent/DE19648998B4/en) |  2014-02-27  |
Arrangement applicable to telescopic waves
[ DE2314904C2  (  en  ) ](/patent/DE2314904C2/en) |  1975-02-27  |
Homokinetic joint coupling
[ DE102014209731B4  (  en  ) ](/patent/DE102014209731B4/en) |  2016-01-07  |
Steering and motor vehicle
[ DE10060117A1  (  en  ) ](/patent/DE10060117A1/en) |  2002-07-04  |  Ball
constant velocity fixed joint as a counter track joint
[ EP1288515B1  (  en  ) ](/patent/EP1288515B1/en) |  2004-06-30  |  Cardan
shaft coupling
[ DE10304156B4  (  en  ) ](/patent/DE10304156B4/en) |  2011-10-20  |  Anti-
ball joint with improved cage
[ DE2717936A1  (  en  ) ](/patent/DE2717936A1/en) |  1979-01-11  |  PTO SHAFT
[ DE4229726C2  (  en  ) ](/patent/DE4229726C2/en) |  1996-05-23  |
Arrangement of drive shaft and slid on hub
[ DE102004054908B4  (  en  ) ](/patent/DE102004054908B4/en) |  2016-02-25  |
Joint outer part of a constant velocity joint for a hub-joint unit
[ WO2001063135A1  (  en  ) ](/patent/WO2001063135A1/en) |  2001-08-30  |
Component for mounting and driving a wheel


Treibring
Drift ring


\page detachablejoints Detachable Joints


For example, [detachable_joint.sdf](https://github.com/gazebosim/gz-sim/blob/ign-gazebo2/examples/worlds/detachable_joint.sdf)
demonstrates a four wheel vehicle that holds three objects that are later
detached from the vehicle. As seen in this example, the parent model is the
vehicle. The kinematic topology is the following.


** 15  15  **


** 13  13  **


DE2000108182  2000-02-23  2000-02-23  Unit for the storage and drive
connection of a wheel  Expired - Fee Related  [ DE10008182B4  (  en  )
](/patent/DE10008182B4/en)


  // Setup publisher for output topic
  this->outputPub = this->node.Advertise<gz::msgs::StringMsg>(
      this->outputTopic);
  if (!this->outputPub)
  {
    gzerr << "Error advertising topic [" << this->outputTopic << "]"
              << std::endl;
    return;
  }


** 68  68  **


The ` DetachableJoint ` system allows two models to start off rigidly attached
and then detach during simulation by publishing to a topic. The system
internally uses a fixed joint between two links, each belonging to two
separate models. Because the system uses joints to connect models, the
resulting kinematic topology has to be a tree, i.e., kinematic loops are not
currently supported. This affects the choice of the parent link, and
therefore, the parent model, which is the model that contains the `
DetachableJoint ` system. Once detached, the joint can be re-attached by
publishing to a topic. When reattaching, the child model will be attached to
the parent model at its current pose/configuration. To achieve reattachment at
a specific pose, the child model can be positioned accordingly through a
set_pose service call prior to reattaching the joint.


#include "DetachableJoint.hh"


KugelkÃ¤fig
Ball cage


** 41  41  **


    /// Documentation inherited
    public: void Configure(const Entity &_entity,
                           const std::shared_ptr<const sdf::Element> &_sdf,
                           EntityComponentManager &_ecm,
                           EventManager &_eventMgr) final;


Flanschauge
Flange eye


[ ![](https://gazebosim.org/assets/doxygen/gazebo_logo.svg) ](index.html)


** 10  10th  **


  // Setup output topic
  std::vector<std::string> outputTopics;
  if (_sdf->HasElement("output_topic"))
  {
    outputTopics.push_back(_sdf->Get<std::string>("output_topic"));
  }


Publication Number  |  Publication Date
---|---
DE10008182A1  true  [ DE10008182A1 (  en  ) ](/patent/DE10008182A1/en) |
2001-09-13
DE10008182B4  [ DE10008182B4 (  en  ) ](/patent/DE10008182B4/en) |  2004-03-18

#  Family


  gzdbg << "DetachableJoint subscribing to messages on "
         << "[" << this->detachTopic << "]" << std::endl;


Auge
eye


** 46  46  **


** 32  32  **


HÃ¼lsenansatz
Sleeve approach


    /// \brief Topic to be used for re-attaching connections
    private: std::string attachTopic;


** 28  28  **


#endif


    /// \brief Topic to be used for detaching connections
    private: std::string detachTopic;


** 20  20th  **


** 16  16  **


/*
 * Copyright (C) 2019 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
 */


     [ German  (  de  ) ](/patent/DE10008182A1/de)
Other versions


Ausbrechung
Outbreak


Gewindebohrung
Tapped hole


** 59  59  **


** 11  11  **


Flanschauge
Flange eye


  if (_sdf->HasElement("child_model"))
  {
    this->childModelName = _sdf->Get<std::string>("child_model");
  }
  else
  {
    gzerr << "'child_model' is a required parameter for DetachableJoint."
              "Failed to initialize.\n";
    return;
  }


     ring
     wheel
     wheel hub
     hub
     wheel carrier
Prior art date


Auge
eye


#  DE10008182A1 - Wheel driving and mounting component has CV joint comprising
detachable joint outer section linked to hub and inner section for connecting
to drive shaft \- Google Patents


    /// \brief Entity of attachment link in the parent model
    private: Entity parentLinkEntity{kNullEntity};


** 67  67  **


**Owner name** :  GKN DRIVELINE INTERNATIONAL GMBH, 53797 LOHMAR, DE

2004-09-16  |  8364  |  No opposition during term of opposition  |
2009-12-17  |  8339  |  Ceased/non-payment of the annual fee  |


  if (!this->node.Subscribe(this->attachTopic, msgCb))
  {
    gzerr << "Subscriber could not be created for [attach] topic.\n";
    return;
  }


denen eine erste Ringnut ( **53** ) an dem Teil der Radnabe ( **41** ) im
Bereich der ersten Verzahnung ( **52** ) und eine zweite Ringnut ( **76** ) an
dem HÃ¼lsenÂ ansatz ( **82** ) im Bereich der zweiten Verzahnung ( **75** )
ausgeÂ bildet ist, dadurch gekennzeichnet, daÃ am RadtrÃ¤ger ( **11** 2  )
im Ringteil ( **15** 2  ) in zumindest einer Umfangsposition eine Ausbrechung
( **27** 2  ) ausgebildet ist, die von der Gelenkseite in das Ringteil (
**15** 2  ) axial einschneiÂ det und bei im RadtrÃ¤ger ( **11** 2  )
festgelegtem WÃ¤lzlager ( **51** ) und daÃ bei mit der Radnabe ( **41** )
verbundenem GelenkauÃenÂ teil die beiden Ringnuten ( **53** , **76** ) axial
korrespondierend zur Ausbrechung ( **27** 2  ) liegen, so daÃ der
Sicherungsring ( **57** ) mittels eines Zangenwerkzeuges durch die Ausbrechung
( **27** 2  ) hindurch handhabbar ist.  2\. assembly ( **10** ) for storing a
wheel of a motor vehicle and for driving connection of the wheel to a drive
shaft, comprising a wheel carrier ( **11** ) which can be attached to the
motor vehicle and comprises a ring part ( **15** ) and a plurality of
handlebar arms ( **16** ), a wheel hub ( **41** ) which is rotatably mounted
in the ring part ( **15** ) of the wheel carrier ( **11** ) and has a flange (
**46** ) for screwing on the wheel, a rolling bearing ( **51** ) with two rows
of rolling elements ( **61** , **62** ) for mounting the wheel hub ( **41** )
in the wheel carrier ( **11** ), which can be used in the ring part ( **15** )
of the wheel carrier ( **11** ), and a constant velocity joint ( **71** ),
which has an outer joint part ( **72** ) which can be detachably connected to
the wheel hub ( **41** ) , and has an inner joint part ( **77** ) which is ver
bindable to the drive shaft, the connection between the wheel hub ( **41** )
and the outer joint part ( **72** ) being made by means of interlocking
toothings ( **52** , **75** ), of which a first toothing ( **52** ) on a part
of the wheel hub ( **41** ) and a second set of teeth ( **75** ) on a sleeve
extension ( **82** ) on the outer joint part ( **72** ) is formed, and wherein
the axial securing of the interlocking toothings by means of a locking ring (
**57** ) is produced in two annular grooves ( **53** , **76** ) engages, of
which a first annular groove ( **53** ) on the part of the wheel hub ( **41**
) in the region of the first toothing ( **52** ) and a second annular groove (
**76** ) on the sleeve extension ( **82** ) in the region of second toothing (
**75** ) is formed, characterized in that on the wheel carrier ( **11** 2  )
in the ring part ( **15** 2  ) in at least one circumferential position, an
outbreak ( **27** 2  ) is formed axially from the hinge side into the ring
part ( **15** 2  ) einschnei det and in the wheel carrier ( **11** 2  ) fixed
roller bearing ( **51** ) and that with the wheel hub ( **41** ) connected
joint outer part, the two annular grooves ( **53** , **76** ) are axially
corresponding to the knockout ( **27** 2  ), so that the safety device ng (


Lenkerarm
Handlebar arm


Ringteil
Ring part


If the objects were each parent models, instead, there would be multiple
kinematic loops, as shown below.


[ ![](images/iso.png) ](ISOing.PDF) ![](images/CE.png) [ ![](images/csa.png)
](https://www.csagroup.org)


Where V is the terminal voltage,


#####  Area of Usage


Voltage naturally determines the current. So for DC motors and some AC motors voltage control is used used for speed control.


WHereas efficiency of a DC motor is a function of its frequency related power. At nominal power efficiency is around 95%


#####  Features


Motors available for accelerated prototyping
Miniature size, mighty control
Three steps to energy efficient motors


Related questions
What is the difference between DC voltage and DC current?
What is the relationship between voltage and current in a DC shunt motor?
What is the relationship between armature current and speed in a DC motor?
Can the speed of a DC series motor be controlled by changing voltage or current in it?
What is the relationship between the speed of rotation, current, and voltage in a motor?
Profile photo for Muhammad
Muhammad
M.S in Biophysics, University of Tehran (Graduated 2015)Author has 337 answers and 116.6K answer views
 ·
2y
Related
How are angular speed and torque related to the current and voltage of a DC electromotor?
I – current, measured in amperes .
V – applied voltage, measured in volts .
τ – torque, measured in Newton meters (N•m).
ω – angular speed, measured in radians per second (rad/s).
rpm – rotational speed in revolutions per minute.
π – mathematical constant pi (3.14).
60 – number of seconds in a minute.
E=Efficiency


τ * rpm * 2π / 60 = I * V * E
more description:


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The DC motor as we all know is a rotational machine, and torque of DC motor is a very important parameter.


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τ
 = Torque, in N-m


High currents risk overloading the supply that passes through the motor, while overvoltage can damage the electrical insulation of the supply - or even the motor itself.


Hoisting is pretty straightforward - the load resists the motor, requiring positive torque against gravity. But when the crane’s hook is loaded, the load may overhaul the motor and requires a dynamic braking resistor, such as those supplied by Cressall, to ensure the load won’t run away and crash.


Torque (Md) * angular speed (2*Pi*frequency) = Efficiency * Voltage (U) * Current (I)


Similar articles


Ea is the induced voltage in Armature.


20 v times 10 amps = 200 VA


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Kahsay Kiross
Msc in Electronics and Communication Engineering & Electrical Engineering, Ethiopian Institute of Technology (Graduated 2015)Author has 131 answers and 690.7K answer views
 ·
6y
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Why does voltage increase the speed of a DC motor?
So in this short article, we will demonstrate how an increased voltage will increase the speed and an increased load will decrease the speed of a motor.


Profile photo for Jason Pallack
Jason Pallack
NETA Level 1 in Power Production & Power Distribution, U.S. Army Corps of Engineers (Graduated 2017)Author has 2K answers and 3M answer views
 ·
6y
Related
What happens to speed if torque increases in DC motor?
I hate to answer a question with a question, but what would cause torque to increase in a DC motor? So I’ll try to answer my own question . . . in order to increase torque, more force must be applied, that means either more magnetic force from the field windings or more magnetic force from the armature windings, either would require more current applied to the stated windings. More current requires either less resistance or more voltage, given that winding resistance(reactance) is constant until counter EMF takes effect, more voltage would be required. More voltage applied to the same resistan


The power is the product of voltage times current. If both double then the power is 4 times greater.


Anyway, the Torque-Current relationship is nearly the same.


Usually when the load applied on the shaft is increased, the load torque becomes greater than the Ind torque ( as compared to the steady state the motor was running before increasing the load ), so the motor decelerates, this decrease in speed reduces the back EMF and inturn motor current is drawn


Unless the machine enters saturation (
I
a
>
12
A
)
, the torque constant remains the same.


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Møhammad
B.E in Electrical Engineering, Osmania University (Graduated 2021)Author has 117 answers and 379.3K answer views
 ·
5y
Related
What is the relation between torque and speed in a DC motor?
Let me explain with an example


If one


However, one may use cascaded control whereby one may control the position, speed, and current so that the inner loop always takes priority as shown below.


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Search
Motor controllers: Input current versus Motor current, Power Conversion
Follow
Avatar Jürgen Wagenbach
1 month ago Updated
Topic:
There is sometimes the discussion why the motor current reported by the motor controller differs strongly from the current reported by the power supply. This seems to be surprising for a lot of users especially because the motor current is often much higher than the input current of the motor controller.
What is the secret behind this and which current value is correct?


TPS3850H50DRCR - Precision Voltage Supervisor with Programmabl...


#  [ ![](images/logo.png) ](./)


Rse is the series field Resistance,


[ ![](images/turkish.png) ](tr/index.html) [ ![](images/spain.png)
](es/index.html) [ ![](images/france.jpg) ](fr/index.html) [
![](images/portugal.jpg) ](pt/index.html) [ ![](images/german.jpg)
](http://hilkar.de/index.html)


Going old-school
Traditionally, motors were controlled by temporarily introducing resistors into the motor supply. In fact, any old-school electrical engineering textbook will have several chapters devoted to the ingenious methods of simultaneously keeping starting currents and voltages at acceptable levels while creating sufficient torque to accelerate the motor to operating speed.


System diagram:


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Loring Chien
Electrical Engineer for 45 years & IEEE Sr. Life memberUpvoted by
Jay Robertson
, Electrical engineer for 40 years.Author has 63.2K answers and 205.3M answer views
 ·
Updated 9y
Related
Why does stalling a DC motor cause more current to flow through it?
Stalling is a condition when the motor stops rotating. This condition occurs when the load torque is greater than the motor shaft torque i.e. break down torque condition. In this condition the motor draws maximum current but the motor does not rotate.This current is called as Stalling current.


Remember that a moving magnetic field cutting through conductors induces a voltage in those conductors. The armature of a DC motor carries a significant amount of current, producing a magnetic field. That field interacts with the stator field, regardless of whether that stator field is produced by field windings or permanent magnets. When the rotor is spinning, the magnetic field of the stator is cutting through the moving windings of the rotor, inducing a voltage on that rotor in opposition to the voltage being


#####  Selection Details