FR2821903A1 - Rod oscillating movement generator comprises rod support parts guided along annular guide tracks in guide planes passing through center of oscillation - Google Patents

Abstract

The rod (1) comprises support parts (9) guided along an annular guide track (11) which is rotated about an oscillation axis (13) and located in a guide plane passing through the center of oscillation (2). The support points translate in a first oscillation plane passing through the rod longitudinal axis (3). A second pair of support parts are guided along a second annular guide track which is rotated about the central oscillation axis and located in a guide plane passing though the center of oscillation and forming an acute angle with the oscillation axis so that the second support points translate in a second plane passing through the rod longitudinal axis.

Description

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 The present invention relates to the design and production of a device for generating an oscillation movement making it possible to create an omnidirectional oscillation movement of a rod around a fixed oscillation center arranged on the longitudinal axis. of the stem.

mécaniquement une articulation humaine, telle que celle du poignet, de la cheville, de la hanche, ou de l'épaule. Si la tige porte une pale, on peut obtenir la reproduction du mouvement d'une nageoire de poisson ou d'une aile d'oiseau ou d'insecte. Such a device is intended in particular to reproduce

mechanically a human joint, such as that of the wrist, ankle, hip, or shoulder. If the stem carries a blade, one can obtain the reproduction of the movement of a fish fin or a bird or insect wing.

 The present invention proposes to provide a device for the generation of an omnidirectional oscillation movement of a rod which is of simple structure and which makes it possible to obtain numerous oscillation profiles, by simple adjustment. It aims to thus obtain oscillations not only in a plane, but generally in space, while avoiding that the rod is simultaneously driven in rotation on itself.

 This device is particularly remarkable in that the rod comprises a first pair of support pieces which are diametrically opposite with respect to the center of oscillation and which are guided along a first annular guide track which is rotated around of a central axis of oscillation and which is arranged in a guide plane passing through the center of oscillation and forming a first acute angle with the central axis of oscillation, so that the first support points are move in translation in a first oscillation plane passing through the longitudinal axis of the rod, and a second pair of support parts which are diametrically opposite with respect to the center of oscillation and which are guided along a second annular guide track which is rotated about the central axis of oscillation and which is arranged in a guide plane passing through the center of oscillation and forming a second acute angle with the central axis of oscillation, so that the second support points move in translation in a second plane of oscillation passing through the longitudinal axis of the rod,

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les deux plans d'oscillation étant distincts.

the two oscillation planes being distinct.

étant défini par la courbe décrite par l'extrémité libre de la tige. On peut ainsi obtenir une courbe rectiligne, des courbes en forme d'ellipse, en forme de V, de W, de 8, etc. The device according to the invention makes it possible to obtain an oscillating movement having any profile, this profile

being defined by the curve described by the free end of the rod. We can thus obtain a rectilinear curve, curves in the shape of an ellipse, in the shape of V, W, 8, etc.

According to another characteristic of the invention, the rod is connected to a support shaft which is coaxial with the central axis of oscillation by means of a universal joint centered on the center of oscillation.

This device allows the rod to oscillate in all directions without it rotating on itself.

 According to another characteristic of the invention, the support shaft is pivotally mounted with the possibility of locking about the central oscillation axis so as to adjust the angular position of the oscillation planes relative to the guide plane.

 This arrangement makes it possible to adjust certain parameters of the device.

 According to one embodiment of the invention, each annular guide track is carried by a hollow cylinder driven in rotation around the central axis of oscillation. The two cylinders are then advantageously coaxial. They are driven in rotation by means of a motor, for example an electric motor, and a transmission system such as a chain, a belt or a gear.

 The position of the first cylinder controls the position of the rod in X (abscissas) and the position of the second cylinder controls the position of the rod in Y (ordinates).

 One of the parameters for adjusting the curves described by the free end of the rod is the ratio between the rotational speeds of the two cylinders, and it is possible to provide separate variators or transmission devices for each cylinder to

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 from a single drive motor.

 According to one embodiment of the invention, each support piece is secured to one of the cages of a bearing, the other cage of which is secured to the corresponding guide track. This makes it possible to reduce the friction of the guide movement of the support parts.

 According to an alternative embodiment, the support pieces are guided along the guide track by means of two sliding rings, one ring being secured to the support points and the other to the guide track. In this case, advantageously, the sliding rings are with lubricated contact.

 According to another characteristic of the invention, each hollow cylinder has balancing weights. This makes it possible to avoid vibrations as much as possible during the rotation of the cylinders.

 According to a first use of the device according to the invention, the two guide tracks are driven at the same speed of rotation so that the free end of the rod oscillates by describing a closed curve such as a circle or an ellipse.

 According to another use of the invention, the two guide tracks are driven at rotational speeds, one of which is double the other so that the free end of the rod follows an 8-shaped curve .

 The invention will now be more fully described in the context of preferred characteristics and their advantages with reference to the accompanying drawings in which: - Figure 1 is a sectional view in a first plane of oscillation of a device according to l invention; - Figure 2 is a sectional view along the second oscillation plane of this device; - Figure 3 is a geometric illustration explaining the

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 different parameters of the device; - And Figures 4 to 7 are examples of oscillation movements obtainable with the device according to the invention.

Figures 1 and 2 show schematically, in section along the two oscillation planes, an embodiment of a device according to the invention. The rod 1 is mounted so as to be able to oscillate around an oscillation center 2 disposed on the longitudinal axis 3 of the rod 1 at one end of the latter.

qui est fixé sur un socle 23. La fourche 6 est perpendiculaire à la fourche 4 et articulée autour d'un deuxième axe d'articulation 8. According to one embodiment of the invention, to obtain this possibility of oscillation of the rod without rotation about itself around a center of oscillation 2, a universal joint is provided centered on this center of oscillation 2 This universal joint comprises a first fork 4 secured to the rod 1 and mounted for rotation about an axis 5. The second fork 6 is secured to a support shaft 7

which is fixed on a base 23. The fork 6 is perpendicular to the fork 4 and articulated around a second articulation axis 8.

To obtain the fixing of the rod 1 with possibility of oscillation around the center of oscillation 2 without possibility of rotation on itself, one can also use other devices such as a ball joint centered on the center of oscillation.

 In a first plane which is the plane of FIG. 1, the rod 1 comprises two support parts 9 which are carried by two branches 10 connected to the rod 1. These two support parts 9 are symmetrical with respect to the longitudinal axis of the rod 3. They are guided along an annular guide track 11 which is arranged in a plane passing through the center of oscillation 2 and which is centered on the latter.

 The annular guide track 11 is carried by a hollow cylinder 12 which is rotatably mounted around a central oscillation axis 13 which coincides with the axis of the shaft 7 and which passes

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therefore by the oscillation center 2. Guiding of the support piece 9 on the guide track 11 can be achieved by means of a circular bearing placed on the cylinder 12 and which is shown diagrammatically at 14.

A first bearing cage 14 is secured to the support piece 9 and the second cage is secured to the cylinder 12. The latter is mounted for rotation around the shaft 7 by means of a bearing shown diagrammatically at 15.

rapport à l'axe d'oscillation 13 entre deux positions extrêmes où la tige 1 fait un angle a avec l'axe d'oscillation 13, cet angle a correspondant à l'inclinaison du plan de guidage. The guide plane of the support pieces 9 is inclined at an angle a relative to a plane passing through the center of oscillation 2 and perpendicular to the axis of oscillation 13. In this way, when the cylinder 12 rotates around the shaft 7 which is fixed, the free end of the rod 1 (of length L) moves in a plane of oscillation which coincides with the plane of FIG. 1 symmetrically by

with respect to the axis of oscillation 13 between two extreme positions where the rod 1 makes an angle a with the axis of oscillation 13, this angle a corresponding to the inclination of the guide plane.

1), des pattes d'appui 16, qui sont reliées à la tige 1 par des montants 17, sont guidées sur une piste annulaire 18. Elles sont disposées dans un plan passant par le centre d'oscillation 2 avec une inclinaison p par rapport à un plan perpendiculaire à l'axe d'oscillation 13. La piste de guidage 18 est portée par un deuxième cylindre creux 19 qui est centré sur l'axe d'oscillation 13 et monté à

rotation autour de ce dernier. Le guidage de la patte d'appui 16 sur la surface de guidage 18 est réalisé au moyen d'un roulement 20. Un palier 22 assure la rotation du cylindre 19 autour du cylindre 12, qui est disposé à l'intérieur du cylindre 19. Similarly, as shown in Figure 2 (which is a section in a plane perpendicular to that of Figure

1), the support legs 16, which are connected to the rod 1 by uprights 17, are guided on an annular track 18. They are arranged in a plane passing through the center of oscillation 2 with an inclination p with respect to to a plane perpendicular to the axis of oscillation 13. The guide track 18 is carried by a second hollow cylinder 19 which is centered on the axis of oscillation 13 and mounted at

rotation around the latter. The guide lug 16 is guided on the guide surface 18 by means of a bearing 20. A bearing 22 rotates the cylinder 19 around the cylinder 12, which is arranged inside the cylinder 19.

 The two support cylinders 12 and 19 are driven in rotation at constant speed by a drive system not shown. It is possible, for example, to drive the two motors by means of a single electric motor, the different speeds being obtained by belt or chain transmissions or by means of speed variators or gears.

 To vary the respective initial position of the two

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pistes de guidage 11 et 18, l'arbre-support 7 qui supporte le joint de cardan est creux et il peut pivoter autour de l'axe 13 selon un déplacement angulaire compris entre-/4 et + 1114. Ce pivotement peut être obtenu, par exemple, au moyen d'une manivelle. Un tel réglage peut être réalisé pendant la rotation des cylindres.

guide tracks 11 and 18, the support shaft 7 which supports the universal joint is hollow and it can pivot around the axis 13 according to an angular displacement of between / / 4 and + 1114. This pivoting can be obtained, for example, using a crank. Such an adjustment can be made during the rotation of the cylinders.

 FIG. 3 is a geometric representation of the device according to the invention We find the rod 1 with its free end 21, the center of oscillation 2 (point 0) and the axis of oscillation 13.

 It should be noted that the two cylinders can be driven at different speeds and that the rotation of each is not necessarily continuous.

 The position of the first cylinder controls the position of the rod in X (abscissas) and the position of the second cylinder controls the position of the rod in Y (ordinates). Each point of the interval (-L a, + La) on the curvilinear abscissa, and each point of the interval (-Lp, + Lp) on the curvilinear ordinate, can be reached by the rod by adjusting the position of each cylinder.

De la même manière, pour la deuxième piste annulaire, si b est la valeur en radian de l'angle ss, et q la valeur en radians du déplacement angulaire de la piste de guidage 18, l'oscillation obtenue dans le plan d'oscillation sera égale à : y = L b sin q
Les angles de rotation des deux pistes de guidage sont de la forme : The value of the angle a is expressed in radian. The oscillating part is shown diagrammatically by the lines A 0 and B C. If the guide track 11 rotates by an angle p, the points A, B, C come at A ', B' and C '. If p is the angle of rotation of track 11 expressed in radians, and if L is the length of the rod AB, the length x of the arc A A 'on the curvilinear abscissa is given by the formula: x = L a sin p

In the same way, for the second annular track, if b is the value in radian of the angle ss, and q the value in radians of the angular displacement of the guide track 18, the oscillation obtained in the plane of oscillation will be equal to: y = L b sin q
The angles of rotation of the two guide tracks are of the form:

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p =p0 +W1t q=q0 +W2t PO et qo étant les positions angulaires initiales et W1 et W2 les vitesses de rotation respectives des deux cylindres porteurs des pistes de guidage.

p = p0 + W1t q = q0 + W2t PO and qo being the initial angular positions and W1 and W2 the respective rotational speeds of the two cylinders carrying the guide tracks.

les angles initiaux po et qo sont égaux, c'est-à-dire que les plans d'oscillations sont orthogonaux, l'extrémité libre 21 de la tige décrit un parcours linéaire constitué par un arc de cercle qui se projette selon une droite sur un plan perpendiculaire à l'axe d'oscillation 13. For any movement, the position of the end 21 of the rod 1 will be provided by the following two equations: x = La sin (W2 + PO) y Lb sin (W2t + q0)
The adjustment parameters of these two equations are the angles of inclination a and b of the guide tracks, the rotational speeds W1 and W2 of each of the two cylinders and the initial positions po and qo of the two guide tracks. By varying these different parameters, it is possible to obtain all kinds of oscillation movements which are defined by the curve described by the end 21 of the rod 1. If the rotational speeds W1 and W2 of the two cylinders are the same, if the angles of inclination a and b are equal and if

the initial angles po and qo are equal, that is to say that the planes of oscillation are orthogonal, the free end 21 of the rod describes a linear path formed by an arc of a circle which projects along a straight line a plane perpendicular to the axis of oscillation 13.

positions initiales po et qo est de n12, l'extrémité 21 de la tige 1 décrit un cercle centré sur l'axe d'oscillation 13. If the angles of inclination and the speeds are the same for the two guide tracks and if the angular offset of the two

initial positions po and qo is n12, the end 21 of the rod 1 describes a circle centered on the axis of oscillation 13.

 If the offset of the initial values is n / 4, the free end of the rod 1 describes an ellipse.

 In Figure 4, there is shown the case where the two inclinations of the two guide tracks are equal but the speed of one of the cylinders is twice that of the other. If the offset between the initial angles is 0, the end of the rod described, in

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 horizontal projection, a curve such as that shown in Figure 4, in the shape of a "V".

 If the offset of the two initial angular positions is in / 4, we obtain the curve of figure 5, which is a kind of "W".

 If one of the rotational speeds is three times the other, the angles of inclination being the same, the curve of FIG. 6 is obtained if the initial offset is zero. From the latter case, if we set an offset of the initial angles equal to n / 4, we obtain the curve visible in Figure 7.

 It can be seen that the device according to the invention makes it possible to obtain, by acting on the different parameters, very varied forms of oscillation. Consequently, the invention makes it possible to reproduce complex oscillating movements such as the movement of the wrist, the hip, etc. The invention also makes it possible, if a blade is placed on the stem, to reproduce beat movements such as the movements of the wing of a bird or the fin of a fish.

It nevertheless appears from the foregoing that the invention is not limited to the modes of implementation which have been specifically described in the course of the above examples and that, on the contrary, it extends to all variants passing through the bias of equivalent means.

In particular, in place of the universal joint, one can use any device making it possible to maintain a rod with the possibility of oscillation in the entire space without rotation on itself. Such a device makes a connection which works in traction, the traction forces being transferred by the support pieces to the guide tracks, which generates significant friction forces.

 The two support cylinders of the guide tracks can rotate in the same direction or in the opposite direction.

 Likewise, any guiding device which makes it possible to guide the support parts in the guiding plane can be used with the least possible resistance. This is how we can use

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 two rings sliding one over the other, one being secured to the support pieces and the other being secured to the guide track.

 In this case, the two rings are advantageously with lubricated contact, therefore made for example of polytetrafluoroethylene sliding on stainless steel.

 The connections between the various moving parts and their connection with the base are adapted to the speeds of rotation, to the efforts to be resumed, for example at the level of the guide of the support pieces and of the device for driving the two support cylinders.

In particular, the support cylinders are provided with balancing weights to avoid vibrations.

Claims (10)

 1. Device for generating an omnidirectional oscillation movement of a rod (1) without rotation on itself around a fixed oscillation center (2) arranged on the longitudinal axis (3) of the rod ( 1), characterized in that the rod (1) comprises a first pair of support pieces (9) which are diametrically opposite with respect to the center of oscillation (2) and which are guided along a first annular track guide (11) which is rotated about a central axis of oscillation (13) and which is arranged in a guide plane passing through the center of oscillation and forming a first acute angle (a, a) with the central axis of oscillation, so that the first support points (9) move in translation in a first plane of oscillation passing through the longitudinal axis (3) of the rod (1), and a second pair of support pieces (16) which are diametrically opposite with respect to the center of oscillation (2) and which are guided along a second annular guide track (18) which is rotated about the central axis of oscillation (13) and which is arranged in a guide plane passing through the center of oscillation (2) and forming a second

 acute angle (p, b) with the central axis of oscillation, so that the second support points (16) move in translation in a second plane passing through the longitudinal axis (3) of the rod ( 1), the two oscillation planes being distinct.  2. Device according to claim 1, characterized in that the rod (1) is connected to a support shaft (7) coaxial with the central oscillation axis (3) via a universal joint ( 4, 5,6, 8) centered on the center of oscillation.  3. Device according to claim 1, characterized in that the support shaft (7) is pivotally mounted with locking about the central axis of oscillation (3) so as to adjust the <Desc / Clms Page number 11>  angular position of the oscillation planes relative to the guide planes.  4. Device according to any one of the preceding claims, characterized in that each annular guide track (9,16) is carried by a hollow cylinder (12,19) driven in rotation around the central axis of oscillation ( 13).  5. Device according to any one of the preceding claims, characterized in that each support piece (9,16) is one of the cages of a bearing, the other cage of which is integral with the corresponding guide track ( 11,18).  6. Device according to any one of claims 1 to 4, characterized in that the support parts (9,16) are guided along the guide track (11,18) by means of two crowns sliding, a crown being integral with the two

 support pieces (9, 16) and the other of the guide track (11, 18). 7. Device according to claim 6, characterized in that the sliding rings are with lubricated contact.  8. Device according to any one of claims 4 to 7, characterized in that each hollow cylinder (12,19) comprises balancing weights.  9. Device according to any one of the preceding claims, characterized in that the two guide tracks (11,18) are driven at the same speed of rotation so that the free end (21) of the rod (1) oscillates by describing a closed curve such as a circle or an ellipse.  10. Device according to any one of the claims <Desc / Clms Page number 12>  previous, characterized in that the two guide tracks (11,18) are driven at rotational speeds, one of which is double the other, so that the free end (21) of the rod ( 1) describes a curve in the shape of "8".