EP1735546A1

EP1735546A1 - Device for movement conversion and drive and output for six-membered articulated rings

Info

Publication number: EP1735546A1
Application number: EP05738509A
Authority: EP
Inventors: Oliver Conradt
Original assignee: Individual
Current assignee: Individual
Priority date: 2004-04-15
Filing date: 2005-04-11
Publication date: 2006-12-27
Also published as: WO2005100822A1; WO2005100822B1; WO2005100822A8; DE102004018247B3

Abstract

The invention relates to a device for converting rotational and oscillatory movements into the inversion movement back and forth of a six-membered articulated ring (7, 8, 9, 10, 11, 12) comprising six articulated axes (13, 14, 15, 16, 17, 18) and any characteristic angle ψ. Generally, the six-membered articulated ring with a characteristic angle ψ =90° (invertible cube according to Paul Schatz) fixes articulated axis central points opposing a diagonal, e.g. those of 1 to 4. In comparison thereto, the axis of symmetry (19) of the articulated ring is maintained in a spatially fixed manner in the inventive device. The six articulated axis central points (1, 2, 3, 4, 5, 6) are guided on circular paths, in relation to articulated ring bearing plates (61) of articulated ring bearing wheels (62), that oscillate perpendicularly to the axis of symmetry (19), at a constant but random rotational speed. The invention can be used as a drive, both to generate water and air flows, and as an internal mixing device. The inventive device is provided with corresponding driving elements (20, 21) and can be used as a drive for obtaining wind and water energy.

Description

Movement conversion device. Input and output of six-link rings

The present invention relates to a device for converting rotational and oscillatory movements into the inversion movement of a six-link joint ring with any characteristic angle or vice versa for converting the inversion movement of a six-link joint ring with any characteristic angle into rotational and oscillatory movements according to the preamble of patent claim 1.

In patent DE 589 452 C, PAUL SCHATZ (1898-1979), the founder of inversion kinematics, inevitably disclosed reversible, spatial movement systems that consist of individual, rigid links, which are connected by joints to form a joint ring. In particular, he discovered the constancy of the three diagonals in the six-link hinge ring of the reversible cube, used it technically for the construction of various applications, and built the well-known Turbnlc mixer in collaboration with the company WILLY A. BACHHOFEN AG in Basel / Switzerland [6]. In addition to the Turbula, there is now the Inυersina mixing machine from Firm-a BIOENGINEERING AG in Wald / Switzerland and the oloid stirrer for water treatment from OLOID AG in Basel / Switzerland. Several drives are known for such mixing machines, which are all based on the constancy of the diagonals; for example CH 216 760, DE 1 145 455 C, DE 1 207 750 C, WO 80/01830 AI, EP 0 176 749 AI, EP 0 584 301 Bl, EP 0 614 028 AI, WO 99/05435 AI and EP 0 981 698 AI. HERMANI DETTWILER patented devices for converting the energy of flowing water or wind into torque in 1987, which are also mounted according to the principle of the diagonal of the reversible cube belt (EP 0 283 439 B1). GT BENNETT [1] and R. BRICARD [2] already pointed out multi-jointed articulated rings with forced running before Schatz. Bricard goes back to the realization that a six-membered joint ring, in which two successive joint axes are perpendicular to each other and whose six distances k is a closed spatial one Form hexagon is inevitable and it applies

See for example [4, p. 20f]. In the event that the six distances are all of the same length, you are dealing with the reversible dice from Schatz. The six-membered articulated ring of the invertible cube can also be generalized in another direction. Schatz [6, pp. 50ff] and KENNETH H. HUNT [5] have pointed out that in the case of a six-link ring with uniform distances ≡ l, the angle between two successive joint axes does not necessarily have to be 90 °. If this so-called characteristic angle between two consecutive joint axes within a joint ring assumes any value between 60 ° and 120 °, the latter maintains its forced operation and can be completely inverted, i.e. be turned inside out. The diagonal length of a joint ring with any characteristic angle generally varies during the inversion movement. Only in the case of the invertible cube with a characteristic angle of 90 ° is it a constant diagonal length [3]. The previously known inversion kinematic devices essentially go back to the kinematics of the invertible cube and use the constancy of the diagonals to support the (half) joint ring. As a rule, they have two parallel, counter-rotating drive axles with the angle of rotation relationship tan ß = - cot α-. Δ

For the definition of the angles of rotation α- and ß see [3]. All of these devices have the fundamental problem that, firstly, the axis of symmetry of the articulated ring carries out a wobbling movement and thereby creates an unsteady overall movement which leads to high loads on the frame which is held in a fixed position, and secondly that the two drive axes have non-uniform rotational speeds. The present invention has for its object to provide a device fen, which can convert the constant, but according to the amount, any rotational speed into the inversion movement of a six-membered articulated ring with any characteristic angle, in both directions. The axis of symmetry of the joint ring should remain fixed in space except for any possible parallel displacements. Furthermore, all six links of the articulated ring should be usable as work levers and, depending on the area of application, be modified accordingly or provided with additional elements. The solution to the problem is given in independent claim 1. Preferred embodiment variants result from the dependent patent claims 2-7. The independent claims 8 and 9 relate to preferred uses of the device according to the invention. The subject of the invention and its components are explained in more detail with reference to the drawings. Show it:

La-c schematically the six-membered articulated ring of the invertible cube with a characteristic angle φ - 90 °,

2a-b schematically the six-membered articulated ring with any characteristic angle using the example φ = 65 °,

3 schematically shows the fixed planes of symmetry, the fixed axis of symmetry and the oval joint axis center point curves of the six-membered joint ring with a characteristic angle φ - 90 °,

4 schematically shows the fixed planes of symmetry, the fixed axis of symmetry and the oval center line curves of the six-link ring with any characteristic angle using the example φ = 65 °,

5a schematically shows the six-part joint ring with any characteristic angle and any parallel offset of the joint axes using the example φ = 90 °,

5b schematically shows the six-link joint ring with any characteristic angle, any parallel offset of the joint axes and the six links or working levers provided with driver elements using the example φ = 90 °, 5c schematically shows the six-part joint ring with any characteristic angle and any parallel offset of the joint axes within the fixed bearing frame using the example φ = 90 °,

6 shows a partial elevation (section along a plane of symmetry) of a first exemplary embodiment of the device according to the invention for converting motion for the case φ = 90 ° provided with the outline of a joint ring bearing plate,

7 is a partial elevation (section along a plane of symmetry) of a first embodiment of the device according to the invention for converting motion for the case of any characteristic angle using the example φ = 65 ° provided with the outline of a spherical ring bearing plate,

Fig. 8 is a schematic elevation of a second embodiment of the spherical ring bearing plate.

It applies to the entire further description that the reference numerals of all figures are clearly defined. It is therefore not necessary to explain (new) all reference symbols in every drawing.

La-c show the six-link hinge of the reversible cube with the six center points 1, 2, 3, 4, 5, 6, the six links or working levers 7, 8, 9, 10, 11, 12 and the six link axes 13, 14, 15, 16, 17, 18. Two successive joint axes, i.e. 13 and 14 or 14 and 15 etc., always enclose the same, so-called characteristic angle φ within a joint ring. In the case of the invertible cube, φ is exactly 90 °. 1c shows that the joint axes 13, 15, 17 and the joint axes 14, 16, 18 each intersect at one point and these two intersection points define the threefold axis of symmetry 19. In Fig. La, the six working levers of the six-link ring are each provided with two triangular driver elements. The driver element 20 is defined by the joint axis 15 and the joint axis center 2, the driver element 21 by the joint axis 14 and the joint axis center 3. The driver elements of the other working levers are fastened accordingly. 2a-b show a six-link joint ring with any characteristic angle φ using the example φ = 65 °. Also in the general case, the hinge ring consists of the six hinge axis center points 1, 2, 3, 4, 5, 6, the six links or working levers 7, 8, 9, 10, 11, 12 and. six hinge axes 13, 14, 15, 16, 17, 18. FIG. 2b shows that the hinge axes 13, 15, 17 and the hinge axes 14, 16, 18 each intersect at one point and these two points of intersection define the threefold axis of symmetry 19 , The driver elements 20 and 21 of FIG. 2a are also fastened in the general case by a joint axis and a center of the joint axis. They cut themselves in the working lever 8 and enclose the characteristic angle φ. All other work levers are equipped with two driver elements.

Fig. 3 shows the six-membered articulated ring of the reversible cube (φ = 90 °) with the articulation axis centers 1, 2, 3, 4, 5, 6, the articulation axes 13, 14, 15, 16, 17, 18, the triple axis of symmetry 19 and the three planes of symmetry 22, 23, 24. If the inversion movement of the articulation ring is carried out in such a way that the axis of symmetry and the planes of symmetry remain fixed in space, then all articulation axis center points describe identical oval tracks 25 which lie in the respective plane of symmetry. The joint axes 13 and 16, 14 and 17, 15 and 18 are at any time as a whole and in pairs in the plane of symmetry 22, 24 and 23 respectively.

Fig. 4 shows the six-link joint ring with any characteristic angle φ using the example φ - 65 °. If the inversion movement of the articulation ring is carried out in such a way that the axis of symmetry 19 and the planes of symmetry 22, 23, 24 remain spatially fixed, then all articulation axis center points describe oval paths 25 which lie in the planes of symmetry. The joint axes as a whole are also in one plane of symmetry at all times.

5a shows, using the example φ = 90 °, how the joint axes can be offset in parallel with six-link joint rings with any characteristic angle φ. It must be taken into account that opposite joint axes are shifted parallel by the same amount and perpendicular to the corresponding plane of symmetry. The offset elements 41 and 44, 42 and 45, 43 and 46 must therefore each have the same length. The Lengths of the offset members 41, 42 and 43 can, however, be specified as desired. This includes the case that one or more opposing joint axes are not offset in parallel. By parallel offset from the hinge axis 13 from Fig. La-c or 2a-b, the two parallel hinge axes 113 and 213, from the hinge axis 16, the two parallel hinge axes 116 and 216, from the center of the joint axis 1, the two hinge axis centers 31 and 51 and from the joint axis center 4 the two joint axis centers 34 and 54. The same applies to the other joint axes 114, 214, 117, 217, 115, 215, 118, 218 and the joint axis centers 32, 52, 35, 55, 33, 53, 36, 56 The length of the working levers 7, 8, 9, 10, 11, 12 does not change due to the parallel offset of the joint axes.

FIG. 5b shows the joint ring with a parallel offset from FIG. 5a additionally provided with two driver elements per working lever. Shape, size and mutual position of the driver elements, e.g. 20 and 21, does not change compared to the joint ring without a parallel offset from FIGS. 1 and 2.

5c shows the articulated ring with a parallel offset from FIG. 5a embedded in the schematically indicated storage frame 26. The six arms of the fixed storage frame 26 run along the symmetry planes 22, 23 and 24 of the articulation ring. The hinge axis centers, e.g. 33, describe the oval, closed trajectory 25 parallel to exactly one plane of symmetry. One articulated ring bearing plate 61 (see FIGS. 6 and 7) should be located within one arm of the storage rack. Depending on the number of existing spherical ring bearing plates - the number is between one and six - the fixed bearing frame 26 can be adapted. So it does not always have to be six-armed.

6 shows the elevation of a first exemplary embodiment of the device for converting motion according to the invention for the case φ = 90 °. It also shows the layout of the left spherical ring bearing plate. The elevation is the section along the plane of symmetry 22. Two joint ring bearing plates 61 can be seen. The left joint ring bearing plate guides the offset member 41 of the joint ring from FIG. 5 a on the oval track 25. Accordingly, the right joint ring bearing plate guides the opposite offset member 44 of the same joint ring. The hinge axes 113, 213 and 116, 216 are also shown. The drive or drive of the joint ring is described in the following only using the left gel ring bearing plate 61. The same applies to the right and all other spherical ring bearing plates. The articulation ring bearing plate 61 is guided within the fixed bearing frame 26 by the rolling means 60 in such a way that it can only move back and forth in one dimension along the plane of symmetry 22. 6, this means either horizontally to the right or horizontally to the left. Within the spherical ring bearing plate 61, a spherical ring bearing wheel 62 is mounted such that it can rotate about the self-rotation axis 65 such that the self-rotation axis 65 is always perpendicular to the plane of symmetry 22. In this exemplary embodiment, the articulated ring bearing wheel 62 is supported by ball bearings within the articulated bearing plate 61. Again within the joint ring bearing wheel 62, the offset member 41 or, if the offset member length disappears perpendicular to the plane of symmetry 22 under consideration, the joint axis 13 is mounted eccentrically and self-rotatable about the self-rotation axis 66. The self-rotation axis 66 is also perpendicular to the plane of symmetry 22, ie the two axes of rotation 65 and 66 always run parallel to one another. In this embodiment, the spherical ring bearing wheel 62 consists of a belt, toothed or simple wheel 71 that has a belt, a chain or a belt

63 is connected to the rotary drive or output 64. One of the advantages of the invention mentioned above is that the drive

64 can have a uniform rotational speed relative to the articulated ring bearing plate 61, but can have any rotational speed, and all other articulated ring bearing wheels 62 can then also rotate at uniform rotational speeds. The right spherical ring bearing plate 61 shows a Versioa without rotary drive or driven. The axes of rotation 65 of the right and left spherical ring bearing plates move during the inversion movement of the double line 67/68. 7 shows the elevation of a first exemplary embodiment of the device according to the invention for converting motion for the case with any characteristic angle φ using the example φ = 65 °. In addition, it shows the floor plan of a spherical ring bearing plate. The elevation is the cut along the plane of symmetry 22. The drive or drive of the six-link joint ring with any characteristic seemed angle runs essentially like the drive or output described in the description of FIG. 6 for the six-link ring with a characteristic angle φ = 90 °. It is therefore sufficient to refer to the description of FIG. 6. What is new is that the axes of rotation 65 of the right and left spherical ring bearing wheels 62 are no longer at the same height, but rather move back and forth along the two different, parallel lines 67 and 68. Compared to FIG. 6, the circle 69 is also indicated in FIG. 7, which the axis 66 of the intermediate member 41 describes relative to the gel ring bearing plate 61. 8 shows the elevation of a second embodiment variant for the joint ring bearing plate 61. The rolling means 60 store the joint ring bearing plate within the fixed frame 26 (see FIGS. 6 and 7). In this embodiment variant, the articulated ring bearing wheel 62 is a gearwheel which is held by at least three gearwheels 70 within the articulated ring bearing plate 61 and is driven or driven by at least one gearwheel 70 as required.

literature

[1} BENNETT, G. T .: A new mechanism. Engineering, London, 76: 777-8, 1903. London.

[2] BRICARD, R .: Legons de cinέmatique, Volume 2. Gautheri-Nillars, Paris, 1927.

[3] COΝRADT, O. and K. ERΝHOFER: variation of the diagonals in the reversible models of the Platonic solids. Mathematical-Physical Correspondence, 211, 2002.

[4] ERΝHOFER, K. and W. MAAS: Invertible models of the Platonic solids. Workbooks of the Mathematical-Astronomical Section at the Goetheanum, Dornach (Switzerland), 2000. Large series, number 2.

[5] HUNT, K.H .: Screw Axes and Mobility in Spatial Mechanisms via the Linear Complex. J. Mechanisms, 3: 307-327, 1967.

[6] SCHATZ, P .: rhythm research and technology. Verlag Freies Geistesleben, Stuttgart, 2nd, extended edition, 1998.

Claims

1. Device for converting one or more rotational movements and / or one or more one-dimensional vibratory movements into the inevitable inversion movement of a six-link ring (7, 8, 9, 10, 11, 12) with a characteristic angle (φ) between 60 ° and 120 ° and possible parallel misalignment of the joint axes (113, 213, 116, 216; 114, 214, 117, 217; 115, 215, 118, 218) or vice versa for ^" converting an inversion movement of a six-link joint ring (7, 8, 9, 10, 11 , 12) with a characteristic angle (φ) between 60 ° and 120 ° and possible parallel misalignment of the joint axes (113, 213, 116, 216; 114, 214, 117, 217; 115, 215, 118, 218) in several rotational movements and one or several one-dimensional vibratory movements, which have a fixed bearing frame (26) and spherical ring bearing plates (61), each of which carries a spherical ring bearing wheel (62) which is rotatably supported about its own axis of rotation (65), wherein • the gel enkring (7, 8, 9, 10, 11, 12) has three symmetry planes (22, 23, 24) and an axis of symmetry (19), which have their symmetry properties with possible parallel misalignment of the joint axes (13, 14, 15, 16, 17, 18) to the same length of all offset elements (41, 42, 43, 44, 45, 46), with parallel offset of the joint axes (13, 14, 15, 16, 17, 18) to unequal length of the offset elements (41, 42, 43 , 44, 45, 46), however, partially or completely lose, • the axis of symmetry (19) of the joint ring with respect to the fixed bearing frame (26) during the inversion movement of the six working levers (7, 8, 9, 10, 11, 12) in their Position does not change or it shifts parallel to itself, • the spherical ring bearing plates (61) are guided within the fixed bearing frame (26) so that each point of each spherical ring bearing plate undergoes a one-dimensional oscillation movement perpendicular to the axis of symmetry (19) and parallel to exactly one of the three Planes of symmetry (22, 23, 24) of the joint ringes, • the self-rotation axis (65) of each spherical ring bearing wheel (62) at every stage of the inversion movement perpendicular to that plane of symmetry (22, 23, 24) of the joint ring, to which the points of the associated joint ring bearing plate (61) move back and forth in parallel, • in each joint ring bearing wheel (62) there is an offset member (41, 42, 43, 44, 45, 46) of the joint ring or, if the offset member length _a n of this spherical ring bearing wheel is zero, a joint axis (13, 14, 15, 16, 17, 18) of the joint ring is eccentric and self-rotating about a self-rotating axis (66) which is parallel to the self-rotating axis (65) of the spherical ring bearing wheel (62) runs, is mounted, and • if a constant, arbitrary rotational speed of a spherical ring bearing wheel (62) with respect to its spherical ring bearing plate (61) is specified, all other spherical ring bearing wheels (62) also have constant rotational speeds with respect to their respective spherical ring bearing plates (61).

2. Device according to claim 1, characterized in that the joint ring is guided by exactly six joint ring bearing plates (61) within the fixed bearing frame (26).

3. Device according to claim 1, characterized in that the hinge ring is guided by exactly two diagonally opposite hinge ring bearing plates (61) within the fixed bearing frame (26).

4. Device according to one of claims 1 to 3, characterized in that the spherical ring bearing wheel (62) consists of a belt wheel, gear or simple wheel (71) carried by two ball bearings within the spherical ring bearing plate (61).

5. Device according to one of claims 1 to 3, characterized in that the articulated ring bearing wheel (62) is a gear disk which is supported by at least three gear wheels (70) within the articulated ring bearing plate (61).

6. Device according to one of claims 1 to 5, characterized in that a working device, in particular a paddle, a blade, is arranged on at least one working lever (7, 8, 9, 10, 11, 12) of the six-membered articulated ring Wing, two triangular driver elements (20, 21) standing one on top of the other at a characteristic angle, an oloid, an internal mixing container or a device for receiving an internal mixing container.

7. Device according to one of claims 1 to 6, characterized in that with the individual joint ring bearing wheels (62) each have means for reducing the torque and / or with the individual joint ring bearing plates (61) each have means for reducing the linearly oscillating force, in both cases especially power generators, are connected.

8. Use of at least one device according to one of claims 1 to 6 as a drive and / or control of a means of transportation in water or in the air, for generating a water, liquid or gas flow or for mixing flowable materials.

9. Use of a device according to claim 7 for generating electricity by converting the inversion movement generated by flowing water or wind of the working levers of the six-membered articulated ring into rotational and oscillatory movements which operate current generators.