The present invention is a linear actuation system comprising a reversible screw type linear actuator, equipped with at least one reversible electrical motor system and energy storage. The energy storage is charged by linear actuation system functioning as a generator when a mobile rod of the linear actuator is moved by heave and is discharged when the mobile rod is moved by activation of an electric motor of the linear actuation system motor.

The present invention is a linear actuation system comprising a reversible screw type linear actuator, equipped with at least one reversible electrical motor system and energy storage. The energy storage is charged by linear actuation system functioning as a generator when a mobile rod of the linear actuator is moved by heave and is discharged when the mobile rod is moved by activation of an electric motor of the linear actuation system motor.

A self-aligning wobble plate drive, including a stator gear, a wobble plate, and an output plate. The stator gear has a central stator axis and a plurality of stator teeth. The wobble plate has a wobble axis, a plurality of face teeth, and a plurality of wobble teeth, and is disposed such that the wobble axis is at a non-zero wobble angle relative to the stator axis. The output plate includes a plurality of output teeth and is substantially aligned with the stator axis. At least two of the pluralities of teeth are configured to engage with each other in a self-aligning manner such that as the wobble plate nutates around the stator gear, the wobble angle remains constant.

A self-aligning wobble plate drive, including a stator gear, a wobble plate, and an output plate. The stator gear has a central stator axis and a plurality of stator teeth. The wobble plate has a wobble axis, a plurality of face teeth, and a plurality of wobble teeth, and is disposed such that the wobble axis is at a non-zero wobble angle relative to the stator axis. The output plate includes a plurality of output teeth and is substantially aligned with the stator axis. At least two of the pluralities of teeth are configured to engage with each other in a self-aligning manner such that as the wobble plate nutates around the stator gear, the wobble angle remains constant.

The invention is drive mechanism for transmitting rotating motion, comprising a drive mechanism housing (15) and a first shaft (10) rotatably connected to the drive mechanism housing (15), an eccentric shaft section (14, 18) being parallel with the first shaft (10) and being offset with respect to first shaft (10) by an eccentricity parameter value, a wobbling disc (25, 27) being rotatably connected to the eccentric shaft section (14, 18), and a wobbling gear-wheel (24, 26) connected by means of a fixed or a releasable connection to the wobbling disc (25, 27) and having an axis parallel with the first shaft (10). The drive mechanism according to invention further comprises a transmitting gear-wheel (22) having an axis of rotation arranged parallel with the axis of the wobbling gear-wheel (24, 26) at a distance therefrom determined by the eccentricity parameter value, being connected to the drive mechanism housing (15) as being rotatable around its axis of rotation, having a first toothing (28) with a teeth number different from the teeth number of the wobbling gear-wheel (24, 26), and connected to the wobbling gear-wheel (24, 26) with its first toothing (28), and a guiding connection establishing, upon motion of the first shaft (10), wobbling motion of the wobbling disc (25, 27) together with the connection between the wobbling gear-wheel (24, 26) and the transmitting gear-wheel (22), and having an axis being offset with respect to the axis of the eccentric shaft section (14, 18).

A self-aligning wobble plate drive, including a stator gear, a wobble plate, and an output plate. The stator gear has a central stator axis and a plurality of stator teeth. The wobble plate has a wobble axis, a plurality of face teeth, and a plurality of wobble teeth, and is disposed such that the wobble axis is at a non-zero wobble angle relative to the stator axis. The output plate includes a plurality of output teeth and is substantially aligned with the stator axis. At least two of the pluralities of teeth are configured to engage with each other in a self-aligning manner such that as the wobble plate nutates around the stator gear, the wobble angle remains constant.

The present invention is a linear actuation system comprising a reversible linear actuator of a screw-nut type, equipped with at least one reversible electrical motor system and energy storage means. The energy storage are charged by linear actuation system functioning as a generator which discharge whom demand by the electric motor.

A wobble mechanism having a wobble body is arranged on an input shaft. Magnets are arranged on the outer side of said wobble body, which interact with magnets which are arranged in a housing for transmitting torque to an output shaft. The wobble mechanism is connected to the output shaft via an angle joint.

A swash plate 3 includes a substrate 11 made of an iron-based material, a hard first resin layer 12 provided to coat an end surface of the substrate 11, and a soft second resin layer 13 provided to coat the first resin layer 12. A spiral annular groove 12A is formed in a surface of the first resin layer 12, and the second resin layer 13 is provided to match the sectional shape of the first resin layer 12. With the soft second resin layer 13 on a sliding surface 3A of the swash plate 3, a swash plate 3 having a good fit in an initial stage of sliding can be provided. When the second resin layer 13 partially wears, a protrusion 12 of the first resin layer 12 of the hard resin is exposed to provide good wear resistance and good sliding properties.

A swash plate 3 includes a substrate 11 made of an iron-based material, a hard first resin layer 12 provided to coat an end surface of the substrate 11, and a soft second resin layer 13 provided to coat the first resin layer 12. A spiral annular groove 12A is formed in a surface of the first resin layer 12, and the second resin layer 13 is provided to match the sectional shape of the first resin layer 12. With the soft second resin layer 13 on a sliding surface 3A of the swash plate 3, a swash plate 3 having a good fit in an initial stage of sliding can be provided. When the second resin layer 13 partially wears, a protrusion 12 of the first resin layer 12 of the hard resin is exposed to provide good wear resistance and good sliding properties.