Patent Publication Number: US-2022228655-A1

Title: Segmented pulley and segmented pulley transmission including the same

Description:
CROSS-REFERENCE TO RELATED APPLICATION 
     This application claims the benefit of U.S. Provisional Patent Application No. 62/845,376 filed on May 9, 2019, and titled SEGMENTED PULLEY AND SEGMENTED PULLEY TRANSMISSION INCLUDING THE SAME, the entirety of which is incorporated herein by reference. 
    
    
     FIELD 
     The subject disclosure generally relates to transmissions, and more particularly to a segmented pulley for a segmented pulley transmission and to a segmented pulley transmission including the same. 
     BACKGROUND 
     Transmissions are well known and can be used to change the ratio between rotating elements in a power train. Potential applications for transmissions are numerous and include motor vehicles, human-powered vehicles, maritime craft and heavy machinery, such as pumps, turbines, mixers, winches, centrifuges and shredders. 
     Clutchless multi-ratio transmissions allow the ratio between rotating elements to be changed while the transmission is under load. Certain mechanical problems can affect clutchless multi-ratio transmissions that limit their widespread utilization; specifically, the ability of such transmission systems to function at high speeds or under significant loads effectively and efficiently in practical applications. In addition, ratcheting, slippage, and tensioning problems can limit the commercial viability of such transmissions by decreasing their reliability, decreasing their efficiency and increasing wear. Accordingly, segmented pulley transmissions have been developed to reduce or alleviate at least some of these mechanical problems. 
     For example, U.S. Pat. No. 8,753,236 to Wong et al. discloses a segmented pulley transmission, wherein a pulley assembly is mounted on an axle. The pulley assembly includes a core pulley having a first set of mating features on a peripheral surface thereof and a pulley segment set that comprises a number of pulley segments slidably mounted in the pulley assembly and arranged in a ring concentric with the core pulley. The pulley segments are individually actuatable into and out of the pulley assembly. The pulley segments have a second set of mating features on a peripheral surface matching the first set of mating features. An endless drive member has corresponding mating features on an inside surface for engaging the first and second sets of mating features of the core pulley and the pulley segments in an engaging position. Contact between the endless drive member and the core pulley defines a contact zone. An actuator actuates the pulley segments between the engaging and non-engaging positions when the pulley segments are outside of the contact zone. 
     U.S. Pat. No. 9,816,598 to Wong discloses a key pulley segment for a segmented pulley transmission that is either first or last in a pulley segment set to engage an endless member. The first or last key segment teeth to engage or disengage the endless member, respectively, are shortened or completely trimmed, and the adjacent pulley segment to the key segment is elongated such that a portion of the tooth profile extends toward the key segment. The shortened tooth or teeth and elongated adjacent segment together allow for many pulley segments to be designed as key segments. Completely trimmed teeth may be engineered to create a supporting surface for the endless member on the key segment. The elongated adjacent segment may have an extending portion which slidably mates with the supporting surface of the key segment, thereby receiving radial support therefrom. Multiple pulley segments from different pulley segment sets may be connected or constructed to move together in a unified stack. Unified stacks may be moved by way of a cam or roller-cam system. Chassis-mounted cams engage the rollers outside of the contact zone and, via roller-arms, individual segments of a unified stack are moved into or out of engagement. Rollers may be actuated into and out of engagement with the cams by electromagnets, fixable mounted in an array. 
     While the contributions of known segmented pulley transmissions are laudable, improvements and/or alternatives are generally desired. It is therefore an object to provide a novel segmented pulley for a segmented pulley transmission and a novel segmented pulley transmission. 
     SUMMARY 
     It should be appreciated that this summary is provided to introduce a selection of concepts in a simplified form that are further described below in the detailed description of a  . The pulley segments have a second set of mating features on a peripheral surface matching the first set of mating features. An endless drive member has corresponding mating features on an inside surface for engaging the first and second sets of mating features of the core pulley and the pulley segments in an engaging position. Contact between the endless drive member and the core pulley defines a contact zone. An actuator actuates the pulley segments between the engaging and non-engaging positions when the pulley segments are outside of the contact zone. 
     U.S. Pat. No. 9,816,598 to Wong discloses a key pulley segment for a segmented pulley transmission that is either first or last in a pulley segment set to engage an endless member. The first or last key segment teeth to engage or disengage the endless member, respectively, are shortened or completely trimmed, and the adjacent pulley segment to the key segment is elongated such that a portion of the tooth profile extends toward the key segment. The shortened tooth or teeth and elongated adjacent segment together allow for many pulley segments to be designed as key segments. Completely trimmed teeth may be engineered to create a supporting surface for the endless member on the key segment. The elongated adjacent segment may have an extending portion which slidably mates with the supporting surface of the key segment, thereby receiving radial support therefrom. Multiple pulley segments from different pulley segment sets may be connected or constructed to move together in a unified stack. Unified stacks may be moved by way of a cam or roller-cam system. Chassis-mounted cams engage the rollers outside of the contact zone and, via roller-a.   Rollers may be actuated into and out of engagement with the cams by electromagnets, fixable mounted in an array. 
     While the contributions of known segmented pulley transmissions are laudable, improvements and/or alternatives are generally desired. It is therefore an object to provide a novel segmented pulley for a segmented pulley transmission and a novel segmented pulley transmission. 
     SUMMARY 
     It should be appreciated that this summary is provided to introduce a selection of concepts in a simplified form that are further described below in the detailed description of embodiments. This summary is not intended to be used to limit the scope of the claimed subject matter. 
     Accordingly, in one aspect there is provided a segmented pulley defining an outer peripheral surface for engaging an endless member of a segmented pulley transmission, the segmented pulley comprising: a plurality of pulley segments configured to be sequentially movable between an engaged region and a disengaged region to transition the endless member between the segmented pulley and a concentric pulley in the segmented pulley transmission, each of the pulley segments having a body defining a portion of the outer peripheral surface, wherein the plurality of pulley segments includes a transition segment having an integrated support extending from the body of the transition segment, the integrated support being configured to support the endless member when transitioning the endless member between the segmented pulley and the concentric pulley in the segmented pulley transmission. 
     In one or more embodiments, the integrated support extends circumferentially beyond the portion of the outer peripheral surface defined by the body of the transition segment. 
     In one or more embodiments, the integrated support includes a transition surface for supporting the endless member when transitioning the endless member between the segmented pulley and the concentric pulley in the segmented pulley transmission. The transition surface may be spaced apart from the portion of the outer peripheral surface defined by the body of the transition segment. The integrated support may include a proximal portion and a distal portion, and wherein the distal portion defines the transition surface. 
     In one or more embodiments, a recess is defined in the integrated support for accommodating a portion of an adjacent pulley segment in the plurality of pulley segments. The portion of the adjacent pulley segment may be an enlarged portion that is configured to provide physical support to the adjacent pulley segment during rotational operation of the segmented pulley transmission. The enlarged portion may include a physical support feature for providing the physical support to the adjacent pulley segment. The physical support feature may be a hole defined in the enlarged portion, for engaging a support rod of the segmented pulley transmission to provide the physical support to the adjacent pulley segment. embodiments. This summary is not intended to be used to limit the scope of the claimed subject matter. 
     Accordingly, in one aspect there is provided a segmented pulley defining an outer peripheral surface for engaging an endless member of a segmented pulley transmission, the segmented pulley comprising: a plurality of pulley segments configured to be sequentially movable between an engaged region and a disengaged region to transition the endless member between the segmented pulley and a concentric pulley in the segmented pulley transmission, each of the pulley segments having a body defining a portion of the outer peripheral surface, wherein the plurality of pulley segments includes a transition segment having an integrated support extending from the body of the transition segment, the integrated support being configured to support the endless member when transitioning the endless member between the segmented pulley and the concentric pulley in the segmented pulley transmission. 
     In one or more embodiments, the integrated support extends circumferentially beyond the portion of the outer peripheral surface defined by the body of the transition segment. 
     In one or more embodiments, the integrated support includes a transition surface for supporting the endless member when transitioning the endless member between the segmented pulley and the concentric pulley in the segmented pulley transmission. The transition surface may be spaced apart from the portion of the outer peripheral surface defined by the body of the transition segment. The integrated support may include a proximal portion and a distal portion, and wherein the distal portion defines the transition surface. 
     In one or more embodiments, a recess is defined in the integrated support for accommodating a portion of an adjacent pulley segment in the plurality of pulley segments. The portion of the adjacent pulley segment may be an enlarged portion that is configured to provide physical support to the adjacent pulley segment during rotational operation of the   segmented pulley transmission. The enla ley segment. The physical support feature may be a hole defined in the enlarged portion, for engaging a support rod of the segmented pulley transmission to provide the physical support to the adjacent pulley segment. 
     In one or more embodiments, the plurality of pulley segments includes two of the transition segments that are oppositely oriented in the plurality of pulley segments. 
     In one or more embodiments, the integrated support is configured to inhibit the endless member from bending beyond a predetermined minimum bend radius, when transitioning the endless member between the segmented pulley and the concentric pulley in the segmented pulley transmission. 
     In one or more embodiments, the integrated support is configured to control slack in the endless member between the segmented pulley and the concentric pulley, when transitioning the endless member between the segmented pulley and the concentric pulley in the segmented pulley transmission. 
     According to another aspect, there is provided a segmented pulley transmission for rotationally coupling a first rotatable member and a second rotatable member in a power train, the segmented pulley transmission comprising: a first pulley assembly for coupling to the first rotatable member, the first pulley assembly comprising a first pulley and a second pulley concentric with the first pulley, the second pulley being a segmented pulley as defined in any of the above paragraphs of this Summary; a second pulley assembly for coupling to the second rotatable member and spaced apart from the first pulley assembly; and an endless member engaging the first pulley assembly and the second pulley assembly and extending therebetween, to rotationally couple the first pulley assembly and the second pulley assembly. 
     In one or more embodiments, the segmented pulley transmission may further comprise an idler pulley engaging the endless member and configured to control slack in the endless member. 
     In one or more embodiments, the segmented pulley transmission may further comprise an actuator coupled to the plurality of pulley segments of the segmented pulley and configured to sequentially move the plurality of pulley segments between the engaged region and the disengaged region, to transition the endless member between the first pulley and the second pulley. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       Embodiments will now be described more fully with reference to the accompanying drawings, in which: 
         FIG. 1  is a simplified front view of a segmented pulley transmission; 
         FIGS. 2 to 6  are simplified front views of the segmented pulley transmission of  FIG. 1 , showing a sequence for transitioning an endless member from a first pulley to a second pulley in the segmented pulley transmission; 
         FIGS. 7 to 11  are simplified front views of the segmented pulley transmission of  FIG. 1 , showing a sequence for transitioning the endless member from the second pulley to the first pulley in the segmented pulley transmission; and 
         FIG. 12  is an axonometric view of the segmented pulley transmission of  FIG. 1 , with a portion of the external housing omitted. 
     
    
    
     DETAILED DESCRIPTION OF EMBODIMENTS 
     The foregoing summary, as well as the following detailed description of certain embodiments will be better understood when read in conjunction with the accompanying drawings. As used herein, an element or feature recited in the singular and preceded by the word “a” or “an” should be understood as not necessarily excluding a plural of the elements or features. Further, references to “one example” or “one embodiment” are not intended to be interpreted as excluding the existence of additional examples or embodiments that also incorporate the recited elements or features of that one example or one embodiment. Moreover, unless explicitly stated to the contrary, examples or embodiments “comprising,” “having” or “including” an element or feature or a plurality of elements or features having a particular property may further include additional elements or features not having that particular property. Also, it will be appreciated that the terms “comprises,” “has” and “includes” mean “including but not limited to” and the terms “comprising,” “having” and “including” have equivalent meanings. 
     As used herein, the term “and/or” can include any and all combinations of one or more of the associated listed elements or features. 
     It will be understood that when an element or feature is referred to as being “on,” “attached” to, “connected” to, “coupled” with, “engaged” with, “contacting,” etc. another element or feature, that element or feature can be directly on, attached to, connected to, coupled with, engaged with or contacting the other element or feature or intervening elements may also be present. In contrast, when an element or feature is referred to as being, for example, “directly on,” “directly attached” to, “directly connected” to, “directly coupled” with, “directly engaged” with or “directly contacting” another element of feature, there are no intervening elements or features present. Additionally, when an element or feature is referred to as being “attached” to, “connected” to, “coupled” with, “engaged” with, “contacting,” etc. another element or feature, it should be understood as not necessarily excluding further elements or features being attached to, connected to, couple with, engaged with, contacting, etc. those same elements or features. For example, in some instances, elements may be coupled in a one-to-one relationship; in other instances, a single element may be coupled to a plurality of other elements, or vice versa. 
     It will be understood that spatially relative terms, such as “under,” “below,” “lower&#39;,” “over,” “above,” “upper,” “front,” “back” and the like, may be used herein for ease of describing the relationship of an element or feature to another element or feature as depicted in the figures. The spatially relative terns can however, encompass different orientations in use or operation in addition to the orientation depicted in the figures. 
     Reference herein to “example” means that one or more feature, structure, element, component, characteristic and/or operational step described in connection with the example is included in at least one embodiment and/or implementation of the subject matter according to the subject disclosure. Thus, the phrases “an example,” “another example,” and similar language throughout the subject disclosure may, but do not necessarily, refer to the same example. Further, the subject matter characterizing any one example may, but does not necessarily, include the subject matter characterizing any other example. 
     Reference herein to “configured” denotes an actual state of configuration that fundamentally ties the element or feature to the physical characteristics of the element or feature preceding the phrase “configured to.” 
     Unless otherwise indicated, the terms “first,” “second,” etc. are used herein merely as labels, and are not intended to impose ordinal, positional, or hierarchical requirements on the items to which these terms refer. Moreover, reference to a “second” item does not require or preclude the existence of a lower-numbered item (e.g., a “first” item) and/or a higher-numbered item (e.g., a “third” item). 
     As used herein, the terms “approximately” and “about” represent an amount close to the stated amount that still performs the desired function or achieves the desired result. For example, the terms “approximately” and “about” may refer to an amount that is within engineering tolerances that would be readily appreciated by a person skilled in the art. 
       FIG. 12  shows a segmented pulley transmission, generally identified by reference character  120 . As will be appreciated, a portion of an external housing of the segmented pulley transmission  120  has been omitted in  FIG. 12  to view the interior.  FIG. 1  has been to as being “attached” to, “connected” to, “coupled” with, “engaged” with, “contacting,” etc. another element or feature, it should be understood as not necessarily excluding further elements or features being attached to, connected to, couple with, engaged with, contacting, etc. those same elements or features. For example, in some instances, elements may be coupled in a one-to-one relationship; in other instances, a single element may be coupled to a plurality of other elements, or vice versa.    
     It will be understood that spatially rela 
     Reference herein to “example” means that one or more feature, structure, element, component, characteristic and/or operational step described in connection with the example is included in at least one embodiment and/or implementation of the subject matter according to the subject disclosure. Thus, the phrases “an example,” “another example,” and similar language throughout the subject disclosure may, but do not necessarily, refer to the same example. Further, the subject matter characterizing any one example may, but does not necessarily, include the subject matter characterizing any other example. 
     Reference herein to “configured” denotes an actual state of configuration that fundamentally ties the element or feature to the physical characteristics of the element or feature preceding the phrase “configured to.” 
     Unless otherwise indicated, the terms “first,” “second,” etc. are used herein merely as labels, and are not intended to impose ordinal, positional, or hierarchical requirements on the items to which these terms refer. Moreover, reference to a “second” item   does not require or preclude the existence of a lower-n (e.g., a “first” item) a-numbered item (e.g., a “third” item). 
     As used herein, the terms “approximately” and “about” represent an amount close to the stated amount that still performs the desired function or achieves the desired result. For example, the terms “approximately” and “about” may refer to an amount that is within engineering tolerances that would be readily appreciated by a person skilled in the art. 
       FIG. 12  shows a segmented pulley transmission, generally identified by reference character  120 . As will be appreciated, a portion of an external housing of the segmented pulley transmission  120  has been omitted in  FIG. 12  to view the interior.  FIG. 1  also shows simplified to facilitate understanding of this description and certain elements of the segmented pulley transmission  120  have been omitted, such as an external housing supporting the various elements shown in  FIG. 1 . In some embodiments, the segmented pulley transmission  120  may include elements shown and described in PCT International Application No. PCT/CA2018/051475 filed on Nov. 20, 2018, and titled PULLEY ASSEMBLY FOR A SEGMENTED PULLEY TRANSMISSION AND ACTUATOR SYSTEM FOR THE SAME, the relevant portions of which are incorporated herein by reference. 
     The segmented pulley transmission  120  is configured to rotationally couple a first rotating element and a second rotating element in a power train (not shown) and is configured to change the ratio between the first and second rotating elements. In some embodiments, the first rotating element is a driven axle in the power train and the second rotating element is a driving axle in the power train, or vice versa. The segmented pulley transmission  120  comprises a first pulley assembly  122 ; a second pulley assembly  124 , an idler pulley  126  and an endless member  128 . As will be appreciated, the endless member  128  is shown as a schematic representation with mating features omitted. The first pulley assembly  122 , the second pulley assembly  124  and the idler pulley  126  are all spaced apart from each other. The endless member  128  extends between and rotationally couples the first pulley assembly  122 , the second pulley assembly  124  and the idler pulley  126 . During installation of the segmented pulley transmission  120 , the first pulley assembly  122  is coupled to the first rotating element in the power train and the second pulley assembly  124  is coupled to the second rotating element in the power train. 
     The first pulley assembly  122  is configured to be coupled to the first rotating element in the power train. In some embodiments, the first pulley assembly  122 , or a portion thereof, is integrally formed with the first rotating element in the power train. The first pulley assembly  122  is configured to engage the endless member  128 . The first pulley assembly  122  rotatable about and concentric with a first axis of rotation. The first pulley assembly  122  comprises a first pulley  130  and a second pulley  132 . The second pulley  132  is concentric with the first pulley  130  and may surround the first pulley  130 . Both the first pulley  130  and the second pulley  132  are configured for continuous rotational operation with the endless member  128 . During a full rotation of the first pulley assembly  122  about the first axis of rotation, either of the first pulley  130  and the second pulley  132  may continuously engage the endless member  128 .   t In some embodiments, the segmented pulley transmission  120  may include elements shown and described in PCT International A lication No. PCT/CA2018/051475 filed on Nov. 20, 2018, and titled PULLEY ASSEMBLY FOR A SEGMENTED PULLEY TRANSMISSION AND ACTUATOR SYSTEM FOR THE SAME, the relevant portions of which are incorporated herein by reference. 
     The segmented pulley transmission  120  is configured to rotationally couple a first rotating element and a second rotating element in a power train (not shown) and is configured to change the ratio between the first and second rotating elements. In some embodiments, the first rotating element is a driven axle in the power train and the second rotating element is a driving axle in the power train, or vice versa. The segmented pulley transmission  120  comprises a first pulley assembly  122 , a second pulley assembly  124 , an idler pulley  126  and an endless member  128 . As will be appreciated, the endless member  128  is shown as a schematic representation with mating features omitted. The first pulley assembly  122 , the second pulley assembly  124  and the idler pulley  126  are all spaced apart from each other. The endless member  128  extends between and rotationally couples the first pulley assembly  122 , the second pulley assembly  124  and the idler pulley  126 . During installation of the segmented pulley transmission  120 , the first pulley assembly  122  is coupled to the first rotating element in the power train and the second pulley assembly  124  is coupled to the second rotating element in the power train. 
     The first pulley assembly  122  is configured to be coupled to the first rotating element in the power train. In some embodiments, the first pulley assembly  122 , or a portion thereof, is integrally formed with the first rotating element in the power train. The first pulley assembly  122  is configured to engage the endless member  128 . The first pulley assembly  122  is rotatable about and concentric with a first axis of rotation. The first pulley assembly  122  comprises a first pulley  130  and a second pulley  132 . The second pulley  132  is concentric with the first pulley  130  and may surround the first pulley  130 . Both the first pulley  130  and the second pulley  132  are configured for continuous rotational operation with the endless member  128 . During a full rotation of the first pulley assembly  122  about the first axis of rotation, either of the first pulley  130  and the second pulley  132  may continuously engage the endless member  128 . 
     The first pulley  130  is configured to be coupled to the first rotating element in the power train. In some embodiments, the first pulley  130  is integrally formed with the first rotating element in the power train. The first pulley  130  is configured to engage the endless member  128 , when the first pulley  130  is located in an engaged region as will be described. The first pulley  130  is rotatable about and concentric with the first axis of rotation of the first pulley assembly  122 . The first pulley  130  includes an outer peripheral surface  134  for engaging the endless member  128 . The outer peripheral surface  134  is generally circular and may comprise a plurality of outer mating features  136 , for engaging corresponding mating features on the endless member  128 . In some embodiments, the outer mating features  136  are teeth. The first pulley  130  further comprises an inner peripheral surface  138  that is configured to be coupled to the first rotating element of the power train (not shown). The inner peripheral surface  138  is generally circular and may comprise a plurality of inner mating features  140 , for coupling to the first rotating element in the power train. In some embodiments, the inner mating features are at least one of keys, teeth and the like. In the subject embodiment, the first pulley  130  comprises a unitary construction. The first pulley  130  is a core pulley of the first pulley assembly  122 . That is, the first pulley  130  is the centermost or smallest diameter pulley in the first pulley assembly  122 . In other embodiments, the first pulley  130  may be another pulley in the first pulley assembly  122 , such as an intermediate pulley that is located between two concentric pulleys in the first pulley assembly  122 . In some embodiments, the first pulley  130  may be a segmented pulley. 
     The second pulley  132  is configured to be coupled to the first rotating element in the power train. The second pulley  132  is configured to engage the endless member  128 , when the second pulley  132  is located in the engaged region as will be described. The second pulley  132  is rotatable about and concentric with the first axis of rotation of the first pulley assembly  122 . The second pulley  132  includes an outer peripheral surface  142  for engaging the endless member  128 . The outer peripheral surface  142  is generally circular and may comprise a plurality of outer mating features  144 , for engaging corresponding mating features on the endless member  128 . In some embodiments, the outer mating features  144  are teeth. The second pulley  132  is a segmented pulley and comprises a plurality of pulley segments  150   a  to  150   e.  The plurality of pulley segments  150   a  to  150   e  is circularly arranged to form the second pulley  132 . 
     The plurality of pulley segments  150   a  to  150   e  are configured to engage the endless member  128 . Accordingly, each of the pulley segments  150   a  to  150   e  includes a body that defines a portion of the outer peripheral surface  142  of the second pulley  132 . Each of the pulley segments  150   a  to  150   e  farther includes one or more enlarged portions  152 . The enlarged portions  152  are configured to provide physical support daring rotational operation of the segmented pulley transmission  120 . Each of the enlarged portions  152  provides physical support to the respective pulley segment  150   a  to  150   e  in which the enlarged portion  152  is formed. Accordingly, in the subject embodiment, the enlarged portions  152  are generally positioned at the circumferential ends of the pulley segments  150   a  to  150   e.  In some embodiments, the segmented pulley assembly includes a plurality of support rods (not shown) for physically supporting the plurality of pulley segments  150   a  to  150   e.  An example of a segmented pulley assembly with support rods is shown and described in PCT International Application No. PCT/CA2018/051475. Each of the enlarged portions  152  includes a physical support feature  154  for providing physical support to the respective one of the pulley segments  150   a  to  150   e  in which the enlarged portion  152  is formed. In some embodiments, the physical support feature  154  is a hole for receiving one of the support rods. In other embodiments, the physical support feature  154  may be another feature suitable for providing physical support, such as an integrated rod that extends from one or more of the pulley segments  150   a  to  150   e.    
     The plurality of pulley segments  150   a  to  150   e  are configured to be sequentially movable between an engaged region and a disengaged region to transition the endless member between the first pulley  130  and the second pulley  132 . In the subject embodiment, the plurality of pulley segments  150   a  to  150   e  are configured to be individually movable between the engaged region and the disengaged region. In other embodiments, one or more subsets of the pulley segments  150   a  to  150   e  may be configured to be collectively moved between the engaged region and the disengaged region. For example, in some embodiments, two or more of the pulley segments  150   a  to  150   e  are configured to be movable together between the engaged region and the disengaged region. In some embodiments, the plurality of pulley segments  150   a  to  150   e  are moved between the engaged region and the disengaged region by one or more actuators, such as those described in PCT International Application No. PCT/CA2018/051475. In some embodiments, the plurality of pulley segments  150   a  to  150   e  are moved by the actuator system shown and described in U.S. Provisional Patent Application No. 62/845,359 filed on May 9, 2019, and titled ACTUATOR SYSTEM AND SEGMENTED PULLEY TRANSMISSION INCLUDING THE SAME and/or in the PCT   t larged portions  152  provides physical support to the respective pulley segment  150   a  to  150   e  in which the enlarged portion  152  is formed. Accordingly, in the subject embodiment, the enlarged portions  152  are generally positioned at the circumferential ends of the pulley segments  150   a  to  150   e.  In some embodiments, the segmented pulley assembly includes a plurality of support rods (not shown) for physically supporting the plurality of pulley segments  150   a  to  150   e.  An example of a segmented pulley assembly with support rods is shown and described in PCT International Application No. PCT/CA2018/051475. Each of the enlarged portions  152  includes a physical support feature  154  for providing physical support to the respective one of the pulley segments  150   a  to  150   e  in which the enlarged portion  152  is formed. In some embodiments, the physical support feature  154  is a hole for receiving one of the support rods. In other embodiments, the physical support feature  154  may be another feature suitable for providing physical support, such as an integrated rod that extends from one or more of the pulley segments  150   a  to  150   e.    
     The plurality of pulley segments  150   a  to  150   e  are configured to be sequentially movable between an engaged region and a disengaged region to transition the endless member between the first pulley  130  and the second pulley  132 . In the subject embodiment, the plurality of pulley segments  150   a  to  150   e  are configured to be individually movable between the engaged region and the disengaged region. In other embodiments, one or more subsets of the pulley segments  150   a  to  150   e  may be configured to be collectively moved between the engaged region and the disengaged region. For example, in some embodiments, two or more of the pulley segments  150   a  to  150   e  are configured to be movable together between the engaged region and the disengaged region. In some embodiments, the plurality of pulley segments  150   a  to  150   e  are moved between the engaged region and the disengaged region by one or more actuators, such as those described in PCT International Application No. PCT/CA2018/051475. In some embodiments, the plurality of pulley segments  150   a  to  150   e  are moved by the actuator system shown and described in U.S. Provisional Patent Application No. 62/845,389 filed on May 9, 2019, and titled ACTUATOR SYSTEM AND SEGMENTED PULLEY TRANSMISSION INCLUDING THE SAME and/or in the PCT International Application of the same title and filed under Attorney Docket No. PT202393WO, the entireties of which are all incorporated herein by reference. 
     In the context of the subject disclosure, the “engaged region” is a region wherein elements of the first pulley assembly  122  will engage the endless member  128  during rotational operation of the first pulley assembly  122 , when those elements are unsheltered or unobstructed by other elements of first pulley assembly  122 . In contrast, the “disengaged region” is a region wherein elements of the first pulley assembly  122  will not engage the endless member  128  during rotational operation of the first pulley assembly  122 , regardless of their exposure or the position of the other elements of the first pulley assembly  122 . In the subject embodiment, it will be appreciated that the first pulley  130  is permanently located within the engaged region, as the first pulley  130  will always engage the endless member  128  if unobstructed by other elements during rotational operation of the first pulley assembly  122 . In contrast, the plurality of pulley segments  150   a  to  150   e  will only be located in the engaged region when moved into a plane defined by the endless member  128 . 
     The plurality of pulley segments  150   a  to  150   e  includes one or more transition segments. In the subject embodiment, the plurality of pulley segments  150   a  to  150   e  includes two transition segments  150   a,    150   b.  The transition segments  150   a,    150   b  are oppositely oriented in the plurality of pulley segments  150   a  to  150   e.  Each of the transition segments  150   a,    150   b  is configured to support the endless member  128  when transitioning the endless member  128  between the first pulley  130  and the second pulley  132 . In the subject embodiment, one of the transition segments  150   a  is configured to support the endless member  128  when transitioning the endless member  128  from the first pulley  130  to the second pulley  132 , and the other of the transition segments  150   b  is configured to support the endless member  128  when transitioning the endless member  128  from the second pulley  132  to the first pulley  130 . Accordingly, the transition segment  150   a  is defined as a pulley expanding transition segment, and the transition segment  150   b  is defined as a pulley reducing transition segment. Each of the transition segments  150   a,    150   b  includes an integrated support  156  extending from the body of thereof. 
     The integrated support  156  is configured to support the endless member  128  when transitioning the endless member  128  between the first pulley  130  and the second pulley  132 . Supporting the endless member  128  inhibits the endless member  128  from bending beyond a maximum permissible radius when transitioning between the first pulley  130  and the second pulley  132 . As will be appreciated, the maximum permissible radius will depend on the endless member  128  and may further depend on a load being transmitted by the endless member  128 . The integrated support  156  also controls slack in the endless member  128  between the first pulley  130  and the second pulley  132 , by diverting the endless member  128  between the first pulley  130  and the second pulley  132 . As will be appreciated, controlling slack in the endless member  128  may help to control tension in the endless member  128  and/or may help to align the endless member  128  with the outer mating features  136 ,  144  of the first pulley  130  and the second pulley  132 . 
     In some embodiments, each of the integrated supports  156  are the same. In other embodiments, the integrated supports  156  are different. In the subject embodiment, the integrated supports  156  are oppositely oriented and have slightly different shapes, but are otherwise the same. Accordingly, for brevity, only the integrated support  156  extending from the body of transition segment  150   a  is described below. The integrated support  156  extends circumferentially beyond the portion of the outer peripheral surface  142  defined by the body of the transition segment  150   a.  The integrated support  156  includes a proximal portion  158  and a distal portion  160 . The proximal portion  158  is located adjacent the body of the transition segment  150   a  and extends therefrom. The distal portion  160  is spaced apart from the body of the transition segment  150   a,  by the proximal portion  158 . In the subject embodiment, the distal portion  160  is an enlarged portion having a physical support feature, as described above. In other embodiments, the distal portion  160  may not be enlarged. The integrated support  156  further includes a transition surface  162  and a recess  164 . 
     As will be appreciated, similar to the integrated supports  156  themselves, the transition surfaces  162  and the recesses  164  of the integrated supports  156  may be the same, or different. In the subject embodiment, the transition surfaces  162  and the recesses  164  are oppositely oriented. Moreover, the transition surfaces  162  have slightly different shapes. However, the transition surfaces  162  and the recesses  164  in the subject embodiment are otherwise the same. Accordingly, for brevity, only the transition surface  162  and the recess  164  of the integrated support  156  extending from the body of transition segment  150   a  are described below. 
     The recess  164  is configured to accommodate an enlarged portion  152  of an adjacent one of the pulley segments  150   a  to  150   e,  such as pulley segment  150   e  for transition segment  150   a.  The recess  164  is defined by at least the proximal portion  158  of the integrated support  156 , and may further be defined by the distal portion  160  and/or the body of the transition segment  150   a.  In some embodiments, the enlarged portion  152  of the adjacent one of the pulley segments  150   e  nests within the recess  164  of the integrated support  156 , without touching the integrated support  156 . In other embodiments, the enlarged portion  152  of the adjacent one of the pulley segments  150   e  may be received within the recess  164 , or partially received therein, without touching the integrated support  156 . As will be appreciated, including the recess  164  in the integrated support  156  as described above, allows the integrated support  156  to be included without substantially interfering with the physical support provided by the enlarged portion  152  near the end of the adjacent pulley segment  150   e,  and without substantially interfering with movement of the pulley segments between the engaged region and the disengaged region. 
     The transition surface  162  is configured to support the endless member  128  when transitioning the endless member  128  between the first pulley  130  and the second pulley  132 . The transition surface  162  is spaced apart from the body of the transition segment  150   a  by the recess  164  and is defined by the distal portion  160  of the integrated support  156 . Accordingly, when transitioning the endless member  128  between the first pulley  130  and the second pulley  132 , a portion of the endless member  128  that extends over the recess  164  will be unsupported. As the endless member  128  extends between the first pulley  130  and the second pulley  132 , the endless member  128  contacts the transition surface  162  and is diverted around the integrated support  156 . Accordingly, by positioning the transition surface  162  of the integrated support  156 , slack in the endless member  124  between the first pulley  130  and the second pulley  132  can be controlled. 
     The second pulley assembly  124  is configured to be coupled to the second rotating element in the power train. In some embodiments, the second pulley assembly  124 , or a portion thereof, is integrally formed with the second rotating element in the power train. The second pulley assembly  124  is configured to engage the endless member  128 . The second pulley assembly  124  is rotatable about and concentric with a second axis of rotation. In the subject embodiment, the second pulley assembly  124  comprises a single fixed pulley  170 . In other embodiments, the secondary pulley assembly  124  may be adjustable and may comprise a plurality of pulleys, such as the first pulley  130  and/or the second pulley  132  described above. The fixed pulley  170  is rotatable about and concentric with the second axis of rotation. The fixed pulley  170  includes an outer peripheral surface  172  for engaging the endless member  128 . The outer peripheral surface  172  is generally circular and may comprise a plurality of outer mating features  174 , for engaging corresponding mating features on the endless member  128 . In some embodiments, the outer mating features  174  are teeth. The fixed pulley  170  further comprises an inner peripheral surface  176  that is configured to be coupled to the second rotating element of the power train (not shown). The inner peripheral surface  176  is generally circular and, in some embodiments, comprises a plurality of inner mating features (not shown). In some embodiments, the inner mating features are at least one of keys, teeth and the like. 
     The idler pulley  126  is configured to control slack in the endless member  128  between the first pulley assembly  122  and the second pulley assembly  124 . The idler pulley  126  is rotatable about and concentric with a third axis of rotation, which is movable within the segmented pulley transmission  120  to control slack in the endless member  128 . As will be appreciated, controlling slack in the endless member  128  may help to control tension in the endless member  128  and/or may help to align the endless member  128  with the outer mating features of the first pulley assembly  122  and the second pulley assembly  124 . The idler pulley  126  can be moved away from the first pulley assembly  122  and/or the second pulley assembly  124  to reduce slack in the endless member  128 . Alternatively, the idler pulley  126  can be moved towards the first pulley assembly  122  and/or the second pulley assembly  124  to provide slack in the endless member  128 . The idler pulley  126  is configured to engage the endless member  128 . The idler pulley  126  includes an outer peripheral surface  178  for engaging the endless member  128 . The outer peripheral surface  182  is generally circular and may comprise a plurality of outer mating features  184 , for engaging corresponding mating features on the endless member  128 . In some embodiments, the outer mating features  184  are teeth. 
     The endless member  128  is configured to rotationally couple the first pulley assembly  122 , the second pulley assembly  124  and the idler pulley  126 . The endless member  128  extends between the first pulley assembly  122 , the second pulley assembly  124  and the idler pulley  126 . The endless member  128  includes an inner peripheral surface  182  that is configured to engage the outer peripheral surfaces  134 ,  142 ,  172 ,  178  of the first pulley  130 , the second pulley  132 , the fixed pulley  170  and the idler pulley  126 , respectively. Although the endless member  128  is shown in the figures as a schematic representation without any mating features, it will be appreciated that mating features such as teeth and/or holes may be included on at least the inner peripheral surface  182  of the endless member  128 . In some embodiments, the inner peripheral surface  182  includes a plurality of complementary mating features for engaging the outer mating features on the outer peripheral surfaces  134 ,  142 ,  172 ,  178 . In other embodiments, the inner peripheral surface  182  may not include any mating features and may be generally smooth, and in such embodiments the inner peripheral surface  182  may engage the outer peripheral surface  134 ,  142 ,  172 ,  178  by friction. As will be appreciated, the endless member  128  may comprise a chain, a belt or other suitable type of endless member. 
     During rotational operation of the segmented pulley transmission  120 , the endless member  128  will contact and engage the first pulley assembly  122  within an angular region defined as the contact zone. Conversely, the endless member  128  will not eon tact or engage the first pulley assembly  122  within an angular region defined as the non-contact zone (NCZ). The pulley segments  150   a  to  150   e  of the second pulley  132  can be moved into or out of the engaged region while positioned in the non-contact zone without interfering with the endless member  128  and while the segmented pulley transmission  120  is under load. As will be appreciated, the non-contact Zone will vary depending on whether or not the first pulley  130  is engaged with the endless member  128  and which, if any, of the pulley segments  150   a  to  150   e  of the second pulley  132  are engaged with the endless member  128 . 
     By sequentially moving the pulley segments  150   a  to  150   e  into or out of the engaged region while positioned in the non-contact zone, the endless member  128  may transition from engaging one of the first pulley  130  and the second pulley  132 , defined as an “origin pulley,” to engaging the other of the first pulley  130  and the second pulley  132 , defined as a “destination pulley,” without interrupting rotational operation of the segmented pulley transmission  120  and without interrupting a load transmitted through the segmented pulley transmission  120 . Transition the endless member L 28  between the origin pulley and the destination pulley is referred to as a “shift event.” 
       FIGS. 2 to 6  show a sequence for a shift event that transitions the endless member  128  from engaging the first pulley  130  to engaging the second pulley  132 . Prior to the shift event, the endless member  128  is engaged with the first pulley  130  of the first pulley assembly  122 , as shown in  FIG. 1 . Accordingly, the plurality of pulley segments  150   a  to  150   e  are all located in the disengaged region. 
     At the step shown in  FIG. 2 , the pulley segment  150   a  is moved into the engaged region while positioned in the non-contact zone of the first pulley assembly  122 . As will be appreciated, in the subject embodiment, the pulley segments  150   a  to  150   e  are moved into the engaged region by transversely extending the pulley segments  150   a  to  150   e.  As the first pulley assembly  122  rotates, the pulley segment  150   a  will enter into the contact zone and will   engage the endless member  128  with features and may be generally smooth, and in such embodiments the inner peripheral surface  182  may engage the outer peripheral surface  134 ,  142 ,  172 ,  178  by friction. As will be appreciated, the endless member  128  may comprise a chain, a belt or other suitable type of endless member. 
     During rotational operation of the segmented pulley transmission  120 , the endless member  128  will contact and engage the first pulley assembly  122  within an angular region defined as the contact zone. Conversely, the endless member  128  will not contact or engage   the first pulley assembly  122  within an angula-contact zone (NCZ). The pulley segments  150   a  to  150   e  of the second pulley  132  can be moved into or out of the engaged region while positioned in the non-contact zone without interfering with the endless member  128  and while the segmented pulley transmission  120  is under load. As will be appreciated, the non-contact zone will vary depending on whether or not the first pulley  130  is engaged with the endless member  128  and which, if any, of the pulley segments  150   a  to  150   e  of the second pulley  132  are engaged with the endless member  128 . 
     By sequentially moving the pulley segments  150   a  to  150   e  into or out of the engaged region while positioned in the non-contact zone, the endless member  128  may transition from engaging one of the first pulley  130  and the second pulley  132 , defined as an “origin pulley,” to engaging the other of the first pulley  130  and the second pulley  132 , defined as a “destination pulley,” without interrupting rotational operation of the segmented pulley transmission  120  and without interrupting a load transmitted through the segmented pulley transmission  120 . Transition the endless member  128  between the origin pulley and the destination pulley is referred to as a “shift event.” 
       FIGS. 2 to 6  show a sequence for a shift event that transitions the endless member  128  from engaging the first pulley  130  to engaging the second pulley  132 . Prior to the shift event, the endless member  128  is engaged with the first pulley  130  of the first pulley assembly  122 , as shown in  FIG. 1 . Accordingly, the plurality of pulley segments  150   a  to  150   e  are all located in the disengaged region. 
     At the step shown in  FIG. 2 , the pulley segment  150   a  is moved into the engaged region while positioned in the non-contact zone of the first pulley assembly  122 . As will be appreciated, in the subject embodiment, the pulley segments  150   a  to  150   e  are moved into the   engaged region by transversely extending the pulley segments  150   a  to  150   e  into the pla lley assembly  122  rotates, the pulley segment  150   a  will enter into the contact zone and will engage the endless member  128  with the transition surface  162  of the integrated support  152  of the pulley segment  150   a.  The integrated support  152  of the pulley segment  150   a  inhibits the endless member  128  from bending beyond the maximum permissible radius as the endless member  128  transitions from the first pulley  130  to the second pulley  132 , by supporting the endless member  128  with the transition surface  162 . As the first pulley assembly  122  further rotates, the portion of the outer peripheral surface  142  defined by the body of the pulley segment  150   a  engages the endless member  128 . As will be appreciated, since the integrated support  156  includes a recess  164 , when the endless member  128  extends across the recess  164 , a portion  190  of the endless member  128  will be unsupported. This unsupported portion  190  extends from the transition surface  162  to the portion of the outer peripheral surface  142  defined by the body of the pulley segment  150   a,  and may be generally straight (as shown in  FIG. 4 ). 
     At the step shown in  FIG. 3 , the pulley segment  150   b  is moved into the engaged region while positioned in the non-contact zone of the first pulley assembly  122 . As the first pulley assembly  122  rotates, the pulley segment  150   b  will rotationally follow the pulley segment  150   a  into the contact zone and will engage the endless member  128 , with the portion of the outer peripheral surface  142  defined by the body of the pulley segment  150   b.  However, before the pulley segment  150   b  may engage the endless member  128  with the transition surface  156  of the integrated support  152  of the pulley segment  150   b,  the shift event proceeds to the step shown in  FIG. 4 . Accordingly, during the shift event transitioning the endless member  128  from the first pulley  130  to the second pulley  132 , the endless member  128  does not engage the integrated support  152  of the pulley segment  150   b.    
     At the steps shown in  FIGS. 4 to 6 , the remaining pulley segments  150   c  to  150   e  are sequentially moved into the engaged region while individually positioned in the non-contact zone of the first pulley assembly  122 . As the first pulley assembly  122  rotates, the remaining pulley segments  150   c  to  150   e  will rotationally follow the pulley segment  150   b  into the contact zone and will engage the endless member  128 . Once all of the pulley segments  150   a  to  150   e  are in the engaged region, the first pulley assembly  122  can operate with the endless member  128  continuously engaging the outer peripheral surface  142  of the second pulley  132 . Accordingly, the shift event that transitions the endless member  128  from engaging the first pulley  130  to engaging the second pulley  132  is complete. 
       FIGS. 7 to 11  show a sequence for a shift event that transitions the endless member  128  from engaging the second pulley  132  to engaging the first pulley  130 . Prior to the shift event, the endless member  128  is engaged with the second pulley  132  of the first pulley assembly  122 , as shown in  FIG. 6 . Accordingly, the plurality of pulley segments  150   a  to  150   e  are all located in the engaged region. 
     At the steps shown in  FIGS. 7 to 9 , the pulley segments  150   c  to  150   e  are sequentially moved out of the engaged region, while individually positioned in the non-contact zone of the first pulley assembly  122 . As will be appreciated, in the subject embodiment, the pulley segments  150   a  to  150   e  are moved out of the engaged region by transversely retracting the pulley segments  150   a  to  150   e  out of the plane defined by the endless member  128 . Accordingly, as the first pulley assembly  122  rotates, the pulley segments  150   c  to  150   e  will not engage the endless member  128 . Instead, as shown in  FIG. 9 , the endless member  128  will engage the portion of the outer peripheral surface defined by the body of the pulley segment  150   b  and, subsequently, the transition surface  162  of the integrated support  152  of the pulley segment  150   b.  The integrated support  152  of the pulley segment  150   b  inhibits the endless member  128  from bending beyond the maximum permissible radius as the endless member  128  transitions from the second pulley  132  to the first pulley  130 . As will be appreciated, since the integrated support  156  includes a recess  164 , when the endless member  128  extends across the recess  164 , a portion  192  of the endless member  128  will be unsupported. This unsupported portion  192  extends from the transition surface  162  to the portion of the outer peripheral surface  142  defined by the body of the pulley segment  150   b,  and may be generally straight (as shown in  FIG. 9 ). 
     At the steps shown in  FIGS. 10 and 11 , the remaining pulley segments  150   a,    150   b  are sequentially moved out of the engaged region while individually positioned in the non-contact zone of the first pulley assembly  122 . Accordingly, as the first pulley assembly  122  rotates the pulley segments  150   a,    150   b  will not engage the endless member  128 . Once the pulley segments  150   a,    150   b  are both moved out of the engaged region, the first pulley assembly can operate continuously with the endless member  128  engaging the outer peripheral surface  134  of the first pulley  130 . Accordingly, the shift event that transitions the endless member  128  from engaging the second pulley  132  to engaging the first pulley  130  is complete. 
     Although the first pulley system  122  has been shown and described herein as comprising two concentric pulleys, namely the first pulley  130  and the second pulley  132 , it will be appreciated that in other embodiments the first pulley system may comprise a greater number of concentric pulleys when further ratios for the segmented pulley transmission  120  are desired.   pulley assembly  122 , as shown in  FIG. 6 . Accordingly, the plurality of pulley segments  150   a  to  150   e  are all located in the engaged region. 
     At the steps shown in  FIGS. 7 to 9 , the pulley segments  150   c  to  150   e  are sequentially moved out of the engaged region, while individually positioned in the non-contact zone of the first pulley assembly  122 . As will be appreciated, in the subject embodiment, the pulley segments  150   a  to  150   e  are moved out of the engaged region by transversely retracting the pulley segments  150   a  to  150   e  out of the plane defined by the endless member  128 . Accordingly, as the first pulley assembly  122  rotates, the pulley segments  150   c  to  150   e  will not engage the endless member  128 . Instead, as shown in  FIG. 9 , the endless member  128  will engage the portion of the outer peripheral surface defined by the body of the pulley segment  150   b  and, subsequently, the transition surface  162  of the integrated support  152  of the pulley segment  150   b.  The integrated support  152  of the pulley segment  150   b  inhibits the endless member  128  from bending beyond the maximum permissible radius as the endless member  128  transitions from the second pulley  132  to the first pulley  130 . As will be appreciated, since the integrated support  156  includes a recess  164 , when the endless member  128  extends across the recess  164 , a portion  192  of the endless member  128  will be unsupported. This unsupported portion  192  extends from the transition surface  162  to the portion of the outer peripheral surface  142  defined by the body of the pulley segment  150   b,  and may be generally straight (as shown in  FIG. 9 ). 
     At the steps shown in  FIGS. 10 and 11 , the remaining pulley segments  150   a,    150   b  are sequentially moved out of the engaged region while individually positioned in the non-contact zone of the first pulley assembly  122 . Accordingly, as the first pulley assembly  122  rotates the pulley segments  150   a,    150   b  will not engage the endless member  128 . Once the pulley segments  150   a,    150   b  are both moved out of the engaged region, the first pulley assembly can operate continuously with the endless member  128  engaging the outer peripheral surface  134  of the first pulley  130 . Accordingly, the shift event that transitions the endless member  128  from engaging the second pulley  132  to engaging the first pulley  130  is complete.    
     Alt ley system  122  has been shown and described herein as comprising two concentric pulleys, namely the first pulley  130  and the second pulley  132 , it will be appreciated that in other embodiments the first pulley system may comprise a greater number of concentric pulleys when further ratios for the segmented pulley transmission  120  are desired. 
     Although the plurality of pulley segments  150   a  to  150   e  have been shown and described herein as including two transition segments  150   a,    150   b,  it will be appreciated that in other embodiments the plurality of pulley segments may comprises a single transition segment. In such embodiments, the single transition segment may include one or more of the integrated supports  156 . In some embodiments, the single transition segment includes two of the integrated supports  156 , extending from opposing sides of the single transition segment. One of the integrated supports  156  can be configured to support the endless member  128  when transitioning the endless member  128  from the first pulley  130  to the second pulley  132 , and the other of the integrated supports  156  can be configured to support the endless member  128  when transitioning from the second pulley  132  to the first pulley  130 . 
     Although the integrated support  156  has been shown and described herein as comprising a single proximal portion  158  and a single distal portion  160 , it will be appreciated that in other embodiments the integrated support may comprise a plurality of proximal portions and/or a plurality of distal portions. Similarly, although the integrated support  156  has been shown and described herein as comprising a single recess  164 , it will be appreciated that in other embodiments the integrated support may comprise a plurality of recesses. Each recess may be configured to receive a respective enlarged portion of one or more adjacent pulley segments. 
     Although embodiments have been described above and are shown in the accompanying drawings, it will be appreciated by those skilled in the art that variations and modifications may be made without departing from the scope as defined by the appended claims, and the scope of the claims should be given the broadest interpretation consistent with the specification as a whole.