CA2059313A1 - Reciprocating drive - Google Patents
Reciprocating driveInfo
- Publication number
- CA2059313A1 CA2059313A1 CA 2059313 CA2059313A CA2059313A1 CA 2059313 A1 CA2059313 A1 CA 2059313A1 CA 2059313 CA2059313 CA 2059313 CA 2059313 A CA2059313 A CA 2059313A CA 2059313 A1 CA2059313 A1 CA 2059313A1
- Authority
- CA
- Canada
- Prior art keywords
- counterweight
- shaft
- working member
- counterweights
- rotor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Abandoned
Links
Landscapes
- Sawing (AREA)
Abstract
ABSTRACT OF THE DISCLOSURE
Vibration in machines including a reciprocating working member, e.g. gang saws represents a serious problem.
The problem is solved by a simple drive for such a machine including a motor driven shaft carrying a pair of gears for operating a planetary transmission, which includes a pair of gear trains symmetrical with respect to the plane of reciprocation of the working member, first and second opposed, balanced counterweights associated with each gear train for balancing forces generated by reciprocation of the working member, and third and fourth opposed, balance counterweights for balancing forces generated by the transmission means.
Vibration in machines including a reciprocating working member, e.g. gang saws represents a serious problem.
The problem is solved by a simple drive for such a machine including a motor driven shaft carrying a pair of gears for operating a planetary transmission, which includes a pair of gear trains symmetrical with respect to the plane of reciprocation of the working member, first and second opposed, balanced counterweights associated with each gear train for balancing forces generated by reciprocation of the working member, and third and fourth opposed, balance counterweights for balancing forces generated by the transmission means.
Description
This invention r~lates to a drive for a reciprocating working m~mber.
While the drive of the present invention was designed speciflcally for a reciprocating gang saw, it will be S appreciated that the drive can be used for other reciprocating working members. The drive is particularly useful when the working member is heavy.
USSR Inventors Certificate No. 411,990, published January 25, 1974 discloses a saw which includes a frame carrying a motor and the saw, and a planetary drive defined by a pair of planetary gear trains symmetrical with respect to the reciprocating saw blades. Each gear train includes a rotor driven by the motor, a shaft carried by the rotor, and a planet pinion on the shaft meshing with a fixed-ring gear at a 1:2 ratio. The shaft is linked to the saw blades for reciprocating the latter. The rotor and the shaft each carries a counterweight for dynamic balancing of the moving masses of the respective planetary gear train and of the working member.
Experience has proven that while the planetary drive and the reciprocating member are dynamically balanced, the planetary gear trains and the components thereof are not sufficiently balanced. Consequently, during operating large moments of inertial force occur in the gear trains, and such moments must be absorbed by the gear trains themselves and by the machine frame. The resulting strain and possible
While the drive of the present invention was designed speciflcally for a reciprocating gang saw, it will be S appreciated that the drive can be used for other reciprocating working members. The drive is particularly useful when the working member is heavy.
USSR Inventors Certificate No. 411,990, published January 25, 1974 discloses a saw which includes a frame carrying a motor and the saw, and a planetary drive defined by a pair of planetary gear trains symmetrical with respect to the reciprocating saw blades. Each gear train includes a rotor driven by the motor, a shaft carried by the rotor, and a planet pinion on the shaft meshing with a fixed-ring gear at a 1:2 ratio. The shaft is linked to the saw blades for reciprocating the latter. The rotor and the shaft each carries a counterweight for dynamic balancing of the moving masses of the respective planetary gear train and of the working member.
Experience has proven that while the planetary drive and the reciprocating member are dynamically balanced, the planetary gear trains and the components thereof are not sufficiently balanced. Consequently, during operating large moments of inertial force occur in the gear trains, and such moments must be absorbed by the gear trains themselves and by the machine frame. The resulting strain and possible
2~3~.3 deformation of components tend to distort the geometry of the gear trains and to place undue strain on the machine frame.
Thus, the frame and gear train components must be reinforced, increasing the weight and cost of the machine. Moreover, even heavy, reinforced drives are still characterized by significant vibration, which adversely affects the reliability and durability of the drive, and the performance of the working member.
: The object of the present invention is to overcome the above-identified problems by providing a relatively simple, vibration free drive for a reciprocating working member.
Accordingly, the present invention relates to a drive for a reciprocating working member mounted in a frame comprising motor means; first shaft means driven by said motor means; planetary transmission means connecting said first shaft means to the working member for converting the rotary motion of said first shaft means into reciprocating motion;
said planetary transmission means including a pair of planetary gear train means symmetrical with respect to the plane of reciprocation of the working member; first and second opposed, balanced counterweight means associated with each said gear train means for balancing forces generated by reciprocation of said working member; and third and fourth opposed, balanced counterweight means for balancing forces generated by said transmission means.
`'` 2 ~ 1 3 The above described arrangement provides dynamic balancing not only of the drive with the working member as a whole, but also of the individual moving components of the planetary gear trains. Four counterweights are used in each gear train, the counterweights being mounted on opposite ends of a pair of shafts, one of which is connected to the working member and the other of which is connected to a rotor in each planetary gear train. The counterweights on opposite ends of the shafts are diametrically opposed, and the counterweight on the inner, working member end of each shaft has the highest calculated moment of inertia. Moreover, thP inner counterweights are located in planes as near as possible to the plane occupied by the working member.
The invention will be described in greater detail with reference to the accompanying drawings, which illustrate a preferred embodiment of the invention, and wherein:
Figure 1 is a schematic line drawing of a drive for a reciprocating working member (saw blades) in accordance with the present invention; and Figures 2 and 3 are schematic line drawings of the drive of Fig. 1, illustrating the forces generated during use of the drive.
With reference to Fig. 1, the drive of the present invention is intended to reciprocate a working element, in this case a gang saw including a plurallty of parallel blades 1 (one shown) mounted in a frame, which includes a base 2 and
Thus, the frame and gear train components must be reinforced, increasing the weight and cost of the machine. Moreover, even heavy, reinforced drives are still characterized by significant vibration, which adversely affects the reliability and durability of the drive, and the performance of the working member.
: The object of the present invention is to overcome the above-identified problems by providing a relatively simple, vibration free drive for a reciprocating working member.
Accordingly, the present invention relates to a drive for a reciprocating working member mounted in a frame comprising motor means; first shaft means driven by said motor means; planetary transmission means connecting said first shaft means to the working member for converting the rotary motion of said first shaft means into reciprocating motion;
said planetary transmission means including a pair of planetary gear train means symmetrical with respect to the plane of reciprocation of the working member; first and second opposed, balanced counterweight means associated with each said gear train means for balancing forces generated by reciprocation of said working member; and third and fourth opposed, balanced counterweight means for balancing forces generated by said transmission means.
`'` 2 ~ 1 3 The above described arrangement provides dynamic balancing not only of the drive with the working member as a whole, but also of the individual moving components of the planetary gear trains. Four counterweights are used in each gear train, the counterweights being mounted on opposite ends of a pair of shafts, one of which is connected to the working member and the other of which is connected to a rotor in each planetary gear train. The counterweights on opposite ends of the shafts are diametrically opposed, and the counterweight on the inner, working member end of each shaft has the highest calculated moment of inertia. Moreover, thP inner counterweights are located in planes as near as possible to the plane occupied by the working member.
The invention will be described in greater detail with reference to the accompanying drawings, which illustrate a preferred embodiment of the invention, and wherein:
Figure 1 is a schematic line drawing of a drive for a reciprocating working member (saw blades) in accordance with the present invention; and Figures 2 and 3 are schematic line drawings of the drive of Fig. 1, illustrating the forces generated during use of the drive.
With reference to Fig. 1, the drive of the present invention is intended to reciprocate a working element, in this case a gang saw including a plurallty of parallel blades 1 (one shown) mounted in a frame, which includes a base 2 and
3 ~ ~
posts or stands 5. The blades 1 and the frame (not shown) carrying them are reciprocated by a drive including a motor 5, the shaft 6 of which carries a pulley 7. The pulley 7 is connected to a second pulley 9 by a V-belt 10 for rotating a shaft 11 carrying the second pulley 9. The shaft 11 is rotatably supported in bearings 12 mounted on posts 13 extending upwardly from the base 2. The shaft 11 is actually formed of two halves interconnected by a conventional coupler 14.
The shaft 11 carries a pair of gears 15 for rotating planetary gears generally indicated at 17 and 18. Each of the gears 17 and 18 includes a cylindrical rotor 19 mounted for rotation in bearings 20 on the frame. A gear carried by the rotor 19 engages the gear 15 on the shaft 11 for rotation with the latter when the motor 5 is in operation. The rotor 19 contains off-center bearings 23 for supporting one end of a shaft 24, which carries a pinion 26 for rotation in a ring gear 27 mounted in the frame, the pinion 26 and the gear 27 having a 1:2 ratio. The other end of the shaft 24 is mounted in bearings 28 and carries an arm 30, which is connected to the bottom end of the blade carrying frame by a self-aligning bearing 31 and a crosspiece 32 mounted on the bottom end of the blade frame.
Thus, rotation of the rotor 19 causes movement of the shaft 24 through a circular path of travel. Because the teeth (not shown) of the pinion 26 engage the internal teeth 2~3~3 of the ring gear 27, the shaft 24 also rotates around its own longitudinal axis to cause a rotary reciprocating movement of the arm 30 and corresponding reciprocating movement of the blade frame and blades 1.
A counterweight 34 is attached to the bottom end 35 of the arm 30 ~or rotation with the shaft 24. A second counterweight 36 is mounted on the outer end of a shaft 38 extending outwardly from the center of the rotor 19. The counterweight 36 is supported by arms 39, 40 and 41 which in turn are supported by bearings 28 and 43. The bearings 43 are aligned with the bearings 20.
The rotating counterweights 34 and 36 balance the forces generated by the reciprocating saw blades and blade frame, and by the moving components of the planetary gears 17 and 18.
In order to balance the forces generated by rotation of each pinion shaft 24, counterweights 44 are provided on the end oE each shaft 24 opposite to the counterweight 34.
Moreover, the counterweight 44 is diametrically opposed to the counterweights 34 and 36. The balancing system is completed by a fourth set of counterweights 46 in the rotors 19. The counterweights 46 are on the same side of the rotors as the third counterweights 44, i.e. the counterweights 46 are also diametrically opposed to the first and second counterweights 34 and 36, respectively. For the sake of compactness, the 2~3~3 counterweights 44 are located inside of the counterweights 46.
However, other arrangements are possible.
In order to achieve full dynamic balancing of the moving masses, all four sets of counterweights are required.
salancing with respect to each pinion shaft 24 is achieved by means of the counterweight 34 on one end of the shaft 34 and by the diametrically opposed counterweight 44 on the opposite end of the shaft.
Referring to Fig. 2, the values of the inertial forces F3 and the moments F3 x 11 of the counterweights 44 should be equal to one-half of the inertial forces Fl of the working member (blade frame and saw blades 1) and the other drive components connected to the blade frame, i.e. the following condition should be observed as strictly as possible.
; F3 x 11 = 1/2 Fl x 12 wherein Fl is the inertial force of the saw blades and other components movable therewith, 12 is distance between the planes occupied by the saw blades and by the counterweights 34, respectively, F3 is the inertial force of the counterweights 44 and 11 is distance between the planes occupied by the counterweights 34 and 44, respectively.
It wlll be appreciated that the required masses, and hence the dimensions and weight of the counterweights 44 can be minimized by positioning the counterweights 34 as close as possible to the plane of reciprocation of the saw blades 1 and - 2~5~31 3 the frame, i.e. the value of 12 should be as small as possible. From a design perspective, the counterweights 34 should be integral with the output links of the planetary gear trains at the joints 31. The inertial forces F2 f the counterweights 34 should be sufficient to counterbalance the inertial forces F3 of the counterweights 44 and the inertial forces Fl of the moving blades l and the other moving components associated therewith. The following condition should be observed:
F3 + 1/2 Fl = F2 Thus, for the best results, F2 is greater than F3, i.e. the counterweights at the inner end of the shafts 24 should have greater moments of inertia than the counterweights at the outer ends of the shafts 24 remote from the working elements of the system.
As illustrated in Fig. 3, balancing with respect to the planetary gear carriers (rotors 19) and their associated shafts 38 is achieved by means of the counterweights 36 and diametrically opposed counterweights 46 on the other ends of the shafts 38, i.e. on the rotors 19. The inertial forces F6 of the counterweights 46 and the moments F6 x 13 of such counterweights (where 13 is the distance between the planes occupied by the counterweights 36 and 46) should balance or be equal to the moments of the masses ml representing all of the balancing and balance masses associated with the shafts 24, i.e. the masses of the counterweights 34 and 44, and the mass ~ 2~3~3 of the blades 1 and the movable drive components associated therewith. To the masses ml and the masses of the counterweights 36 and 46 should be added the reduced masses of the pinion shafts 24, the pinions 26 carried thereby, the rotors 29 and the shafts 38. Thus, the following condition should be observed for each half of the system.
F6 x 13 = F4 x 14 wherein F6 and 13 have the above meanings, F4 is the force generated by a mass ml and 14 is the distance between the planes occupied by the mass ml and the counterweight 36. When calculating the mass ml only one-half of the masses of the saw blades 1 and associated movable elements are considered for each half of the system.
The inertial force of each counterweight 36 should be sufficient to counterbalance the inertial force F6 of the associated counterweight 46 and the inertial force F4 of a mass ml rotating around the axis of the rotor 19. Thus, the following condition should be met:
F6 ~ F4 = F5 wherein F6 and F4 have the meanings given above, and Fs is the inertial mass of each counterweight 36. In order to satisfy this condition, the counterweights 36 must have greater moments of inertia than the counterweights 46. The nearer the counterweights 36 to the plane of reciprocation of the saw blades 1, the smaller the distance 14 and the smaller the moments of inertia of the counterweights 46.
In operation, the motor 5 is actuated to rotate the shaft ll which causes rotation of the rotors l9 and the pinions 26 in the ring gears 27 at a 1:2 ratio. Consequently, the joints 31 and the blades are reciprocated. The forces generated by the blades 1 and their associated drive elements are counterbalanced by the opposing forces of the counterweights 34, which are in turn balanced by the forces of the counterweights 44. The forces generated by the drive assembly, i.e. by the shaft 24 and the pinion 26 are balanced by the counterweights 36 and 46.
As a result, the frame of the saw including the base 2 is relieved of most of the inertial forces of the moving masses and the moments produced by such masses. Consequently, the machine can be lighter and utilize less material for its construction. Because of reduced vibration, the life expectancy of the machine is increased and the maintenance requirements are reduced. Moreover, reduced dynamic loading of the drive permits an increase in the rate of reciprocation of the saw blades by 50 to lOO~.
posts or stands 5. The blades 1 and the frame (not shown) carrying them are reciprocated by a drive including a motor 5, the shaft 6 of which carries a pulley 7. The pulley 7 is connected to a second pulley 9 by a V-belt 10 for rotating a shaft 11 carrying the second pulley 9. The shaft 11 is rotatably supported in bearings 12 mounted on posts 13 extending upwardly from the base 2. The shaft 11 is actually formed of two halves interconnected by a conventional coupler 14.
The shaft 11 carries a pair of gears 15 for rotating planetary gears generally indicated at 17 and 18. Each of the gears 17 and 18 includes a cylindrical rotor 19 mounted for rotation in bearings 20 on the frame. A gear carried by the rotor 19 engages the gear 15 on the shaft 11 for rotation with the latter when the motor 5 is in operation. The rotor 19 contains off-center bearings 23 for supporting one end of a shaft 24, which carries a pinion 26 for rotation in a ring gear 27 mounted in the frame, the pinion 26 and the gear 27 having a 1:2 ratio. The other end of the shaft 24 is mounted in bearings 28 and carries an arm 30, which is connected to the bottom end of the blade carrying frame by a self-aligning bearing 31 and a crosspiece 32 mounted on the bottom end of the blade frame.
Thus, rotation of the rotor 19 causes movement of the shaft 24 through a circular path of travel. Because the teeth (not shown) of the pinion 26 engage the internal teeth 2~3~3 of the ring gear 27, the shaft 24 also rotates around its own longitudinal axis to cause a rotary reciprocating movement of the arm 30 and corresponding reciprocating movement of the blade frame and blades 1.
A counterweight 34 is attached to the bottom end 35 of the arm 30 ~or rotation with the shaft 24. A second counterweight 36 is mounted on the outer end of a shaft 38 extending outwardly from the center of the rotor 19. The counterweight 36 is supported by arms 39, 40 and 41 which in turn are supported by bearings 28 and 43. The bearings 43 are aligned with the bearings 20.
The rotating counterweights 34 and 36 balance the forces generated by the reciprocating saw blades and blade frame, and by the moving components of the planetary gears 17 and 18.
In order to balance the forces generated by rotation of each pinion shaft 24, counterweights 44 are provided on the end oE each shaft 24 opposite to the counterweight 34.
Moreover, the counterweight 44 is diametrically opposed to the counterweights 34 and 36. The balancing system is completed by a fourth set of counterweights 46 in the rotors 19. The counterweights 46 are on the same side of the rotors as the third counterweights 44, i.e. the counterweights 46 are also diametrically opposed to the first and second counterweights 34 and 36, respectively. For the sake of compactness, the 2~3~3 counterweights 44 are located inside of the counterweights 46.
However, other arrangements are possible.
In order to achieve full dynamic balancing of the moving masses, all four sets of counterweights are required.
salancing with respect to each pinion shaft 24 is achieved by means of the counterweight 34 on one end of the shaft 34 and by the diametrically opposed counterweight 44 on the opposite end of the shaft.
Referring to Fig. 2, the values of the inertial forces F3 and the moments F3 x 11 of the counterweights 44 should be equal to one-half of the inertial forces Fl of the working member (blade frame and saw blades 1) and the other drive components connected to the blade frame, i.e. the following condition should be observed as strictly as possible.
; F3 x 11 = 1/2 Fl x 12 wherein Fl is the inertial force of the saw blades and other components movable therewith, 12 is distance between the planes occupied by the saw blades and by the counterweights 34, respectively, F3 is the inertial force of the counterweights 44 and 11 is distance between the planes occupied by the counterweights 34 and 44, respectively.
It wlll be appreciated that the required masses, and hence the dimensions and weight of the counterweights 44 can be minimized by positioning the counterweights 34 as close as possible to the plane of reciprocation of the saw blades 1 and - 2~5~31 3 the frame, i.e. the value of 12 should be as small as possible. From a design perspective, the counterweights 34 should be integral with the output links of the planetary gear trains at the joints 31. The inertial forces F2 f the counterweights 34 should be sufficient to counterbalance the inertial forces F3 of the counterweights 44 and the inertial forces Fl of the moving blades l and the other moving components associated therewith. The following condition should be observed:
F3 + 1/2 Fl = F2 Thus, for the best results, F2 is greater than F3, i.e. the counterweights at the inner end of the shafts 24 should have greater moments of inertia than the counterweights at the outer ends of the shafts 24 remote from the working elements of the system.
As illustrated in Fig. 3, balancing with respect to the planetary gear carriers (rotors 19) and their associated shafts 38 is achieved by means of the counterweights 36 and diametrically opposed counterweights 46 on the other ends of the shafts 38, i.e. on the rotors 19. The inertial forces F6 of the counterweights 46 and the moments F6 x 13 of such counterweights (where 13 is the distance between the planes occupied by the counterweights 36 and 46) should balance or be equal to the moments of the masses ml representing all of the balancing and balance masses associated with the shafts 24, i.e. the masses of the counterweights 34 and 44, and the mass ~ 2~3~3 of the blades 1 and the movable drive components associated therewith. To the masses ml and the masses of the counterweights 36 and 46 should be added the reduced masses of the pinion shafts 24, the pinions 26 carried thereby, the rotors 29 and the shafts 38. Thus, the following condition should be observed for each half of the system.
F6 x 13 = F4 x 14 wherein F6 and 13 have the above meanings, F4 is the force generated by a mass ml and 14 is the distance between the planes occupied by the mass ml and the counterweight 36. When calculating the mass ml only one-half of the masses of the saw blades 1 and associated movable elements are considered for each half of the system.
The inertial force of each counterweight 36 should be sufficient to counterbalance the inertial force F6 of the associated counterweight 46 and the inertial force F4 of a mass ml rotating around the axis of the rotor 19. Thus, the following condition should be met:
F6 ~ F4 = F5 wherein F6 and F4 have the meanings given above, and Fs is the inertial mass of each counterweight 36. In order to satisfy this condition, the counterweights 36 must have greater moments of inertia than the counterweights 46. The nearer the counterweights 36 to the plane of reciprocation of the saw blades 1, the smaller the distance 14 and the smaller the moments of inertia of the counterweights 46.
In operation, the motor 5 is actuated to rotate the shaft ll which causes rotation of the rotors l9 and the pinions 26 in the ring gears 27 at a 1:2 ratio. Consequently, the joints 31 and the blades are reciprocated. The forces generated by the blades 1 and their associated drive elements are counterbalanced by the opposing forces of the counterweights 34, which are in turn balanced by the forces of the counterweights 44. The forces generated by the drive assembly, i.e. by the shaft 24 and the pinion 26 are balanced by the counterweights 36 and 46.
As a result, the frame of the saw including the base 2 is relieved of most of the inertial forces of the moving masses and the moments produced by such masses. Consequently, the machine can be lighter and utilize less material for its construction. Because of reduced vibration, the life expectancy of the machine is increased and the maintenance requirements are reduced. Moreover, reduced dynamic loading of the drive permits an increase in the rate of reciprocation of the saw blades by 50 to lOO~.
Claims (5)
EXCLUSIVE PROPERTY OR PRIVILEGE IS CLAIMED ARE DEFINED AS
FOLLOWS:
1. A drive for a reciprocating working member mounted in a frame comprising motor means; first shaft means driven by said motor means; planetary transmission means connecting said first shaft means to the working member for converting the rotary motion of said first shaft means into reciprocating motion; said planetary transmission means including a pair of planetary gear train means symmetrical with respect to the plane of reciprocation of the working member; first and second opposed, balanced counterweight means associated with each said gear train means for balancing forces generated by reciprocation of said working member; and third and fourth opposed balanced counterweight means for balancing forces generated by said transmission means.
2. A drive according to claim 1, wherein each said gear train means includes first gear meansx on said first shaft means; rotor means; sun gear means on said rotor means for rotation by said first gear means; second shaft means eccentrically mounted in said rotor means for rotation therewith; ring gear means; pinion means on said second shaft means for rotation in said ring gear means; and first arm means connecting one end of said second shaft means to the working member for reciprocatin the working member.
3. A drive according to claim 2, wherein said first counterweight means includes a first counterweight connected to said first arm means for movement therewith, and said second counterweight means includes a second counterweight connected to the other end of said second shaft means, said second counterweight being diametrically opposed to said first counterweight.
4. A drive according to claim 3, wherein said third counterweight means includes third shaft means coaxial with and connected at one end to said rotor means for rotation therewith; second arm means at the other end of said third shaft means rotatably supporting said one end of said second shaft means; a third counterweight connected to said second arm means for rotation therewith; and said fourth counterweight means includes a fourth counterweight in said rotor diametrically opposed to said third counterweight.
5. A drive according to claim 4, wherein said second counterweight is disposed in said fourth counterweight.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CA 2059313 CA2059313A1 (en) | 1992-01-15 | 1992-01-15 | Reciprocating drive |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CA 2059313 CA2059313A1 (en) | 1992-01-15 | 1992-01-15 | Reciprocating drive |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA2059313A1 true CA2059313A1 (en) | 1993-07-16 |
Family
ID=4149090
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA 2059313 Abandoned CA2059313A1 (en) | 1992-01-15 | 1992-01-15 | Reciprocating drive |
Country Status (1)
| Country | Link |
|---|---|
| CA (1) | CA2059313A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3756807A1 (en) * | 2019-06-24 | 2020-12-30 | Black & Decker Inc. | Force and moment canceling reciprocating mechanism and power tool having same |
-
1992
- 1992-01-15 CA CA 2059313 patent/CA2059313A1/en not_active Abandoned
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3756807A1 (en) * | 2019-06-24 | 2020-12-30 | Black & Decker Inc. | Force and moment canceling reciprocating mechanism and power tool having same |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| FZDE | Dead |