DE1949486A1 - Digital integrator - Google Patents

Description

umwoWMOW »« -pM-e— * 9/30/1969

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Applicant:

TEST, Soaibtk Anonyme d'Etudes teohniques 9, chemin des Vignettesj Conches,
Chine-Bougeries, Canton de Gene * ve, Suisse

"Digital integrator"

There are already known mechanical integrators with a rotary disk and a wheel which is driven into contact with this disk and which is movable along the radial direction of the disk. In these devices, the wheel is in frictional contact with the disc so that some relative sliding can occur.

By selecting suitable materials, this sliding can be limited, but not completely suppressed. To a To avoid a rapid increase in errors resulting from their addition, it is essential to provide conditions, which, for example, provide for frequent provisions to zero.

These known devices form analog integrators, and that possible sliding excludes their use in numerous Applications where there is an exact and safe concordance between the given quantities and transmitted to the device the information provided by the latter is desired.

• 0Ö9Ö17 / 1379

On the other hand, mathematical devices are known «which are intended to convert a variable input variable into a to deliver a variable dependent on the output, the size of which is a predetermined, non-linear puncture of the input variables is. These devices have a single spiral toothing on a disk, which is continuously connected to a radially movable 'follower pinion is engaged. Since the disc has only a single spiral path, the device is so only a transmission mechanism for a limited win kelbewegung, which can only be used to a very limited extent.

An object of the invention is to provide a digital integration device with unlimited rotation, which consequently allows much more general problems to be solved. This is possible with the device according to the invention made that one and the same toothed input disk allows different for a given input variable To get output variable under different from of these input variables certain linear functions are selected, with the transition from a linear Puncture to the other also realized according to a non-linear function determined by the input variable will. .

For this purpose, the digital integrator according to FIG Invention with a disc and one with serrations

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this cooperating wheel the toothing of the disc on the one hand several toothed concentric circular paths different Diameter and on the other hand at least two toothed transfer paths that are in opposite Senses are inclined and allow the transition of the gear from one to the other circular path, the teeth the circular paths and the transfer paths are arranged so that the rotation of the wheel with engages these orbits, remains constantly proportional to its distance from the axis of rotation of the disk, and both on the circular orbits and along the over, guideways.

The permanent and defined engagement between the wheel and the disc eliminates all systematic errors that occur in the known mechanical integrators result from a misalignment of the wheel. In addition, the required ones remain Games between the moving parts without affecting the accuracy of the device, in such a way that its Production is simple and only associated with low costs,

In a preferred embodiment, the transfer tracks are set up for a radial displacement of the wheel, which describes a path on the disk that exactly one corresponds to a real spiral (Archimedean spiral).

009817/1379

The digital integrator according to the invention is particularly suitable for controlling curve drawing devices, wherein the disk is driven at a constant speed and the wheel has an output shaft with a perfectly determined speed Speed drives according to the diameter of the circular path it follows.

With such devices, the curve to be drawn determining information is based on changes in the components along two axes of the speed of a draftsman refer, these changes corresponding to the transition of the wheel from one circular path to another. This information, those relating to accelerations can be much fewer in number than those relating to the curve determined by the coordinates of their successive points or even by the components of the velocity would.

The invention is illustrated below, for example, with reference to FIG Drawing described; 1 shows a plan view of a first embodiment of FIG

Invention, ^v

Figl 2 is an elevation of this embodiment, Fig. J5 is a partial section along line 3-3 of Fig. 1, with certain movable · elements in different Positions are shown in the two views,

Fig. 4 is a partial section along line 4-4 of Fig. 3,

009617 / 13.79

• ■ ■ - 5-

Fig. 5 is a schematic view of the toothing of the Slice of the integrator according to Fig. 1 * with this View shows only part of the disk in plan view and on an enlarged scale,

Fig. 6 is a section along line 6-6 in Fig. 7, which shows a guide plate.

Fig. 7 is a plan view of this guide plate and

Figures 8, 9 and 10 are schematic views of others Embodiments.

The device shown has a circular disc 1, which by means of ball bearings 2 and J3 on a Screws attached to a frame 5 sleeve 4 rotatable is stored. A shaft 6 keyed to the disk 1 enables the disk 1 to be driven to rotate (Fig. 5).

The disk X has an upper part la and a lower part Ib, which are fitted one above the other on an area (FIG. 5). These two parts boundaries between them a circumferential slot a "in which a Hing 7 is accommodated by a circular cross section, which forms a Drehazpfen for twelve platelets. 8 The platelets 8 are housed in twelve radial sole strands 9, which are evenly distributed over the circumference of the disk (FIGS. 1 and 3).

009817/1379

ORIGINAL IWSPECTSD

Each plate 8 has a lower end portion 10, which is provided during the rotation of the disc to run around in a guide groove 24, which in an am Frame fixed plate 11 is arranged. The plates 8 can be mounted on the pivot pin formed by the ring 7 perform a limited tilting movement.

The frame 5 has two lateral posts 12 and 13, which carry a shaft 14, the axis of which is coplanar with the axis of the shaft 6 and is perpendicular to this.

The shaft 14 having a hexagonal cross section has end portions that rotate freely with respect to the frame enabling ball bearings are housed.

A rod 15 is arranged parallel to the shaft 14 between the posts 12 and 15 «A slide 16 is through the Rod 15 and shaft 14 carried (Pig. 1),

The carriage 16 has two identical end sleeves 17 and 17 which are connected to one another by a plate 19 « In the socket 17, a main Ritsel 20 is housed, which on the shaft 14 due to the hexagonal cross-section its bore is displaceable, but non-rotatably arranged. ' The socket 18 receives an auxiliary pinion 21, which due to the hexagonal cross-section of its bore on the shaft 14 is slidable and also rotatably arranged. The pinion

and 21 project radially beyond the upper and lower surfaces of the bushings which have openings for this purpose.

The bushings 17 and 18 are further slidably mounted on the rod 15. The plate 19 has on its lower surface a toothing which is formed by seven curved grooves 22a, 22b, 22c, 22d, 22e, 22f, 22g, into which upper end parts 23 of the plate 8 engage momentarily during the rotation of the disc 1 ( Fig. 3)

The guide groove 24 comprises a circular path 24a with the same diameter as the ring J, which serves as a fulcrum for the plate 8, such that the latter the in Fig. 3 assume vertical position, provided that their lower ends follow the circular path 24a.

Along a sector shown in Fig. 4, the groove further has two lateral tracks 24b and 24c, which from one Radius 25 diverge from in order to progressively reach on a radius 26 lateral end positions that correspond to both Sides of the circular path 24a are located. The lateral tracks are a distance D with respect to the axis of track 24a offset (Fig. 4). A control electromagnet arranged on the radius 25 28 has a magnetic core 29 with a central arm and two side arms. There are two on the side arms Arranged excitation coils 30 and 31 (Figure 3). At the Dre-

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Hung the disc 1, the platelets 8 run past the magnetic core 29, and the end faces 32 of the side arms of the Magnetic core are inclined so that they tilt the cause platelets 8 passing by their pole pieces can. When the platelet sticks to the lower arm of the core due to the excitation of the coil .31, this causes Tilt so that the lower end 10 of the plate engages the outer panel 24b. If the platelet stuck to the upper arm due to the excitation of the coil 30 ^ hangs, it tilts in the opposite sense and its lower end engages inner track 24c. If none of the Coils is energized, the wafer stops vertically and comes into engagement with the central track 24a.

The solenoid 28 only controls the regulation tilting of the Plate 8, while the plates can rotate freely. The pole shoes 32 act on the plate 8 by magnetic means Liability.

k - - .- ■■■. '■'".

"If a plate 8 comes to the radius 26 (Fig.4), its upper end 23 comes into engagement with one of the grooves 22 the plate 19. These grooves are arranged so that this End 23 enters a different groove, depending on whether its lower part 10 in the middle track 24a or in the one or the other of the side panels 24b or 24c is steered.

00 9817/1379

In the angle of rotation Α., Which is the engagement of a plate corresponds to the plate 19 of the carriage, the side tracks 24b and 24c are returned to the circular path in such a way that that the platelet, if it was displaced, was during its operation is returned to the vertical position with the plate 19. The plate 8 thus moves the carriage 16 to the Distance D in one direction or the other. The gear of the teeth formed by the grooves 22 of the plate 19 is equal to this distance D, and the plate 8 can thus the carriage l6 in one direction or the other Move piece of length D.

In the position of the carriage 16 shown in FIG. 3 the plate 8 located in the vertical position is arranged in the central groove 22d, and the main pinion 20 is located in the middle of the disc 1 opposite a circular recess 35 * which is provided in the middle of the plate.

When the carriage 16 is made to step around To shift one step to the right or to the left, the main pinion 20 can be made to shift to four in FIGS with C1, C2, Cj5 and C4 designated circular paths of the plate to roll by moving it depending on the direction of displacement of the pinion from point 0 on one or the other Side of the center 0 of the disc is arranged.

At the angle A, which corresponds to the actuation of the slide 16 and which extends over 1/12 of the circle, the middle path 24a of the groove 24 has the shape of a circular arc centered in the middle of the rotational movement of the disk 1, while the two side tracks 24b and 24c segments of two Archimedean spirals 34 and J55 with the same Gear are equal to 12 times the distance D.

Because the angle A is 30 ° and the trajectories 24b and 24c ™ segments of a real spiral with a flight equal to 12 D shd, you can the main pinion 20 between the by the distance D run through different circular paths that are spaced apart, in such a way that its theoretical point of contact with the disk on the latter according to twelve ascending or twelve descending spirals depends on whether the pinion moves away from point 0 or approaching him.

) As a result of the definition of the real spiral, the pinion rolls without sliding on the disc and its theoretical point of contact runs along with such a spiral a speed that changes linearly when the disc rotates at a constant speed. In order to avoid any rotational sliding between the disc 1 and the pinion 20, has the surface of the disc has a special toothing, with which keeps the toothing of the pinion constantly engaged.

00 9817/1379

-H-

This toothing of the disk is described below with reference to FIG.

The pinion 20 has 24 pointed teeth. On the outer circle C4 is the disk 1 with 96 wells Kl, K2, K5, .. provided, which are indicated schematically by circles and form a toothing with the same circumferential gear as that of the Pinion.

The toothing of the disk 72 has indentations on the circle C3 on, which are indicated schematically with Ll, L2, LJ, ..., while on the circles C2. and Cl 48 wells Ml, M2, M3, ... or 24 wells Nl, N2, N3, ... are provided are, which are indicated schematically in the same way by circles.

In this way, the pinion 20, which is in engagement with the recesses, makes 4, 3, 2 or 1 rotation during one rotation of the disk, depending on whether it is on the circle C4, C3, C2 or C1. _t

When the pinion 20 is caused, from circle c4 to circle C3 while its path on the disc has the shape of a spiral (Sdl) (Fig.5) * as described above the successive teeth of the pinion engage progressively in six wells Pi, P2, Pj5, P4, P5, P6, which are shown schematically by circles and the spiral segment contained between circles C4 and C3 in FIG divide seven equal parts. 009017/137 9

19A9486

To get from circle CJ to circle C2, that takes effect Pinion 20 in four recesses Q1, Q2, Q3, Q4, which the spiral segment is divided accordingly into five equal parts. .

To finally get from circle C2 to circle Cl, the pinion cooperates with two intermediate depressions Rl and R2, which form the spiral segment in three divide equal parts. Due to the fact that several teeth of the pinion 20 mesh at the same time stay with the teeth of the disc 1 are to both Sides of the depressions of the spiral disconnection depressions are provided, two in front of and two behind each Deepening of the spiral.

Through the circles T1, T2, TJ and T4 the four are the indentation PJ including decoupling recesses and through the circles Vl, V2, VJ and V4 represent the depression T4 of the spiral enclosing uncoupling recesses indicated. On the other hand, it is necessary that the wells that engaged during the lateral displacement of the pinion come, be extended in an approximately radial direction, to account for the lateral displacement of the pinion wear. This uncoupling is obtained in that the radially adjacent depressions are united to form continuous grooves will. So is the recess T4 "through the middle part

0098 17/137

a role Wj. Formed, the end portions of which each have two Wells P2 and P> outside and P5 and Ρβ inside "Form corresponding decoupling depressions. Pur die The descending spiral SdI under consideration is a series of grooves shown along the entire length of the spiral before, each of which comprises five wells shown schematically by a circle. More precisely these are Grooves, continuous grooves, and the circles that schematically represent the depressions are only drawn around that To facilitate understanding of the meshing of the teeth.

The toothing is provided in the same way for all approved spirals, namely twelve ascending spirals SmI to Sml2 and twelve descending spirals (Sdl to Sdl2). In Fig. 5 on the one hand the grooves forming the descending spiral SdI and on the other hand all grooves which ^{relate to the sector of JO 0} , which lies between the starting point K9 of the spiral SdI and the starting point Kl of the preceding descending spiral SdO. The toothing of the disc consists of a 12-fold repetition of this sector.

The different grooves are sometimes in the extension from each other or partially overlap, especially in near the circle Cl. Since several teeth of the pinion are constantly are simultaneously engaged in the various grooves of the disc, the engagement is still maintained, even in the most stressed zone

the disc. 009817/1379

For example, the rollers have a straight cross-section one 7, so that the engagement is maintained with a partial superposition of the grooves.

The 24 grooves relating to the inner circle C1 open into the circular central recess 33 of the disk 1; however, only twelve of these grooves correspond to the approved spirals. Since the toothing cannot be realized if too little space is available in the center of the Seheibe, the rotational drive of the pinion 20 when running over the circle Cl at the center 0 or vice versa is ensured by a help guide device, which is ensured by the auxiliary pinion 21 and a guide cam JJ (Fig.2) is guaranteed.

The auxiliary pinion 21 of the same diameter as the main pinion 20 has only 12 teeth, while the pinion 20 has 24 teeth. It is wedged on the shaft 1 in such a way that one of its 12 teeth is in the upper position when a tooth of the pinion 20 which is in the lower position leaves the corresponding groove of the disc 1 when the slide 16 is actuated, the Rj. -.Zp.l from circle Cl to center 0.

The cam 37 is formed by a plate attached to a-a lower end of a rod 38 hangs, which is slidable is arranged in a holder 39. A stop nut

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BA * OWQINAL

limits the downward movement of the plate while a spring 41 holds it in the position shown below seeks. A cross pin engaging in a slot in the bracket holds it in a certain angular position without to counteract the limited lifting against the action of the spring (Fig. 2). .

A view from below of the cam 37 is shown in FIG. 7. The tooth of the pinion 21 is shown schematically by a circle 42, which at the moment is in the upper position is where a lower tooth of the pinion forms the groove of a descending spiral of the disc on the edge the recess 33 of the latter leaves.

The displacement of the carriage 16 brings the tooth 42 to Penetrating a groove 43 of the plate, the path of which is so arranged is that the auxiliary pinion 21 at the transition of the tooth is rotated from the position indicated at 42 to the position indicated at 44 in the same way as when the main pinion 20 continues its path in contact with the plate along a path extending the spiral of the latter would have.

When the carriage 16 in the middle shown in FIG Position of the pinion 20 remains immobile, for which the tooth of the auxiliary pinion is at 44, the shaft 14 remains immovable.

009817/1379

Huh When the carriage 1-6 follows its shift, the tooth of the auxiliary pinion follows a groove 45, whereby the Pinion · is rotated in the opposite direction so that the main pinion 20 meshes with the groove of the corresponding rising spiral occurs when it comes to the other side of the recess 33.

On the other hand, when the carriage 16 is returned to the rear, the tooth does not get into the groove 43, but rather it engages a groove 46 that the pinion progressively in the same

"Direction as above advances to re-engage in the circle Cl according to the following ascending spiral allow. In the course of this return movement, the tooth must follow the groove 46, because the opening of the groove 43 at 47 is' less deep than the groove 46. Due to the elastic suspension of the cam, the tooth always follows the deepest groove, and the various junctions are designed in such a way that the desired displacements described above guaranteed and any ambiguity as a result a crossing of the grooves is avoided. The auxiliary pinion 21 engages the cam 37 simultaneously with two teeth, so that the path of the grooves is divided into two parts, as can be seen in Fig. 7 ..

The reduced number of teeth of the auxiliary pinion 21 allows it to decrease the number of grooves of the cam 37, so that one has the necessary space on it, although its useful length corresponds to the diameter of the recess 33 of the disk β Q g g ■) 7 / -j 3 7 α

If the shaft 6 is driven at constant speed, the shaft 14 driven by the wheel 20 can also provide a basic speed vl that corresponds to the rotation of the Wheel on the inner track Cl corresponds, or three upper ones Speeds v2 = 2v., V3 = j5v ^ and v4 = 4ν ^ accordingly the other circular orbits. There is also a stop position corresponding to an initial speed vo = 0 and over four other the same speeds corresponding positions, but in the opposite sense.

In a curve drawing device, the output shaft 14 can display the displacements of a draftsman along a coordinate axis control, and the electrical signals transmitted to the control solenoid 28 cause the transition from one speed to the other, during a certain time corresponding to 1/12 of a revolution of the disc.

Thus the electrical signals correspond to the positive ones or negative changes in speed that occur in certain time intervals between which the displacement takes place at a constant speed. This on the transmission of the changes in speed Programming methods based on (accelerations) information require much less information than those methods that are based on the transmission of the coordinates of the locations or speeds. It requires

009817/137

however, the use of a digital integrator with perfect and permanent concordance such as that described above.

In other applications, the shaft 6 can also be variable Speed driven. In the case of modifications, the actuation of the plate 8 can be carried out by electrical means Control means (electromagnetic or other) take place, while the platelets are in engagement with the grooves of the Sehlittens l6. In this context it should be noted that the teeth of the plate 19 of the carriage left and to the right of the outer grooves 22a and 22g (FIG. 3) has exposed parts 48 and 49.

In this way, erroneous actuation of the platelets by the electromagnetic control device can result Pinion 20 does not lead out of outer track C4.

In order to avoid the passage to the center of the disc * can in modified embodiments, the different Use the arrangements illustrated in Figures 8, 9 and 10.

In the embodiment according to Flg. 8 acts a toothed one Plate 50 with two output gears 51 and 52 together, which are mounted on a common slide 53 * These wheels are equipped with two separate shafts 54 and 55

O09ST7 / T379

couples, which are connected to each other by a schematic at 56 The differential shown, the output shaft of which is shown at 57.

When the two wheels are equidistant from the center of the plate, the output shaft 57 will rotate not because the two wheels are moving at the same speed, but turn in the opposite direction.

Depending on whether the slide 53 is in one or the other Direction is shifted, see the exit turn in one sense or another.

In the modification illustrated in FIG. 9, there is a differential 58 between a radially movable wheel 59 and a fixed reference wheel 60 is provided which is driven by the plate.

Finally, in the embodiment of FIG. 10, two take Output gears 6l and 62 two independent shafts 63 and 64 with which are connected through a differential 65. The stopping of the output shaft 66 of the differential is obtained, when the two wheels 6l and 62 both occupy one and the same inner circular path of the disc (Fig.10b), while the output we lie 66 to a twist in one sense or another is taken, depending on whether one or the other of the bikes is laterally offset (Fig. 10a and IQc). .-..-.

009817/1379

In an embodiment of the device that is not shown the disc may have a conical shape. The toothing of the disc and the wheel can optionally by means of an intermediate transmission organ, e.g. a Intermediate gear or an intermediate chain, cooperate.

0 0 9 8 17/1379

Claims (1)

Expectations: 1. Digital integrator with a turntable and a Wheel that cooperates with the disk and can be displaced along a radial direction of the disk, the wheel and the disk continuously in Have meshing toothings, characterized in that the toothing of the plate is one part several concentric toothed circular paths (Cl, C2, Cj5, C4) of different diameters and on the other hand has at least two toothed transfer tracks (Sd, Sm) which are inclined in opposite directions are and allow the transition of the gear from one circular path to the other, the teeth of the Circular paths (C) and the transfer paths (Sd, Sm) are arranged such that the rotation of the Tracks engaging wheel (20) remains permanently proportional to its distance from the axis of rotation of the disk, both on the circular paths (C) and along the overpass routes (Sd, Sm). 2. integrator according to claim 1, characterized in that ■ that he "has separate means of the cooperating teeth of the wheel (20) and the disc (l) to to control the radial displacement of the wheel along the transfer tracks (Sd, Sm). 009817/1379 j5. Integrator according to Claims ¹ 1 and 2, characterized in that these means comprise at least one actuator (8) carried by the disc (1) and caused as a result of the rotation of this disc, when passing over a limited arc of its circular path to come into engagement with a toothing (22) which is formed on a radially movable slide (16) carrying the wheel (20). 4. Integrator after itaspruehen 1, 2 and 3 * thereby characterized in that the actuator (8) also passes an electrical control device (28) which is used to trigger or not trigger a Displacement of the organ depending on your feeding condition is arranged. 5. integrator according to claims 1 ,, 2, 3 and 4, characterized in that that the actuator (8) on an electromagnet (28) on an arc of its circular path passes, which is different from the arc of engagement (A) with the Sehlitten (l6) and that cam means (24a, 2 # b, 24c) cooperate with the actuator, while it is in engagement with the carriage, being it depends on the rulesfcellxtng that it was previously given the electromagnet is operated or not. 6. integrator according to claims 1, 2, 3 and 4, characterized characterized ^ that the electromagnet has a pole piece (32), which according to the sense of passing of the actuator is inclined and acts on the latter through electromagnetic adhesion. 7. integrator according to claim 1, characterized in that that a central zone (33) of the disc fl) free of Teeth is and he is an auxiliary guide device has which the rotation of the wheel (20) during its passage through the zone of the inner circular path (Cl) of the plate teeth in the middle of the latter or vice versa controls. 8. integrator according to claims 1 and 1, characterized in that the auxiliary device is movable with the main wheel (20). the disk (1) has connected auxiliary gear (21) which cooperates with the guide means (37) when the main wheel is located opposite the central zone of the disk. 9 · integrator according to claims ί, J and 8, characterized in that the main and auxiliary gears (2C, 2l) are carried by a common carriage (l6) and on a _; ~ enieinsainen shaft (14) are displaceable, but non-rotatably arranged. 0-098 17 / 137S _%