JPS62110068A - Inversion mechanism having extremely wide kinetic capacity - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to a very long pause at a constant speed rotational input, and/or a very wide range between the ends of a stroke that includes characteristics of a reverse stroke that are different from those of a forward stroke. This invention relates to a unique reversing type compound mechanism that can have various predetermined motion characteristics.

[Background and purpose of the present invention]

In the field of mechanical motion, it is often desired to generate reciprocating motion from rotational motion. Such needs are generally met by well-known crank and slider mechanisms or related Scotch-type yoke mechanisms. However, the pause in this case is relatively short and may be inappropriate depending on the application.

It is an object of the present invention to provide a mechanism for generating reciprocating motion from rotary motion and in which the output remains approximately constant, i.e., at rest for a significant portion of the complete cycle at the end of each reciprocating output stroke. That's true.

Similarly, this type of motion can be produced by a cam mechanism, but in practice this mechanism is extremely expensive and limits the travel to less than 2.3 feet.

Another object of the present invention is to provide a mechanism that is inherently economical to configure for strokes of six feet or more.

Another object of the invention is to provide a pause at each end of a stroke, an additional pause at a predetermined point along the trip according to one direction of travel, and an additional pause at another predetermined point along the opposite travel direction. However, in this case, a pause means an instantaneous stop or a significant deceleration.

The mechanism described in co-pending U.S. Pat. Although the range of motion is extremely wide, it does not reach that of the present invention described below. The new invention has longer pauses between end-to-stroke ends and/or a wider range of motion than in the patent under examination.

Other objects and features of the invention are contained in the following specifications and patents, which provide a detailed description of the invention, with detailed text to enable those skilled in the art to use the invention in conjunction with preferred embodiments thereof. It becomes clear in the scope of the claims.

Existing U.S. Pat. No. 4,075,911, assigned to the present applicant, describes a series of mechanisms that enable the generation of linear or rotary intermittent output motion from rotating human motion at a given constant angular velocity. Next, in this specification, the patent No. 4.70
No. 5.911 is referenced as a background patent.

That patent is incorporated herein by reference. By considering the background patent, for example, No. 51.52゜53;54
, 55, 56; 57, 58, 59; 60.61.62
It can be seen that there are several embodiments, such as Figures 63, 64 and 65, all of which provide rotational output. Especially the 51st background patent
．． 52 and 53, it can be seen that the output gear 332 rotates through a 90° angle during a given indexing cycle.

This is due to the gear 330 having a pitch diameter equal to the pitch diameter of the output gear 332. In the invention described below, the mechanism from the background patent will initially utilize an indexing angle of about 180 degrees. Such a mechanism is described in FIGS. 1 and 2 herein.

Figures 1 and 2 are simple schematic diagrams of the present embodiment coordinated to provide 180 DEG output for one cycle of output shaft acceleration-deceleration. In FIGS. 1 and 2, the mechanism 30 is centered on axis A on a fixed bearing in a housing (not shown). It includes a human power shaft 32 rotating thereon. Eccentric segment 34 on axis 32 is along axis A. It is centered on the axis A1, which is slightly shifted from . Similarly, the human power gear 36 fixed to the eccentric segment is also centered on the axis A1. Tangent link 38 is pivotally supported on eccentric segment 34 . The drive gear 40 is attached to a shaft 42 that is pivotally supported by the tangential link 38, and rotates on a movable axis A2. The gear is also tangential link 3
It is driven by a human gear 36 via an intermediate gear 44 which is pivotally supported by a gear 8.

In this case, the ratio between the human power gear 36 and the drive gear 40 is exactly 2:1, i.e. the human power gear 36 is the same as the drive gear 40.
It rotates twice every time it rotates.

The eccentric plate 46 is attached to the shaft 42 and is instead aligned with the movable axis A3.
An eccentric gear 48 centered at is supported.

The eccentric gear 48 engages with an output gear mounted on an output shaft 52 that rotates on a fixed axis A4 within a bearing mounted in a housing (not shown). The eccentric gear is illustrated as being a % of the pitch diameter of the output gear 50 which causes one indexing cycle for every 1806 revolutions of the output gear 50, as described below. The eccentric gear 48 is held in engagement with the output gear by a radial link 54 that is pivotally supported by the output shaft 52 and a short shaft 56 attached to the eccentric gear 48 centered on the axis A3.

The nature of operation of mechanism 30 as analyzed in the referenced patent is briefly described below. The overall motion of the output gear is an overlapping group of components, each of which will be analyzed as if it were the only component responsible for the motion of the output gear 50.

Axis line A temporarily. and A1 coincide, and further axes A2 and A3
If they match, the mechanism 30 actually has the human power gear 36
It can be seen that it is a simple gear filter having an output gear 50 rotating at one-fourth the angular velocity of . The gear ratio from the output gear 50 to its drive "eccentric" gear 40 is 2:1, where the gear 40 is coupled to and rotates with the drive gear 48 and the gear 48 is relative to the human power gear 36. Since the ratio is also 2:1, the gear ratio of the output gear 50 to the manual gear 36 is 4:1. Assuming that the human power shaft 32 rotates at a constant angular velocity, the output shaft 52 also rotates at a constant angular velocity, albeit at a quarter of the angular velocity of the input shaft.

Now if axes A2 and A3 are some distance apart, gears 40 and 48 will rotate about each, in this case gear 48
The center line A3 of swings around the axis A4 because the distance between the axes A3 and A4 is fixed by the link 54,
The axes A2 and A2 coincide with each other because the distance between them is fixed by the link 38. Rock A+. The swing amplitude is determined by the magnitude of the distance between the axes A2 and A3, and the swing amplitude of the axis A3 and the axis A
The movement of the eccentric gear 48 about 4 transmits the oscillations occurring on the output gear.

Similarly, axis A1 is axis A. If the input shaft 32 rotates at a predetermined angular velocity of some value when moving from
It can be seen that circular motion occurs at the right end of . Furthermore, this causes another oscillation on the gear 50, the amplitude of which is equal to the axis Ao.
is determined by the spacing distance from A1 to A1. Furthermore, since the pitch diameter ratio is 2:1, the final oscillation frequency is twice the angular velocity as the average angular velocity of the drive gear 40, and the input gear 36
, the number of oscillations of the output gear is twice the number of oscillations caused by the distance from axis A2 to axis A3.

The final component of the movement of output gear 50 is caused by the angular swing of link 38. When the link moves through the space in which the right end of the link moves through the circular path created by the rotation of axis AI around axis Ao, the left end is driven by axes A2 and A3 that rotate about each other. It swings up and down about the movable axis A1. Similarly, this complex movement results in a small motion component in the output gear, which decreases as the length of link 38 increases. Axis A due to the angular swing of the link 38. The length of the link that projects on a reference line tangential to the output gear 50 changes, and it is this change in the projecting length that causes a motion component in the gear 50. Since the lengthening of the links 38 reduces the angular displacement movement of the links for a given movement of the axes A1 and A2, the change in protrusion decreases rapidly with increasing link length.

The overall motion of output gear 50 therefore results from the superposition of three major components, summarized as follows.

1. Constant speed determined by the stated gear ratio.

2. A first swinging component caused by the rotation of axes A2 and A3 about their respective centers.

3. Second swing bridge component caused by rotation of A1 around 〇 toward the axis.

A fourth, more minor component is necessitated by the angular excursion movement of the link 38, which can be made very small as the length of the link 38 increases.

Said fourth component causes an annular variation in the motion of the output gear 50, which causes a given cycle to change once every rotation of the eccentric gear 40.
Repeat times. Therefore, in a given cycle, the output gear 50 has the eccentric gear 4 with respect to the pitch diameter of the output gear 50.
Rotate at an angle represented by a pitch diameter ratio of 8. For example, at the scale shown in FIGS. 1 and 2 where gear 48 is shown half the size of gear 50, the output is
0 completes one given cycle when it moves 180 degrees. If the gear 48 and the gear 50 have the same dimensions, one cycle will naturally be completed while the output gear 50 rotates 3606 times.

Axis line A. Let the distance from to the axis A1 be the eccentricity E2, and let the eccentricity between the axis A2 and the axis A3 be El. By adding the second eccentricity E2, which rotates at a multiple of the integral multiple every time the eccentricity E+ rotates, a wide range of motion effects can be provided when the output shaft 52 rotates. This is described in great mathematical detail in my existing US Pat. No. 4,075,911.

The designation mechanism 30 of FIGS. 1 and 2 has a structure 30 that takes a relatively long pause in manual angular rotation, but in this case the pause is not a true fixation of the output shaft; The output shaft oscillates with a small amplitude around the oscillation center, which is the zero point of angle measurement.

The rotational output embodiment of that patent shown in Figures 51, 52, and 53 of the background patent has a rotational output of 90 because of the gear ratio of gears 330 and 332.
The output index angle of the embodiment shown in FIGS. 1 and 2 of the present invention is 180 degrees as previously described.
°. Furthermore, in the background patent, No. 51.52.53
The illustrated mechanism consists of a member on the axis A1, that is, the sprocket 324, and a member on the axis A2, that is, the sprocket 3.
In the embodiment of FIGS. 1 and 2 of the invention, the drive connections corresponding to the chain connections are via gears 36, 44 and 40. There is. By slightly changing the structure in this way, drive rigidity has been increased.

Second Pause Mechanism - Background The second background mechanism used herein includes the crank and connecting rod mechanism described in many books on fundamental kinematics. This is outlined in FIGS. 3, 4 and 5.

In FIGS. 3 and 4, a shaft 60 rotates on an axis A5 and is supported by a frame 62 via a bushing 64.
The shaft 60 can be driven by a suitable prime mover. A crank 66 is fixed to the shaft 60 and supports at its outer end a crank pin 68 centered on the axis A6. One end of the connecting rod 70 is pivotally supported by the crank pin 68, and the other end is pivotally connected to the sliding block 72 via a pivot pin 74 on the axis A7. The sliding block 72 is the frame 62
Within the frame, the block is free to slide along an axis A8 which intersects axis A as shown in FIG.

FIG. 5 shows a schematic diagram useful for analyzing the dynamic characteristics of the system. Let R be the distance between the axis A5 and 80 on the crank 66, and L be the length of the connecting rod between the pins 68 and 74. The mechanism is shown in two positions: a reference position (top dead center position) shown by a solid line, and a position shown by a dotted line after the crank R has rotated from the reference position by an arbitrary angle φ. What can be easily seen from this diagram is that when the crank R moves from its reference position by an angle φ, the amount by which the sliding block 72 moves from its reference position is expressed as follows.

D=R−L−Rcosφ+L cosα (1) If L is large compared to R in this equation and therefore the angle α is small, even if it is at its maximum value, C
OSα is very close to 1, so D dominant R−Rcosφ
Principal R(1-cosφ) (3) This approximate expression is obtained because of the kinematic movement characteristics of the crank and sliding block motion.

Rest and Clock The word "rest", generally accepted in its angular kinematic sense and applied to any mechanism, is used to mean that the output of the mechanism is fixed and the human power continues to move. There is. In a logical sense, the output is zero and the output movement produced by the cam often incorporates a well-known pause. However, in reality, there is no need for a pause with truly zero motion, and it is often acceptable to have a very slight oscillating motion in relation to the output.

As a means of expressing such a state, it is called a "near field ratio" state,
It is further characterized by a numerical value indicating the maximum peak-to-peak amplitude of the power swing expressed as a portion of the total power stroke of the mechanism. For example, the near-body ratio (0, (11) 1) means that the output swing is performed at the defined near-body midline with a total amplitude of 0,0 O1 times the total stroke of the mechanism.

The outline of this is shown in Fig. 6, which says, ``The length of the pause J is also almost defined.The mechanism is driven by a human-powered shaft that rotates at a constant angular velocity, When the time required for is divided into 360 units, each unit is 1 degree of clock angle.

For example, a pause length having a clock angle of 90° means a cycle in which 90/360, or one-fourth, of one cycle has a near body ratio. Of course, if the human shaft rotates once during one indexing cycle, then one degree of input shaft rotation is equal to one degree of clock angle, or if, for example, the input shaft rotates three times during one indexing cycle, Three degrees of input shaft rotation corresponds to one degree of clock angle. In other words, the number of degrees of input shaft rotation equal to one degree of clock angle is determined by dividing the total number of degrees of rotation of the human shaft required for one indexing cycle into 360.

[Description of the invention]

The invention described herein is a compound or tandem mechanism that uses two drive stages, the first of which is described (initially) in the background patent shown in FIGS. 1 and 2. It includes a rotary output indexing mechanism with a 180° output indexing angle, and the second stage includes the crank and connecting rod mechanism described above.

This complex mechanism is valuable and unique, with results that can only be determined by the detailed analysis that must be made to ensure the numerous mechanical features that can be achieved.

In FIGS. 7 and 8, the mechanism 30 described above with respect to FIGS. Its human power shaft 32 is connected to the joint 8 by an output shaft 86 of a gear reduction gear 88 also mounted on the base 82.
Drive via 4. The human power shaft 90 of the gear reduction gear is driven by a motor 92 via a joint 92. Depending on the method of use, the motor may run continuously or be stopped during machine rests by appropriate conventional limit switches and electrical circuitry. The crank 66 (Figs. 3.4 and 5) is mounted directly to the output shaft 52 of the mechanism 30, in this case axes A and A.
5 matches. Of course, the shaft 60 and frame 62 (FIGS. 3 and 4) can be retained and used to connect the shafts 52 and 60 if convenient. A crank pin 68 on the crank 66 is used to reciprocate the connecting rod 70. The other end of the connecting rod 70 is connected to a sliding block, ie, a reciprocating motion output member for displacing the load therefrom, as shown in FIG.
can be connected directly to the manpower member to which the load is to be displaced. Such human powered members are links, bell cranks or sliding members. In any case, the output motion is now such as given by the approximation (3) above, where the angle φ is the output angle of the mechanism 30.

Unitized Output To compare the rest and other characteristics of the mechanism of FIGS. 1 and 2, the crank mechanism of FIGS. 3 to 5, and the combined mechanism of FIGS. 7 and 8, the indexing stroke It is convenient to scale the output of each system such that d is arbitrarily set equal to 1. Similarly, the human power angle is expressed in 360 degrees of clock angle to produce one power stroke. In such an arbitrary conversion process, equation (3) becomes as follows.

In this case, Dt+ = "unitization" output φc = "clock" angle This reconversion is based on the following reasoning regarding equation (3). The lowest position is φ=O, D= regardless of the value of R.
Occurs when O. Therefore, by setting R=% and φ0 φ=(□), the maximum value reaches 1 for φ=360°, and by substituting the values of R and φ into equation (3), the equation (4) is obtained.

The output shift from equation (4) near the rest area is shown in Table I
and is indicated by reference curve A in the graph of FIG.

Table ■ -2(11), (11)7596 -150, OO4278 -1(11), (11)1903 -5'0. (11) (1476 5 0, OO (1476 1 (11), (11) 1903 150, (11) 4278 2 (11), OO7596') The characteristics of the operation of the mechanism 30 analyzed in the reference patent are briefly summarized below. The overall motion of the output gear is a superposition of each component of a group, and each output gear 5
It is analyzed separately to be the only component that moves 0.

According to the background patent, axes A2 and A3 are each centered at 1
The axis A1 is the axis A for rotation. In a state where the axis rotates twice around , the general-purpose approximate displacement formula is expressed as follows.

U=θ−E, sinθ+E2sin2θ (5
] In this case, the angular output displacement θ of the output shaft 52 which has a range of 2π units regardless of the low indexing angle = clock angle B expressed in niradians, = between the axes A2 and A3 expressed as a proportion to the radius of the eccentric gear 48 Distance E2 = axes A1 and A, also expressed as a percentage of the radius of the eccentric gear 48. distance between.

Similarly, each time the axes A2 and A3 rotate once around each other, the axis A1 changes to the axis A. When rotating three times around , the general-purpose approximate displacement formula obtained from the background patent is
) From equations (5) and (6) and by reference to mechanism 30 and background patents, it can be seen that input gear 3
6 and the drive gear 40, if for every revolution of the axes A2 and A3 about each, the axis A rotates N times about the axis 0, then the output of the mechanism The general-purpose approximate displacement formula for is U-θ-E, sinθ+E2SlnNθ (7
) As mentioned above, the output variable U is 2π during one indexing cycle.
The input angle θ is further sized in radians. 9 to compare the output of the independent mechanism 30 with the output of the crank and connecting rod mechanism.
As can be seen from the reference curve A in the figure, the entire equation (7) has 1
This can be achieved by multiplying by .

Therefore, in unitized coordinates, equation (7) becomes as follows.

This can be simplified as follows.

In the background patent, when using N=3, the longest pause without reversal is F,=1.125 and F2=0. (14167
(1/24). This value is expressed as equation (9)
Substituting into , the unitized displacement values at various clock angles become:

Table■ Clock angle Unitized displacement -60-0,011605 -50-0,(11)5(145 -40-0,(11)1763 -30-0,(11)(1440 -20-0,(11) ) (11) 60 -10-0, (11) (11) 02 1 (11), (11) (11) 02 2 (11), (11) (11) 6,0 30' 0. (11) (1 44 (140 0. (11) 17
6350 0, 0 O5 (145
6(11), 011605 A graph representing this data is reference curve B in FIG.

Furthermore, in the background patent, when N = 2, the pause without reversal is F = 1.33 (11/3) and F2 = 0.1
It turned out that it was the longest when it was 67 (1/6). By substituting these values into equation (9), it can be seen that the unitized displacement at various clock angles is as follows.

Table ■ Clock angle Unitized displacement -60-0, (11)5862 -50-Q, 0G24.52 -40 -0. (11)0830-30
-0. (11)0202-20
-0. (11) (11) 27-10
-0. (11) (11)0110 0,
(11) (11) 0120 0, (11
)(11)2730 0,(11)02
0240 0, (11) 083050
0, (11)245260
0, (11)5862 A graph representing this data is reference curve C in FIG. Comparing reference curves A, B and C6 reveals two main points: First, when comparing the inherent pauses available in independent mechanisms, the pauses of mechanism 30 significantly exceed the pauses that occur at top or bottom dead center of the crank and connecting rod mechanism.

The second aspect concerns the directional displacement effect at near rest. What we know about crank and connecting rod mechanisms is that when the clock angle is 0, the displacement on either side of the resting point, which is the top dead center or bottom dead center position, is expected for an essentially reversing mechanism such as a crank and connecting rod. It is unidirectional as shown. On the other hand, with respect to mechanism 30, the displacement on either side of the rest point is bidirectional, again as would be expected for this type of indexing mechanism.

That is, in the case of unidirectional manual shaft rotation, the output is temporarily stopped after a given index, but is re-accelerated in the same direction as before the stop.

The above data regarding the near-physical characteristics of each mechanism operating individually will serve as a reference for the new data that will be presented.

In the composite mechanism of FIGS. 7 and 8 that includes the present invention, the formula (7
) must be reconverted.

If the number of indexing cycles per rotation of the output shaft 52 is M, then the instantaneous position Y of the shaft 52 as a function of the clock angle can be expressed as the rotation per indexing of the shaft 52 in equation (9) for unitized displacement. By multiplying the number by 360/M, which indicates the degree of rain, it can be calculated as hail. Therefore, to simplify this, in the composite mechanism shown in FIGS. 7 and 8, the output angle of the shaft 52 given by γ in equation OD is approximately calculated by equation (3) in the crank and connecting rod mechanism shown in FIG. 5. is equal to the input angle φ. A new variable C3, which indicates the phase angle when connecting two mechanisms, must be explained. When positioning the mechanism 30 between indexing cycles, i.e. clock angle φ. When is 0, the angle at which the crank crosses its dead center position is defined as the phase angle C1.

Therefore, by substituting φ=γ+c, Q2+2〇2:J into equation (3), we get D=R[1-cos(r+C+)] If α output stroke is equal to 1, then R= − T from equation 0υ Substituting the value of CL4) into equation CL4) yields the unitized displacement equation for the mechanism of the invention.

” αω This equation includes five parameters M, N, C, ,E1 and F
There are 2, each having its own effect on the output characteristics.

In the drawings of the present invention, various tables and curves were calculated using a computer. For example, velocity could be calculated using traditional mathematical techniques, but it is easier and less time consuming to use numerical differentiation on a computer.

Long Pauses at the End of a Stroke One of the important practical applications of the present invention is long pauses at the ends of a stroke. For example, it is possible for other systems to operate even though some mechanisms are inactive. By combining the mechanisms so that the rest points coincide, ie, C1=0, and by making the mechanism 30 have an indexing angle of 180°, ie, M=2, it is also possible to obtain from the background patent. An example calculated by using coefficients F1 and F2 defined to give the "most uniform" pause as shown below.

Example I C1=OM=2 N=3 E,=L125 E2=1/24 The results are tabulated in Table 2.

Table ■ Clock angle Unitized displacement -8 (11), 0,03972 -70, 0, (11) 1291 -6 (11), (11) 0332 -5 (11), (11) (11) 63 -4 (11), OO(11)08 -30 to +30 0. (11) (11) 01 or less 400, (11) (11) 0850
0, (11) (11) 6360
0, (11)033270
0. (11) 129180 0, (11
)3972 This result is also shown in the curve in FIG. By recalling that this resting curve includes independent mechanisms and has the resting characteristics seen in reference curve A and above, it can be seen that the resting characteristic of the composite mechanism is simply the sum of the resting of each function. It's much better than that.

What is further clear is that, as expected, the output of the combination mechanism retains the reversal characteristics of the crank and connecting rod mechanism, and the displacement curve in FIG. That's true.

Example 2 This is comparable to Example 1, except that it is the second harmonic type rather than the third variant of the mechanism 30 provided by the curvature. Therefore, Table V is a table showing the results of Ct=OM=2 N=2 F,=11/3 F2=1/.

Table ■ Clock angle Unitized displacement - 90° 0. (11) 352'0-80°
0. D 01228-70@
0. (11) 0360-60° 0. (1
1) (11) 85-50° 0. (11)(
11) 15-40' 0. (11) (11
)02-30° to +30” 0.(11)(11)
01 or less 40” 0.(11)(11)0250° 0.(11)(11)1560° 0.(11)(11)8570 @ 0.(11)036080°
0. (11) 122890° 0. (1
1) 3520 These results are also shown in curve E in FIG. 9, and exactly the same applies as in the curved case.

Extremely long pause at each end of the stroke In the background patent, if the second and third harmonic values are N=2 and N=3 to find the values of E, and E2, the output The displacement was able to be O at four different angles with a predetermined clock angle at which the displacement was zero. The qualitative generic characteristics of such a state are shown in FIG. The output displacement of the mechanism 10 shown in FIG. 10 passes through and slightly "exceeds" 0 at a predetermined clock angle of zero angle, i.e. -θN2, and then reaches a second predetermined zero angle, i.e. -
Returns to 0 output at θN1, then "exceeds to negative",
Returns to zero output displacement at zero clock angle.

The behavior of mechanism 30 at positive clock angles is not a mirror image of its behavior at negative clock angles, but is symmetrically opposite.

What is important, therefore, is that it is possible to make the output of the mechanism 30 pass through zero output five times as long as the rest period.

As shown again in the background patent, the amplitude of the excess and the excess in the negative direction, called rocking, can be controlled by appropriate selection of the zero angle. Using a computer, it is possible to manipulate the zero angle by trial and error, continuous approximation or repetition to obtain the predetermined width of the fluctuation and the associated functions E1 and E2.

Generally, the four different swing widths will be equal to each other, but this need not be the case.

The output displacement of the mechanism 30 is the crank angle of the crank and connecting rod mechanism, as can be seen in FIG. phase angle C
If 1 is 0, the combined output of the combination mechanism takes the generic type shown in FIG. 11 because the crank swings as shown in FIG. The output force oscillation of the combination mechanism is unidirectional due to the original characteristics of the crank mechanism, in which case the output is symmetrical about the dead center position, that is, a given angle is "in front" of the dead center position.
The output for that angle is the same whether it is "backward" or "backward". This means that COS (θ) = COS
(−〇), so it is mathematically confirmed by equation (3).

A case-by-case technique that defines a given pause width (unitization) for a particular application would be useful. Reversing equation (3), R
When set to each, cosφ= 1-2 Dt+ φ=arc cos (1-2Du) 60
When applied to a combination mechanism, it can be seen from the relationship between FIGS. 10 and 11 that the formula αe determines the rank swing angle that is allowable in order to obtain a predetermined rest width. Table ■ shows each end of the process: Mechanism 30 that pauses for a long time (M = 2)
is a table of allowable rank swing angles as a function of pause width for an output of 180'.

Table ■ 0, (11) (11) 1 ±0.36237°
±0. (11) 2010, (11) (11) 3
±O,,62765° ±0. (11) 348o
, o, ooto ±1.14593° ±0.
(11)6360, (11)030 ±1.9848
8° ±0.011030°(11) 1(11)
±3.62431' ±0.0
20140, (11) 3 (11) ±6.2795
8° ±0°03489206) and by the allowable rank oscillation width determined to obtain a given predetermined rest width for the combination mechanism and as illustrated in Table 1, the zero angle and the zero angle The coefficients E1 and E
Such a crank swing width can be used to determine 2.

As previously mentioned, this is implemented using a continuous approximation technique with a combi coater.

Following this procedure, the value of the zero angle was found, which led to the permissible range of rank fluctuations shown in Table 3. Tables A and B represent these, and the former is N=
3 and the latter is the case with N=2 and 180' indexing of mechanism 30.

0, (11) (11) 1 ±36.884
±62. (1470, (11) (11) 3
±40.110 ±68.0950, (1
1) 010 ±43.661 ±75
．． (1450, (11)030 ±46.81
6 ±81.5630, (11) 1 (11)
±50. (140 ±88.71(1
1), (11) 3 (11) ±52.642
±95.0130, (11) (11) 1
±44.909 ±74.6150, (11
)(11)3 ±49.262 ±
82.3610, (11)010 ±54.2
73 ±91.5020, (11)030
±58.991 ± 1 (11). 38
90, (11) 1 (11) ±64.206
± 110.6240, (11) 3 (11)
±68.874 ± 120.266 table ■
From zero angles as shown in A and 2, the necessary coefficients E and E2 can be calculated using methods outlined in background patents. The corresponding coefficients E and E2 obtained using the specific zero angle values shown in Table A and Figure 3 for the desired pause width.
are shown in Tables A and B.

Table ■A N=3 0. (11) (11) 1 1.2149
0.09130. (11) (11) 3 1.2
326 0.109 (11). (11)010
1.2545 0.13790. (1
1) 030 1.2762 0.178
20. (11) 1 (11) 1.3 (11) 8
0.24830. (11)3(11)
1.3227 0.35280. (11) (1
1) 1 1.4947 0.27140
．． (11) (11) 3 1.5311
0.30370. (11)010 1.5791
0.353(11). (11)030
1.6309 0.417 (11). (11
)1(11) 1.6969 0.51
970. (11) 3 (11) 1.7647
0.6603 Coefficients E1 and E2 shown in the table above
can be put into the equation αω to calculate the unitized displacement output of the combination mechanism.

In this case the method for determining E1 and E2 is based on a mechanism 30 with an output index angle of 180° and a phase angle C1 of 0.
By remembering that , the parameters for the two types of cases shown in the figure can be obtained.

Example 3 c, = O, M = 2 N = 3 E, = 1.3 (11) 8 E2 = 0.2483 3rd
0.0 of the entire stroke using harmonic value N=3. (11) Table ■
Coefficients E1 and E2 were arbitrarily selected from A. The coefficients shown in the table above were substituted into the formula, and the displacement was calculated at appropriate clock angle intervals.

The value calculated in this way is shown by curve F in FIG. 12, which in this case shows only the characteristic for a positive clock.

It is understood that the behavior at negative clock angles is a mirror image about the zero clock angle line as shown in the generic curve of FIG. As can be seen from curve F in Figure 12, the total is ±9
5° or if the total pause is 190°, the predetermined 0. (11)
The displacement swings within a pause width of 1, which is 190/360 or 52.7% of the total cycle time. Furthermore, the displacement curve F is tangential to the zero displacement axis at clock angles of 50° and 80°, and the rest width shown in Table ■A is 0.
It can be seen that it matches the zero angle in the case of (11)1.

As shown collectively in FIGS. 1 and 2, N==2 is used to indicate the very long pauses that are the object of the present invention at each end of the stroke.

Example 4 CI = OM = 2 N = 2 E, = 1.6969 E2 = 0.5197 In order to directly compare the curve F with N = 3 and the pausing behavior with N = 2, the pausing width is 0. (11) Coefficient E in case of 1
1 and E2 were obtained from Table ■B.

The result obtained by using this value again in the formula αω is plotted as curve G in FIG. It can be seen that the pause length is significantly improved. That is, the total cycle clock angle is 36
±118° to 0° or 236° total pause length
It is. Therefore 236/360 or 65 of the total cycles
．． The output is sufficient within a 5% pause width.

Although longer pauses are of practical importance, it is necessary to examine the motor behavior of the system during movement between pauses. As mentioned above, velocity calculations are performed by computer and numerical differentiation without conventional differentiation and subsequent calculations using many equations other than 20ω. Using such techniques, the speed during the stroke was calculated for the four examples described above and is shown in the graph of FIG. Curve D' shows the speed characteristic of Example 1, and its stopping characteristic is shown as a curve in FIG. The speed characteristics are symmetrical around a clock angle of 180°, and 60°
The velocities at the following clock angles are too small to be useful.

Velocity is expressed as relative velocity, which is the fraction of the instantaneous velocity at a given clock angle divided by the average velocity, which is the total stroke divided by the time required to move in 36 (11) clock angles. be.

Similarly, speed curve E' shows the state of Example 2 and corresponds to the rest curve in FIG. The speed curve F' is Example 3
This corresponds to the resting curve F in FIG. 12. The speed curve G' shows example 4,
This corresponds to resting curve G in FIG. In a broader sense, the peak velocity for N=2, as shown in curves E' and G', is as expected since the pause for N-2 is longer than the pause for N=3. The peak velocity for N=3 as shown by D' and F' is exceeded. Interestingly, curve F', which exhibits a shape with a longer pause than another third harmonic curve D', has a speed of reversal near the mid-stroke, which is different from the original curve with a large third harmonic component. It is a characteristic.

Long Pauses Between the Ends of a Stroke The four examples above show how wide the pauses at each end of the stroke should be as a part of the total cycle time for each stroke, and the conditions selected. The velocity characteristics between the end-to-end strokes as a function of Using an example of the type, the first method uses phase angle C1 to displace the rest of the mechanism 30 away from the reverse rest of the crank and connecting rod mechanism.When the mechanism 30 is centered in its rest position By positioning the crank on the output shaft of the mechanism 30 at a distance of 90 degrees from the dead center position, a value C, = 90 degrees is obtained.Additionally, by setting the value M = 2, the output indexing angle of the mechanism 30 becomes 180 degrees. By setting it to °, a pause is created in both the forward and backward intermediate strokes.The pause width of the crank angle fluctuation during the pause is ±06
arbitrarily set to 18°, and E
, and the values of E2 are obtained. Although we have set N=3 as described above, by increasing the speed a slightly longer pause can be obtained when N=2. Therefore, the conditions for Example 5 were set as follows.

Example 5 C, = 90° M = 2 N = 3E, = 1.19
6 E2=0.0761 Next, the results under this condition were calculated at appropriate clock angle intervals, and curve H in FIG. 14 was created. The unitized displacement spans a 720° clockwise angle interval representing two 180° indexings of the mechanism 30, as required for a complete 360° movement of the crank, which covers both the forward and reverse strokes. It shows. As can be seen from curve H, when the unitized displacement is equal to 0.5, there is a long pause in the middle stroke, but the pause at the end of the stroke is very short.

In other applications, long pauses are desired during the stroke, ie, at one location during the forward stroke and at another location during the reverse stroke. Within certain limits, the foregoing can be implemented by varying the phase angle C2 to a suitable angle other than the 90° used to produce the condition of curve H, leaving the other parameters arbitrarily unchanged. .

Example 6 C,=60' M=2 N=3E,=1.19
6 E2=0.0761 This result is shown in curve J of FIG. 14, and it can be seen that the phase angle CI=60°.

Using the formula α^, at the first rest position r=0 or at the second
In the rest position, the unitized output displacement is 0.25 in the forward stroke and 0.7 in the backward stroke, as expected by substituting r=180°.
At 5 there is a long pause in the middle. It then follows that for M=2, the two rest positions are always the same distance apart from the aforementioned reversal rest.

In other words, the sum of the unitized displacements for two intermediate rest positions is always equal to one. This can be changed by intermediate connections to the final drive point.

Long Pauses at End of Stroke and Mid-stroke Using the parameters shown in Examples 5 and 6, the pauses at the end of stroke are extremely short, as would be expected for a crank rotating at any angular velocity. However, long pauses may be required both at the end of the stroke and at mid-stroke points. This is achieved by selecting the output indexing angle of the mechanism 30 to be 90°, which is done by setting M"4. As shown in FIG. 5 point pauses with a pause width of (0, (11) 1 unit) were selected.

In this case, the final parameters calculated as described above are shown below.

Example 7 C,=OM=4 N=3 E,=1.196 E2=0.0761 The calculated results are shown in curve K in FIG. This is illustrated with a total clock angle range of 1440 degrees as required because four indexes each requiring a clock angle of 360 degrees of the mechanism are required for each revolution of the crank. be. As is clear from curve K, in addition to having a long pause in the middle stroke, it also has a significantly longer pause at the end of the stroke than in Examples 5 and 6, shown by curves H and J in FIG.

There is a need for an inversion mechanism that has a long pause at one end of the stroke and a short pause at the other end of the stroke, with a relatively long pause at one end of the stroke and a relatively short pause at the other end of the stroke. This requirement is that for mechanism 30, the output indexing angle is 360°, M=
By positioning the crank so that the phase angle becomes 1 and the phase angle becomes 0, that is, C8-0, it is consistent with the present invention.

Naturally, when the mechanism 30 is at rest, the crank is at the first dead center position, and at the opposite dead center position of the crank,
Mechanism 30 is in its intermediate indexed position and rotates at some relatively high angular velocity.

These conditions result in different lengths of system pauses at each end of the stroke. Two types of special cases are shown: a case where N=2 and a case where N=3. On each side, 0. (11) Five point pauses with a pause width of 1 were arbitrarily selected. This resulted in the following combination of parameters.

Example 8 C,=OM=l N=3 E,=1.273 E2=0.1703 The results calculated using the parameters for αω are shown as a curve in FIG.

Example 9 C, = OM = I N = 2 E, = 1.622 E2 = 0.4 (148) The calculation results using such parameters are shown by curve M in Figure 16.

The curve was obtained when N=2, and the curve M was obtained when N=3. In either case, the parameters E and E2 are obtained by continuous computer approximation so that the total system pause width is <0°(11)1 as described above. Since the curve is symmetrical around clock angles of 0° and 180°, only the case of a clock angle of 180° is shown. 9th
As expected from knowledge of Figures 1 and 12, the pause at one end of the stroke is larger for N=2 compared to the case of N=3. Therefore, in the condition N=2, the pause at the other end of the stroke is N=
2 is shorter than when N=3 (in other words, N=
The inversion is faster when N=2 than when N=3.

3-Point Pause In Example 3-9 above, a 5-point pause was used to determine parameters E1 and E2, as described with respect to FIGS. 10 and 11. This was described in more detail in the background patent. As also detailed in the background patent, it is also possible to arrange the mechanism 30 so that the displacement characteristic in the rest area is zero only three times instead of five times.

This will be a 3-point pause. The main purpose of reducing the number of resting points from 5 to 3 is that it makes it possible to find combinations of El and E2 and allows for more extensive control over the mobility of movement between resting points. . 12.1'3. in the background patent relating to the independent mechanism 30.
A wide variety of embodiments are described, including the motion curves of Figures 30 and 31.

FIG. 17 shows the overall characteristics of the output displacement of the mechanism 30 in the three-point rest mode. Since the displacement corresponds to the crank angle of the crank and connecting rod mechanism, this case is also classified as forward movement.

There are several methods that can be used to provide a three-point pause, as shown below. The output angular displacement or crank angle of the mechanism 30 is generally shown by the curve in FIG. 17 when the parameters E1 and E2 are determined so that the mechanism 30 has a three-point rest state.

After crossing the zero point at some negative clock angle of zero angle -0M1, the crank "crosses" its zero position.
I understand that. The crank angle displacement then reverses and passes through the zero position again at zero clock angle, then reverses to move forward and again reaches the zero displacement position at some positive clock angle with zero angle θ. ``Cross in the negative direction'' before crossing. Essentially, when the parameters E1 and E2 are determined so that a 3-point pause occurs, a double inversion that crosses the Tsunoda force displacement zero line of the mechanism 30 is performed three times, but the parameters are set so that a 5-point pause occurs as described above. If E and E2 are determined, the Tsunoda force displacement, which is the crank angle, undergoes four reversals and crosses the zero line five times.

FIG. 11 shows the unitized output displacement of the present invention when the crank is positioned on the output shaft of the mechanism 30 so that it is in the dead center position when the mechanism 30 is at its center of rest, obtained from the curve of FIG. 10; By the same technique, the first
This is shown by the generic curve in FIG. 18 obtained from FIG. Basically, when the crank angle is zero, the unitized displacement of the crank is -θN1
．． 0 and θN1, and becomes very slightly positive when the crank angle is slightly positive or negative, as described again with respect to FIG.

The method for determining the coefficients E1 and E2 as a 3-point pause is 5.
It is comparable to the method used to find point pauses. Using the technique used to obtain the set of solutions for three-point pauses shown in the background patent, we can calculate the overall pause width and then calculate El or E to obtain the desired pause width.
2 can be adjusted. Then change the unused El or E2 (to find the desired pause width) to be closer to the desired motion goal, but with the variables used to explore the motion goal (E + or E2 ), respectively. In order to change the value, the value of the variable (E or E2) from which the pause width can be obtained must be calculated again. In this case as well, a successive approximation technique that requires a computer is used.

Even if you have no knowledge of background patents, you can find E and E2 as long as they can be obtained mathematically. A value is arbitrarily assigned to either El or E2, and the unassigned variable E or E2 is changed to obtain the desired pause width by using formula 05) again, which is the basis for calculating the unitized displacement. let Next, the assigned variable E or E2 can be changed by successive approximation, and the motion objective is achieved so as to move during the stroke. Two examples of this are shown below.

Long rest at the end of the stroke and nearly constant speed during the stroke Two examples were investigated to meet the above conditions, one with N arbitrarily selected as 2, and the other with N arbitrarily chosen as 3. Using the information from the previous example, we set M equal to 2 to have a long pause at each end of the stroke. Again, the pause width was arbitrarily selected as 0°(11)1 in unitized displacement coordinates.

By setting the parameters under these conditions, the first patent of the background patent
Using the precedent of curve B in Figure 2, set N to 2 and E2 to -0,1.
It was set to -0.3. The value of El corresponding to each of the values of E2 thus selected is found by successive approximation, resulting in a rest displacement of o, o o i. Using E and E2 obtained in this way, the speed characteristics in the stroke were calculated at an appropriate time adjustment angle using equation 05) and numerical differentiation.

The results of determining which combinations of El and E2 best meet the above requirements are shown below.

Example 10 C, = OM = 2 N = 2 E, -0,9190E, = -0,22 The rest characteristic of the parameters of such a combination is shown as curve N in Fig. 19, which is similar to the generic rest characteristic in Fig. 18. It is symmetrical about zero clock angle as shown by the curve. The speed characteristics of such a combination are shown in curve N' in FIG.
In this case, velocities below 50° clock angle are too small to be useful, and the velocities are symmetrical about 180° clock angle. Note that the pauses and speeds of the "near" solutions to obtain E2=-0,21 and -0,23 are very slightly different. Such combinations are shown below.

E2 =-0,21E, =0.9361E, =-0,
23E, =0.9018N= as in Example 10
Using the same procedure as above but with N=3 instead of 2, select E to best meet the above requirements.
l and E2 are shown below.

Example 11 CI = OM = 2 N = 3 E, = L355 E2 = 0.11 The rest characteristic of the parameters combined in this way is shown by the curve P in Fig. 19, and the speed characteristic is shown by the curve P' in Fig. 20. is similarly symmetrical to curves N and N'.

Naturally, the range of exercise objectives that can be achieved with the present invention is extremely wide. What has been described is merely an example. Of course, the invention can only be used if a pause is required, with one or the other of the pause characteristics. In general, the present invention can be used to achieve any motion objective that can be approximated by Equation 05), and can vary widely depending on the knowledge, experience, and talent of the designer using the equation and the mechanism it represents. determined.

After simplification, all working curves were derived based on the asked 20ω. However, it was approximated by numerical calculations by computer (conventional mathematical non-approximation calculations become hopelessly complicated). By rigorously calculating the system without calculations, it was found that there is a very high correlation between the characteristics described here and the exact characteristics obtained by numerical calculations. and A2 and axes A2 and A3 (El) and axis A
This means that the distance between o and AI(E2) can be adjusted by successive approximations.

[Brief explanation of drawings]

FIG. 1 is based on the inventor's existing U.S. Patent No. 4.075.
A semi-schematic side view showing one embodiment of No. 911, FIG.
FIG. 3 is a side view of a known crank and connecting rod mechanism; FIG. 4 is a cross-sectional view taken along line 4--4 of FIG. 3; FIG. 5 is an equation of motion for the mechanism of FIG. A schematic diagram of the mechanism used to determine. Figure 6 is a schematic diagram showing the definition of the length and width of the pause; Figure 8 is a side view of Figure 7; Figure 9 shows the crank and connecting rod mechanism; Graphs showing the resting characteristics of the mechanisms of Figures 1 and 2 operating in a three-harmonic configuration, and of the mechanisms of Figures 7 and 8; Fig. 11 is a comprehensive resting characteristic curve showing the behavior of the mechanism in Figure 11, which shows the behavior of the crank in the dead center position when the mechanisms in Figs. Figure 12 shows the output of the present invention when positioning the crank in the mechanisms of Figures 1 and 2. (11)
13 is a graph showing the speed characteristics according to the present invention having the rest characteristics shown in FIGS. 9 and 12, and FIG.
Graphs showing the displacement characteristics of the present invention when the crank is positioned in the mechanisms of Figures 1 and 2 with phase angles of 0° and 60°, Figure 15 shows the displacement characteristics of the present invention when the indexing angle is 90° and the phase angle is zero. A graph showing the displacement characteristics of the present invention when the mechanisms shown in FIGS. 1 and 2 are configured as shown in FIG.
FIG. 17 is a graph showing the displacement characteristics of the present invention when the mechanisms of FIGS. 1 and 2 are configured to use the second and third harmonics. FIG. An overall rest characteristic curve showing the behavior of the mechanism shown in Figure 18 shows that the crank is in the dead center position when the mechanisms of Figures 1 and 2 are configured to form a three-point rest at the center of rest. The overall rest characteristic curve showing the output of the present invention when positioning the crank in the mechanism of Figures 1 and 2 as shown in Fig. 19, and the three-point rest characteristic curve as shown in Figure 19 to make the second and third harmonic structures. 20 is a graph showing the resting characteristics of the present invention when the mechanisms of FIGS. It is a graph showing the speed characteristics of. 30...Mechanism 32.52...Input shaft 3
4... Eccentric segment 36... Input gear 40...
・Drive gear 42.60...Shaft 46...Eccentric plate 48...Eccentric gear 50...Output gear
54...Radial link 56...Short shaft 322...Chain connection member 330.332...Gear

Claims (14)

[Claims] (1) A very long pause at the end of the stroke, unequal pauses at both ends of the stroke, intermediate pauses between the stroke ends, and asymmetrical movement when moving in one direction compared to movement in the other direction. In a mechanical drive mechanism capable of reciprocating motion that can encompass an object that moves over a very wide range, the mechanism includes: a. A unidirectional rotary drive device whose output changes periodically; 1. A frame; 2. Inside the frame 3. An output shaft member attached to the output shaft member so as to rotate in the tangential direction; 4. A pair of first rotating members supported by the frame. (i) a first rotating member mounted to rotate within the frame; and (ii) a first eccentric member eccentrically mounted to the first rotating member in a non-rotating relationship. 5. A first rotating member mounted in a fixed spatial relationship with the pair of first rotating members.
6, a pair of second rotating members including (i) a second rotating member; and (ii) a second eccentric member eccentrically attached to the second rotating member in a non-rotating relationship; a device for rotatably coupling the pair of first rotating members and the pair of second rotating members at a substantially integral angular velocity; 7. driveably coupling the output member and the second eccentric member; 8. A power device coupled to one of the rotating members of the pair for transmitting rotational motion to the rotating member; b. An output drive for reciprocating motion. The mechanism includes: 1. a crank member with one end attached to the output shaft member; 2. a connecting rod device with one end pivotally supported on the other end of the crank member; 3. reciprocating within the frame. installed as and
and a reciprocating output member pivotally connected to the other end of the connecting rod device. (2) A reciprocating mechanical drive mechanism according to claim 1, wherein the power device is coupled to the first rotating member. (3) A reciprocating mechanical drive mechanism according to claim 1, wherein the pitch radius of the output member is twice the pitch radius of the second eccentric member. (4) positioning the crank member on the output shaft member so that the crank member and the connecting rod member are substantially aligned when the rotary drive is located exactly in the middle between any two adjacent indexing cycles; A reciprocatable mechanical drive mechanism according to claim 1, characterized in that they are collinear. (5) A reciprocating mechanical drive mechanism according to claim 1, wherein the pitch radius of the output member and the second eccentric member are equal. (6) A reciprocating mechanical drive mechanism according to claim 1, wherein the pitch radius of the output member is four times the pitch radius of the second eccentric member. (7) positioning the crank member on the output shaft member, so that when the position of the rotary drive is exactly midway between any two adjacent indexing cycles, the crank member and the connecting rod; 2. A reciprocatable mechanical drive mechanism as claimed in claim 1, wherein the members are located some predetermined phase angle away from a generally collinear reference position. (8) Extremely long pauses at the end of the stroke, unequal pauses at both ends of the stroke, intermediate pauses between the stroke ends, and asymmetrical movement when moving in one direction compared to movement in the other direction. In a mechanical drive mechanism capable of reciprocating motion that can encompass an object that moves over a very wide range, the mechanism includes: a. A unidirectional rotary drive device whose output changes periodically; 1. A frame; 2. Inside the frame 3. An output shaft member attached to the output shaft member so as to rotate in the tangential direction; 4. A pair of first rotating members supported by the frame. (i) a first rotating member mounted to rotate within the frame; and (ii) a first eccentric member eccentrically mounted to the first rotating member in a non-rotating relationship. 5. A first rotating member mounted in a fixed spatial relationship with the pair of first rotating members.
a pair of second rotating members including (i) a second rotating member; and (ii) a second eccentric gear member eccentrically attached to the second rotating member in a non-rotating relationship; , a device rotatably coupling the pair of first rotating members and the pair of second rotating members at a substantially integral angular velocity; 7. capable of driving the output member and the second eccentric gear member; 8. A power device coupled to one of the rotating members of the pair for transmitting rotational motion to the rotating member; b. Reciprocating motion. The output drive mechanism includes: 1. a crank member with one end attached to the output shaft member; 2. a connecting rod device with one end pivotally supported on the other end of the crank member; 3. reciprocating within the frame. mounted and athletically
and a reciprocating output member pivotally connected to the other end of the connecting rod device. (9) A reciprocating mechanical drive mechanism according to claim 8, wherein the power device is coupled to the first rotating member. (10) The reciprocating mechanical drive mechanism according to claim 8, wherein the pitch radius of the output gear member is twice the pitch radius of the second eccentric gear member. (11) positioning the crank member on the output shaft member, so that when the rotary drive member is located exactly in the middle between any two adjacent indexing cycles, the crank member and the connecting rod member are approximately 9. A reciprocatable mechanical drive mechanism as claimed in claim 8, characterized in that they are collinear. (12) A reciprocating mechanical drive mechanism according to claim 8, wherein the pitch radius of the output gear member and the second eccentric gear member are equal. (13) The reciprocating mechanical drive mechanism according to claim 1, wherein the pitch radius of the output gear member is four times the pitch radius of the second eccentric gear member. (14) Because the crank member is positioned on the output shaft member, the crank member and the connecting rod member when the rotary drive is located midway between any two adjacent indexing cycles. 9. The reciprocatable mechanical drive mechanism of claim 8, wherein the reciprocating mechanical drive mechanism is located some predetermined phase angle away from a substantially collinear reference position.