JPS6360267B2 - - Google Patents

Description

[Detailed description of the invention]

[Industrial Application Field] The present invention provides an output member having a drive surface provided on a frame body and movable on a straight or curved path, and an output member that rotates around a first axis spaced apart from the drive surface of the output member. a rotatable first drive member; and a second drive member fixed eccentrically to the first drive member and rotatable around a second axis, the drive member and the first drive member being connected to the drive surface. is connected and driven through
The first drive member is guided such that the first shaft moves along a path equidistant from the drive surface of the output member, the second drive member and the frame are interconnected, and the second drive member is reversibly rotatable, wherein the second shaft and the drive surface are guided for relative movement along a path across the drive surface of the output member, and the output shaft is drivingly connected to one of the drive members. The present invention relates to a power transmission device having a prime mover. [Prior Art] Such a power transmission device is already known from Japanese Patent Application Laid-open No. 120297/1983. However, such devices use an eccentric mechanism with a small amount of eccentricity on the input side for the mechanism that provides motion with a relatively long rest period, so the speed of the output member depends on the input speed, and the entire device is complicated and expensive. Accuracy is required. [Problems to be Solved by the Invention] An object of the present invention is to provide a novel power transmission device that provides motion with a relatively long rest period, which does not include the above-mentioned defects and can simplify the mechanism of the entire device. It's in the middle of the day. [Means for Solving the Problems] In order to achieve the above objects, the present invention provides an output member having a drive surface provided on a frame and movable on a straight path or a curved path, and a drive surface of the output member. a first drive member rotatable about a first axis spaced from the first drive member; and a second drive member rotatable about a second axis eccentrically fixed relative to the first drive member; The output member and the first drive member are drivingly coupled via the drive surface, the first drive member being guided such that the first shaft moves along a path equidistant from the drive surface of the output member; the second drive member and the frame are interconnected, the second drive member is guided such that the second shaft and the drive surface move relative to each other along a path that traverses the drive surface of the output member; In a power transmission device having a reversibly rotary prime mover whose output shaft is drivingly connected to one of the drive members, a device for restricting the first shaft or the second shaft to a certain passage proximate to the passage of the output member. , the prime mover moves the output shaft corresponding to an input angle greater than 180° and less than 360°, and the drive connection at the drive surface between the first drive member and the output member is at the beginning of the working stroke of the output member. and at the final stage, a straight line passing through both the first and second axes is symmetrical and inclined at an equal acute angle with respect to a straight line passing through the first axis perpendicular to the drive surface of the output member, so that the two drive members and the output The member has the following equation (1) φ = arc cos (R/R ₁ ) ...(1) (wherein R is the radius of the first driving member, R ₁ is the distance between the first and second axes, φ is the angle). [Function] With the above configuration, a kinematically natural rest period is obtained using extremely simple parts and mechanisms, thereby achieving a power transmission device that can perform highly accurate indexing and is free from damage and wear. This is what was created. [Example] In the field of mechanically generated reciprocating motion where the speed is zero at the end of each stroke, the most widely used combination is a crank and connecting rod or a crank and Scotch yoke. be. The motion caused by these is defined as "harmonic motion", and the output stroke is obtained by rotating the input crank 180 degrees. Figure 1 shows velocity and acceleration in typical harmonic motion. The curves in Figure 1 were obtained from the following classical equation for string motion with a crank angle θ between 0 and π radians (0 and 180°). Displacement = 1/2 x (stroke (1-cosθ) Speed ~ 1/2 x stroke x sinθ Acceleration ~ 1/2 x stroke x cosθ Another method in which the velocity becomes 0 at the end of the stroke is based on "cycloid motion" Although the cam profile of many cam-driven devices is set using equations of cycloidal motion, a family of mechanisms that naturally produce essentially cycloidal output characteristics is described in the inventor's U.S. patent. No. 3789676. In common with this group of mechanisms, it is necessary to rotate the indexing gear (or equivalent) 360° to obtain one output indexing cycle. Classical cycloid The velocity and acceleration of motion are shown in Figure 2 (regardless of the type of mechanism used).
The rotation angle of the driving gear is 360°) and is obtained from the following classical equation of cyclolide motion. Displacement = 1/2π stroke (θ-sinθ) Speed ~ 1/2π stroke (1-cosθ) Acceleration ~ 1/2π stroke × snθ For various reasons including mechanical configuration and economic efficiency,
A mechanical device that produces a power indexing cycle such that the velocity is zero at the end of the stroke and the input angle is in the range of 180 DEG to 360 DEG is desirable. This objective can be achieved by a group of mechanisms according to the invention described below. A group of pneumatic or hydraulic prime movers capable of a power indexing angle of about 270° are commercially available, but because these are vane-type rotating cylinders, the power rotation cannot reach 360° and is extremely difficult. Limited to small angles, output angles significantly greater than 180° are possible at the same time. A typical example of this type of device is the U.S. patent of Ludwig et al.
No. 2,793,623 as well as US Pat. No. 3,215,046 to Drake. With the mechanism of the invention, the actuator, which typically has an output angle of 270 degrees, can be used mechanically and kinematically more favorably than when driving a 180 degree crank or string motion device. The present invention will be explained below with reference to the drawings. Linear Output System An embodiment of a linear output system indexing mechanism in which the speed is zero at each end of the output stroke and the input rotation angle is about 250 degrees is shown in FIGS. 3-6. 3 to 6, a frame is constituted by a base 2 and a single bracket 4 supported by the base 2, and the bracket 4 guides an output bar 6 between a roller 8 and a side guide 10. Move along a straight path. 12 is output bar 6
A rack is fixedly attached to the rack, the pitch line of which is parallel to the linear movement path. 14 is a prime mover that makes a reciprocating output rotation of approximately 250 degrees,
It is attached via a bracket 16 to a gib slide assembly consisting of a sliding plate 18, a sliding guide 20, and a holding member 22. 24
is a sliding base fixed to the base 2, and each component of the jib slide device is slidable on the base 24. Therefore, the axis A ₁ of the prime mover 14
is movable parallel to the pitch line of the rack 12. Reference numeral 26 denotes a drive gear fixed to the output shaft 28 (FIG. 5) of the prime mover 14 about the axis _A1 , and meshes with the rack 12. Reference numeral 30 indicates a control arm which is attached to the output shaft 28 in a non-rotatable manner relative to the drive gear 26, and reference numeral 32 indicates the control arm 3.
0 is supported at the outer end of the bracket 36 and is fitted into the groove 34 of the bracket 36 fixed to the base 2. The axis _A2 of this roller 32 is always maintained at a constant distance from the axis and Move along the center line. Although the center line of the groove 34 is shown perpendicular to the path of movement of the output bar 6, it may be inclined, and the groove 34 may not be straight but may be curved as described later. . In the above configuration, the control arm 30
When the drive gear 26 rotates clockwise from the starting position in FIG. 3, the roller 32 descends in the groove 34 to first move the prime mover 14, gear 26, and axis _A1 to the left (first component). The output movement of the rack 12 is caused by two components: the gear 26 rotates clockwise about the axis _A1 , moving the rack 12 to the right (second component). Here, the radius of the drive gear 26 is R, and the axes A ₁ and A ₂
The distance between them is R ₁ , the angle between this distance R ₁ and a line perpendicular to the pitch line of rack 12 is φ _N1 , and drive gear 2
FIG. 7 shows a kinematic schematic diagram when the angular velocity of 6 is set to ω. The speed of the rack 12 (assuming the positive direction is rightward motion) is expressed as V _R =Rω-R ₁ ωcosφ _N1 . At the start of the stroke, the speed of the rack 12 must be 0, so R-R ₁ cosφ _N1 = 0 φ _N1 = arc cos (R/R ₁ )...(1) In FIG. 180° or more in the direction
FIG. 3 is a schematic diagram showing the end of the stroke after rotation of 360 degrees or less. As before, at the other end of the stroke the velocity of the rack 12 becomes zero at the following angle. φ _N2 = arc cos (R/R ₁ ) ...(2) Therefore, φ _N1 = φ _N2 , and the total input angle is 2π−2φ _N1
It becomes radian. And the total stroke is expressed as Stroke = R (2π−2φ _N1 ) + 2R ₁ sinφ _N1 …(3), and from equations (1) and (3), stroke 2R (π−φ _N1 + tanφ _N1 ) …(4 ) becomes. For a certain input angle, first determine the value of φ _N1 =φ _N2 , then determine R from equation (4), and then determine R ₁ from equation (1).
can be determined. Figure 9 is a diagram showing the case where the rack is in the middle of the stroke, and the total speed of the rack 12 is expressed as V=Rω−R ₁ ωcosφ (5), in which case ω=dφ/dt. From this, V=dφ/dt−R ₁ dφ/dtcosφ ……(6). The acceleration A is obtained by differentiating _this with respect to t ^with dφ/dt as a constant. It is useful to set the standard output stroke. Now let's assume that the reference input angle to obtain a constant input is in the range of 2π, and the input clock angle (input olock angle) θ
, this input clock angle θ moves over a range of 2π while the true geometrical angle moves from φ _N1 to 2π−φ _N1 . Therefore, φ=φ _N1 + (2π−2φ _N1 /2π)θ ……(8) Similarly, for the purpose of comparison, if the constant output stroke to obtain a constant output is set in units of 2π, then equation (4) is obtained. From 2π=2R (π−φ _N1 + tanφ _N1 ) …(9) Therefore, R=π/π−φ _N1 + tanφ _N1 …(10) Next, set the value of φ _N1 to 0°, 30°, 60°, If we evaluate the characteristics of each system with an angle of 90°, we can obtain the following values using equations (10) and (1).

[Table] Using the above numerical values, the acceleration characteristics and velocity characteristics of the various systems shown in FIGS. 10 and 11 can be calculated. Each system is calculated for a configuration with an output stroke of 2π units for an input clock angle of 2π radians, but for convenience the clock angles are shown in degrees. 1st
The acceleration characteristic in FIG. 0 is symmetrical about the points 0° and 180°, and the velocity characteristic in FIG. 11 is symmetrical about the 180° line. Note that “acceleration rate” and “velocity rate” are input
It is a relative measure of the output 2π with respect to 2π. As expected, the characteristic for φ _N = 0° is a cyclolide motion characteristic, and the characteristic for φ _N = 90° is a string motion characteristic, but between these two extremes, the characteristic is a cyclolide motion characteristic and a string motion characteristic. There exists an infinite system that is a compromise between, for example, φ _N =30° and φ _N =60°. It is particularly noteworthy that the maximum acceleration when φ _N =60° is smaller than that of string motion and cyclolide motion. In summary, the mechanism described with reference to FIGS. 3 to 6 has variable dynamic characteristics as a function of the true input rotation angle, while at the same time adjusting the pitch radius of the drive gear 26 to R and the distance between the axes A ₁ and A ₂ . If R ₁ , each φ _N
There is a specific R/R ₁ for . Another embodiment of the line output method is shown in FIG. This embodiment replaces the rollers and grooves shown in FIGS. 3 and 6 with reaction links. 12th
In the figure, 40 is a control arm 3 at one end.
0 shows a reaction link which is rotatably connected by a pin 42 and whose other end is pivotally connected to the bracket 4 by a pin 44 on a fixed axis _A3 , and the other parts are the same as in FIGS. 3 to 6. It is configured. The overall kinematics of this embodiment are similar to the embodiment of FIGS. 3-6, except for some changes due to the rotation of the reaction link 40 during indexing. Furthermore, the state at the end position can be changed as shown in FIGS. 13 and 14. FIG. 13 is a motion diagram showing the embodiment of FIG. 12 at one end position where the speed of the rack 12 is zero, and the point of contact between the rack 12 and the gear 26 at the pitch line is represented by P ₀ . control arm 30
and the drive gear 26 rotate in unison about the axis of movement _A1 and can be considered as a free integral construction. contact
A link always exists between P ₀ and the axis A ₂ , and therefore, if the contact point P ₀ and the axes A ₂ and A ₃ are on a straight line, the angular velocity of the link 40 and the virtual link P ₀ ,
There is a point where the relative velocity between the contact point P ₀ and the axis A ₃ is 0, regardless of the angular velocity of A ₂ . That is, the speed of the rack 12 is zero when the axes A ₂ , A ₃ and the contact point P ₀ are in a straight line. Similarly, at the other end of the stroke as shown in FIG. 14, the speed of the rack 12 becomes 0 if the above relationship holds true. However, in this case, the contact point P ₀ is on the axis A ₂ ,
A It exists between ₃ . The exact angle at the end as well as the kinematics during stroke are obtained by conventional kinematic processes similar to those outlined with respect to FIG. In addition, the reaction link 40 has its center of curvature as its axis.
You can think of it as a curved groove on _A3 . FIGS. 15 to 18 show still another embodiment of the line output method in which the prime mover is attached to a pivot link, thereby eliminating the need for a sliding device for supporting the prime mover.
15 to 18, 50 is a base supporting two brackets 52, 54 is supported by the brackets 52, and has rollers 56 and side guides 5.
8 (FIG. 17), the output bar is guided to move in a straight path, 60 is a guide bar, 62 is a rack, and these guide bars 60 and rack 62 are arranged so that the pitch line of the rack is parallel to the guide bar. It is fixedly attached to the output bar 54 via the spacer 64 in such a manner. Reference numeral 66 denotes a prime mover, which is fixed to a bracket 68 which is pivoted to a U-shaped bracket 70 by a shaft 72 on the axis A ₃ and a bearing 74, and whose output shaft 76
The output rotation is approximately 270 degrees. 7
Reference numeral 8 denotes a drive arm connected to the output shaft 76 of the prime mover so as to be driven around the movement axis _A2 ;
0 is a gear supported by the drive arm about the axis _A1 and meshed with the rack 62. The gear 80 and the rack 62 are maintained in pitch line contact by a guide device mounted inside a plate 84 consisting of a roller 82 guided by the guide bar 60. 86 is supported by the plate 84 on the axis _A1 , and is also supported by the bearing 88 and the gear 8.
This is a shaft provided in the housing 90 fixed at 0. Therefore, when the output shaft 76 of the prime mover 66 rotates clockwise around the axis A ₂ , the axis A ₂ becomes the axis A _{3 .}
At the same time, the gear 80 rotates around the rack 62.
Axis line A ₁ that rotates along a line parallel to the pitch line of
Rotate clockwise around the center. The end of the stroke, ie the point at which the velocity of the rack 62 becomes zero, can be determined exactly as described for the embodiment of FIG.
The motion characteristics during the indexing stroke are for a sliding device in which the input angle does not rotate in FIG. 12, but in this embodiment, the input angle is for a rotating bracket 68, so the motion characteristics in FIG. 12 are different from those in FIG. Of course it's different. FIGS. 19 and 20 show still another embodiment of the linear output method, which is similar in movement to the embodiment shown in FIGS. 3 to 6, including the setting of the end angle, but differs in mechanical configuration. show. In FIGS. 19 and 20, 50 is a base supporting the output bar device as shown in FIGS. 15 to 17, and the output bar device includes an output bar 54, a guide bar 60, a rack 62, It consists of a spacer 64, and the same brackets, rollers, and side guides as shown in FIGS. 15 to 17, although not shown. The prime mover 66 is connected to the base 5 via an upright sliding device.
The sliding device includes a sliding bracket 100, a plate 102, a jib 104, and a holding member 1.
06, and a sliding device consisting of a spacer 108. 15 to 17 on the sliding arm 78.
As shown in the figure, a gear 80 is supported about the axis _A1 , and is in pitch line contact with the rack 62. In the embodiments shown in FIGS. 19 and 20, the rotational force is supplied on the axis A ₂ , and in the embodiments shown in FIGS. 3 to 6, it is supplied on the axis A ₁ .
The same motion diagram can be applied to both, and the axis
The movements of A ₁ and A ₂ are the same. In the case of this embodiment as well, the sliding axis does not have to be perpendicular to the pitch line of the rack 62, and the sliding bracket 1 is not necessarily perpendicular to the pitch line of the rack 62.
00 may be sloped appropriately. FIGS. 21 and 22 show still another embodiment of the line output method. 120 is a base that supports the bracket 122, 124 is a prime mover fixed to the bracket 122 and whose output shaft 126 has an output rotation angle of approximately 270 degrees, and 128 is supported on the output shaft 126 of the prime mover on the axis _A2. The drive arm 130 is a gear supported at the outer end of the drive arm 128 about axis _A1 . 132 is formed to be driven by meshing with this gear 130, and has one end connected to a pin 136.
A rack is shown pivoted to link 134 by.
The link 134 connects one end to the base 12 with a pin 138.
0, and the other end is pivotally connected to the output bar 140 by a pin 142. The rack 132 and gear 130 are connected to the plate 148.
A roller 144 rotating on a shaft 146 fixed to the
They are maintained in contact with each other by a pitch line by a guiding device consisting of: The plate 148 also includes the gear 1
A shaft 150 that rotates around an axis A ₁ is supported within a bearing 152 within the shaft 30 . In FIG. 21, the output shaft 126 of the prime mover 124
When R is rotated counterclockwise from this state, rack 132 pivots upward about pin 136 and simultaneously accelerates to the left, causing link 134 to similarly accelerate to the left. When the pitch line of the rack 132 intersects the axis _A2 of the prime mover 124, the link 13
4 is zero regardless of the angular velocity of the drive arm 128. Similarly, when the prime mover 124 has rotated approximately 270 degrees counterclockwise, the pitch line intersects the axis _A2 , which is the zero speed point of the rack 132 at the other end of its travel. Although the motion characteristics of this embodiment are similar to those of FIGS. 3 to 6, they are not exactly the same because of the rotation of the rack 132. However, if the distance from the pin 136 to the point of contact between the rack 132 and the gear 130 is increased, this difference will decrease, and as this distance becomes infinite, the difference will approach zero. Rotational output type The same principle can be applied to the rotational output type indexing mechanism as in the case of converting a rotational input of 180° or more and 360° or less into a linear output stroke where the speed is 0 at both ends. 23 to 25 show examples of this method, in which 150 is a frame body, and 152 is this frame body 1.
50 is an output shaft supported on the axis _A4 via a bearing 154, and 156 is a support arm (FIG. 24) supported on the output shaft 152 via a bearing 158;
Reference numeral 60 denotes a prime mover supported by this support arm 156, and the prime mover 160 is of a type in which its output shaft 162 rotates approximately 270 degrees on the axis _A1 , as described above. A gear 164 is fixed to and driven by the output shaft 162 of the prime mover, and meshes with a gear 166 fixed to the output shaft 152. 168 is an arm that rotates integrally with the gear 164 attached to the output shaft 162 of the prime mover; 172 is connected to one end of the arm 168 rotatably on the axis A ₂ by a pin 170; and the other end is connected to the frame 150. The link is pivotally connected to a fixed bracket 176 on axis _A3 by a pin 174. FIG. 25 shows the mechanism described above with the gear 166 at one end of its stroke and at zero velocity independent of the angular velocity of the prime mover output shaft 162. This condition occurs when the extension of the center line from axis A ₃ via axis A ₂ passes through the contact point of gears 164 and 166. 26 to 30 show the motion of this embodiment in continuous diagrams. In FIG. 26, the gear 166 is at one end of its rotational output stroke, and in this state, the center line
Since A ₂ and A ₃ pass through the contact points of gears 164 and 166, the angular velocity of gear 166 is zero. From this state, the gear 164 moves approximately around the axis _A1 .
Figure 27 shows the state after rotating 70 degrees clockwise.
The gear 166 rotates slightly counterclockwise about the fixed axis _A4 , and is rotating with increasing angular velocity. FIG. 28 shows the state after the gear 164 has rotated approximately 140 degrees clockwise around the axis _A1 , and the gear 166 has rotated approximately half the full output angle around the fixed axis _A4 .
It is rotating counterclockwise at almost the maximum angular velocity. FIG. 29 shows the state after the gear 164 has rotated approximately 200 degrees clockwise about the axis _A1 , and the gear 166 has completed most of its travel in the counterclockwise direction about the fixed axis _A4 , and the angular velocity is It rotates while decreasing. FIG. 30 shows the gear 164 having rotated approximately 270 degrees clockwise about the axis A ₁ and reaching almost the end of its stroke, while the gear 166 has completed its stroke counterclockwise about the fixed axis A ₄ . However, since the center line A ₂ A ₃ passes through the contact point of the gears 164 and 166, the speed becomes 0. The total indexing angle of gear 166 from one 0 speed point to the other 0 speed point is determined by dividing the rotation angle of gear 164 by the ratio of the number of teeth of gear 166 to gear 164, and , 166, that is, the second angle, which is the amount of movement of the center line A ₁ A ₄ as can be seen from FIGS. Other embodiments of the rotational output method are shown in Figures 31 and 32.
As shown in the figure. In this embodiment, an internal gear is used instead of an external gear, the rotational power is supplied from the prime mover on another axis, and the pitch line contact between the gears on the drive side and the output side is applied to the output shaft. This differs from the embodiment of FIGS. 23 to 25 in that it is maintained by an annular groove in the output gear rather than by a provided link. In FIGS. 31 and 32, 180 is a frame body;
182 is supported by this frame 180 and has a bearing 184
It is an output shaft that rotates around axis A ₄ within. 1
86 is an internal gear supported and driven by the output shaft 182; 188 is a fixed shaft supported by the frame 180 and pivotally supports the bracket 190 on the fixed axis _A3 via a bearing 192; 194
is a prime mover supported by the same bracket 190, and here again, its output shaft 196 performs an output rotation of about 270 degrees on the axis _A2 . 198 is an arm fixed to and driven by the output shaft 196 of the prime mover, 200 is an axis A ₁
The drive gear 200 is supported and driven by the arm 198 with the drive gear 200 in mesh with the internal gear 186. 202 is a roller fixed to the driving gear 200 concentrically on the axis _A1 ;
The internal gear 186 and its annular groove 204 are closely fitted into an annular groove 204 of the internal gear 186 whose center line is equidistant to the pitch line of the internal gear 186, and the internal gear 186 and its annular groove 204 are concentric with the output axis _A4 . No need, gear 1
86 and the output shaft 182 on the axis _A4 are appropriately eccentric with respect to each other, various motion characteristics can be obtained. In the mechanism of this embodiment as well, the 0 speed point of the gear 186, where the center line A ₂ A ₃ passes through the contact points of the gears 200 and 186, is both ends of movement, and FIG. 32 shows the state at one end of the stroke. Figures 33 and 34 show still another embodiment of the rotational output system, and this embodiment uses a chain sprocket device instead of gears, and the output shaft of the prime mover is on both sides, which is similar to that shown in Figure 23. This is different from the embodiment shown in FIGS. In FIGS. 33 and 34, 210 is a frame body;
212 is an output shaft that is supported by the frame 210 and rotates around the axis _A4 within a bearing 214; 216 is a sprocket that is fixed to the output shaft 212 and rotates concentrically; An arm 222 supported by the output shaft 212 represents a prime mover that is supported by the arm 218 and rotates through approximately 270 degrees. In this case, the prime mover 222 has an axis A ₁
Both sides have output shafts 224, 226 that rotate in unison at the top. A sprocket 228 is fixed to the output shaft 224 and drives the sprocket 216 via a chain 230. Reference numeral 232 designates an arm that is attached at one end to the other output shaft 226 and is rotatably coupled to the link 234 on the axis A ₂ at the other end by a pin 236 . The other end of the link 234 is connected to the frame 21 on the axis _A3 by a pin 238.
It is pivoted to 0. In the state shown in FIG. 33, the sprocket 216 and the output shaft 212 are located at one end of the output rotation stroke. It is clear that the sprockets 216, 228 coupled through the chain 230 are kinematically equivalent to internal and external gears of the same center distance and tooth ratio. In this embodiment, as shown in FIG. 33, the speed of the output shaft 212 becomes 0 when the center line A ₂ A ₃ passes through the theoretical contact point of the equivalent internal gear and external gear. Still other embodiments of the rotational output system are shown in FIGS. 35 to 38. In this embodiment, an internal gear device is also shown, but the prime mover is mounted on a sliding device provided on the frame, and the drive gear is connected to the internal gear by a floating link from the output shaft. Pitch line contact is maintained. In FIGS. 35 to 38, 250 is a frame body, 252 is an output shaft that rotates on the axis A ₄ supported by this frame body 250 via a bearing 254, and 25
6 is an internal gear supported and driven by the output shaft 252. Reference numeral 258 denotes a sliding base mounted on the frame 250, on which a sliding device consisting of a sliding plate 260, a jib 262, and a holding member 264 (FIG. 37) can be slid. 266 is a prime mover supported by this sliding plate 260, and its output shaft 268 is aligned with the axis.
Perform an output rotation of approximately 270° on A ₂ . An arm 270 is supported by the output shaft 268, and supports a shaft 272 centered on the axis _A1 . 274 is the axis line
This is a link to keep A ₁ and A ₄ at a constant distance, and one end is connected to the shaft 272 through a bearing 276 (Fig. 38).
and the other end thereof is connected to the output shaft 252 via a bearing 278, respectively. Reference numeral 280 denotes a drive gear that is fixed concentrically to the shaft 272 and meshes with the internal gear 256. The speed of the internal gear 256 is controlled by the sliding device 258-2.
When a line perpendicular to the line of action of 64 and passing through axis A ₂ passes through the contact point of gears 256 and 280, it becomes 0. The movement of this embodiment is similar to those of the previous embodiments, and the use of a sliding device is essentially the same as using an infinitely long link like link 192 in FIG. Although the center line passing through the axis _A2 and parallel to the line of action of the sliding devices 258-264 passes through the output axis _A4 , the invention is not limited thereto.If the line of action is inclined within the nominal angle range, A degree of athletic flexibility is provided. FIGS. 39 and 40 show still another embodiment of the rotational output method. In this embodiment, the link 172 in FIG. 25 is replaced with a roller and a sliding device, and at the same time a prime mover having output shafts on both sides is used. In FIGS. 39 and 40, 300 is a frame, and 302 is an output shaft that is supported by the frame 300 via bearings 304 and 306 and rotates about the axis _A4 . 308 is an external gear centered on the axis _A4 that is supported by the output shaft 302 and drives it;
310 is a pivot link supported by the output shaft about axis _A4 via bearings 312 and 314;
316 is supported by this pivot link 310 and is approximately
This figure shows a prime mover that performs an output rotation of 270°. The prime mover 3
16 has output shafts 318, 320 on opposite sides in aligned positions, both output shafts 318, 320 rotating in unison on axis _A1 . A driving gear 322 is fixed to the output shaft 318 and driven, and meshes with the gear 308 to drive it. 324 is an arm supported and driven by the other output shaft 320 of the prime mover; 326 is a roller supported by arm 324 on axis A ₂ that is apart from and parallel to axis A ₁ ; roller 326 is attached to the frame body; 30
Two parallel rails 330, 33 fixed to 0
can move within the groove 328 between the two. In this configuration, the velocity becomes zero when a line perpendicular to the axis of the groove 328 and passing through the axis _A2 passes through the contact point of the gears 322 and 308. Although FIG. 40 shows the axis of the groove 328 passing through the axis _A4 , the axis of the groove 328 may be moved within a reasonable range to change the motion characteristics. Still other embodiments of the rotational output system are shown in FIGS. 41 to 43. This embodiment is shown in Figs. 35 to 38.
It is most similar to the mechanism shown, but differs in the means for guiding and supporting the prime mover in a passage generally transverse to the drive surface of the output gear. That is, in the embodiments shown in FIGS. 35 to 38, this was used as a sliding device, but in this embodiment, a link device consisting of four bars is used. In FIG. 41 to FIG. 43, 350 is a frame body, 352 is an axis line via bearings 354, 356.
The output shaft is rotatably supported by the frame above _A4 ,
Reference numeral 358 indicates an internal gear that is concentrically fixed to and drives the output shaft 352. 360 is a bracket fixed to the frame 350, and two links 3 are connected via shafts 366 and 368.
62,364 are pivotally supported. 370
is connected to both links 362 and 36 by shafts 372 and 374.
This is a link pivotally attached to the outer end of 4. Bracket 360 and links 362, 364, and 370 thus form a four-bar pivot linkage, with link 370 movable along a path substantially transverse to the pitch line of internal gear 358. 376 is supported by link 370 and is less than 360°
A prime mover capable of producing an output rotation of 180 degrees or more, 378 is an eccentric plate fixed to the output shaft 380 of the prime mover 376 that rotates around the axis A ₂ , and 382 is supported by the eccentric plate 378 and rotates from the axis A ₂ Distant axis A ₁
It is an eccentric shaft that rotates around . A drive gear 384 is fixed to the eccentric shaft 382 so as to mesh with the internal gear 358, and rotates about the axis _A1 .
Furthermore, 386 is a link whose one end is rotatably attached to the output shaft 352 and whose other end is similarly rotatably connected to the eccentric shaft 382, whereby the shafts 382, 3
52 is maintained constant. The action of this embodiment is that the axis _A2 is a groove, a sliding device,
Alternatively, it is similar to the previous embodiment except that it is held in a path substantially transverse to the pitch line of the internal gear 358 by a four-bar linkage rather than a simple link. The link devices 360, 362, 364, 37
There is a temporary center of rotation of the link 370 at all positions of 0. The speed of the internal gear 358 is such that the straight line passing through the temporary rotation center of the link 370 and the axis _A2 at the same time is the speed of the gears 384, 35.
It becomes 0 when it also passes through the contact point of 8. Another embodiment using a four bar linkage instead of simple links and grooves is shown in FIGS. 44-46. In this example, the axis A ₄
The above linkage device is used instead of a simple link to guide the axis A ₁ along a path of a certain distance. Except for this difference, this embodiment is almost the same as the embodiments shown in FIGS. 23 to 25. In FIGS. 44 to 46, 400 is a frame body, 402 is an output shaft supported by the frame body 400 via bearings 404 and 406 and rotates around the axis _A4 , and 408 is concentric with this output shaft 402. The gear 410 that is fixedly installed to drive the gear is a bearing 41.
The other end of the link 410 is connected to a motor 416 having an output shaft 418 through bearings 420, 4.
It is rotatably supported via 22. In this embodiment as well, the prime mover 416 is of a type capable of producing an output rotation of 180 degrees or more and 360 degrees or less. Reference numeral 424 indicates a link that is coupled to the case body of the prime mover 416 and is pivotally connected to the link 426 via a shaft 428, and the other end of the link 424 is connected to the shaft 4.
30 and a bracket 432, it is pivotally attached to the frame 400. Therefore, the frame 400 and the link 41
0,424,426 constitute a linkage that supports the prime mover 416 and at the same time maintains a constant distance between the axes A ₁ and A ₄ . 434 is a drive gear attached to the output shaft 418 of the prime mover 416 and meshes with the gear 408; 436 is an arm attached to the output shaft 418 at one end and pivoted to the link 438 on the axis A ₂ at the other end by a shaft 440; The other end of the link 438 is connected to the shaft 44 on the axis _A3 .
2 and a bracket 444, it is pivotally attached to the frame 400. The zero speed point and overall operating order in this embodiment are the same as those in the embodiments shown in FIGS. 23 to 25, but as shown in FIG. The movement characteristics are different because it is configured so that it can rotate. Changes in this rotational position can be controlled by the configuration of the links 424, 426, making it possible to significantly control the motion characteristics. 4 above as an alternative to sliding devices or simple links
A linkage device consisting of a book bar allows the axis of the prime mover to
The present invention can be similarly applied to embodiments of linear output methods, whether _A1 or _A2 , and can also be applied to all rotational output methods. Figures 41 to 43 and Figures 44 to 46
The use of such a linkage as illustrated in the figures is for mechanical convenience and kinematic flexibility. In all the embodiments of the rotational output method described above, the output shaft is shifted from the axis of the output gear,
That is, by making the output gear eccentric with respect to the output shaft, the kinematic flexibility can be further increased. In that case, the radial link for maintaining pitch line contact between the output gear and the drive gear must be pivotally coupled about the center of the output gear rather than the output axis. This modification is shown in FIGS. 47 and 48, and is applied to the embodiments of FIGS. 23 to 25.
As shown in the diagram, the configuration is such that the output shaft 152A is aligned with the axis A ₅
They are the same except that they are eccentric shafts that rotate with respect to the frame 150A. The gear 166 is mounted around the axis _A4 , and the support arm 156 is mounted around the axis A4.
It is rotatable on _A4 . Axis A ₄ , A ₅
are separated from each other, so that the axis A ₄ is the same as the frame 150
Axis A ₅ which is fixed with respect to A and is the true output axis
eccentric from Other variations shown in FIGS. 49 and 50 are based on the same principle, but applied to the embodiment of FIGS. 35 to 38. The output shaft 252A is again an eccentric shaft that rotates relative to the frame 250A about a fixed output axis _A5 , the gear 256 is mounted on the shaft 250A about the eccentric axis _A4 , and similarly the link 274 is Axis A ₄ away from axis A ₅
It can be rotated around. In all of the above embodiments, the reversal of the output stroke is achieved by reversing the prime mover. Since the prime mover itself is only capable of reversing movement for continuous rotation, the above mechanism is only useful for exactly reversing. Due to this feature, the output gear, whether internal or external, need only be as long as necessary for the desired output angle. In other words, the output gear may be fan-shaped instead of circular. This is particularly advantageous if the intended output angle is 180° or less. Summary of Rotational Output Methods When considering each of the embodiments of the rotational output methods described above, it can be seen that mechanical combinations can be classified into groups of interchangeable mechanical configurations. The drive connection uses a chain and sprocket or two interlocking gears, and the output gear has internal or external teeth. The rotational power from the prime mover is supplied on an axis _A1 that rotates along a path at a certain distance from the drive surface of the output gear or sprocket, or on an axis that moves along a path that almost crosses the drive surface. Do it on A ₂ . Axis _A1 is the link between coaxial line _A1 and axis _A4 , which is the center of the output gear or sprocket,
It is guided along a path at a fixed distance from the drive surface by a four-bar linkage or by an annular groove in the output gear or sprocket. Axis A ₂ is the axis
A simple link between A ₂ and the fixed axis A ₃ of the frame, a four-bar linkage, or a groove or sliding device in the frame to connect the drive surface of the output gear or sprocket. You will be guided along an almost transverse path. Furthermore, the axis _A4 , which is the center of the output gear or sprocket, may be concentric or eccentric with respect to the axis of the output shaft, which is the axis _A5 when different from the axis _A4 . Note that the total number of combinations derived from these is extremely large, and although each specific combination is shown in one or more embodiments, these are not all of them.
That is, any combination including those not shown does not depart from the spirit of the present invention, and all combinations can be constructed based on each of the embodiments described above.

[Brief explanation of the drawing]

FIG. 1 is a graph showing the velocity and acceleration of a typical string motion, FIG. 2 is a graph showing the velocity and acceleration of a typical cycloid motion, and FIGS. 3 to 6 show an embodiment of the present invention. Figure 3 is a side view, Figure 4 is a sectional view taken along line 4-4 in Figure 3, and Figure 5 is Figure 3.
-5 line sectional view, Figure 6 is a sectional view taken along line 6-6 in Figure 3, Figures 7 to 9 are the starting point of this embodiment,
10 and 11 are graphs showing the acceleration rate and velocity rate obtained by the same embodiment, respectively. FIG. 12 is an explanatory diagram of a modification of the same embodiment. Figures 13 and 14
The figure is a diagram showing the 0 speed position at both ends in this modification, Figures 15 to 18 show other embodiments, Figure 15 is a side view, and Figure 16 is the line diagram shown in Figure 15.
6-16 line sectional view, Figure 17 is Figure 15-17-
17 line cross-sectional view, Figure 18 is Figure 15 18-18
19 and 20 are side views and top views showing modifications of this embodiment, and FIGS.
2 is a side view showing still another embodiment and 22-2
23 to 25 show still other embodiments, FIG. 23 is a side view, FIG. 24 is a sectional view taken along line 24-24 in FIG. 25, and FIG. 25 is a plan view. , 26-30 are successive diagrams illustrating this embodiment at various points in the indexing cycle;
32 shows still another embodiment, FIG. 31 is a sectional view taken along line 31-31 in FIG. 32, FIG. 32 is a plan view, and FIGS. 33 and 34 show still another embodiment. Fig. 33 is a plan view, Fig. 34 is a side view, and Fig. 33 is a plan view.
5 to 38 show still other embodiments, and the third
Figure 5 is a plan view, Figures 36 and 37 are side views,
Figure 38 is a cross-sectional view taken along line 38-38 in Figure 35.
9 and 40 show still other embodiments, and FIG.
40 is a sectional view taken along line 39-39, FIG. 40 is a plan view, FIGS. 41 to 43 show still other embodiments, FIG. 41 is a plan view, FIG. 42 is an end view,
Figure 43 is a cross-sectional view taken along line 43-43 in Figure 41.
4 to 46 show still other embodiments.
Figure 4 is a side view, Figure 45 is a top view, Figure 46 is a sectional view taken along line 46-46 in Figure 44, Figures 47 and 48.
The figures show still other embodiments, in which Fig. 47 is a sectional view taken along line 47-47 in Fig. 48, Fig. 48 is a side view,
Figures 9 and 50 further show actual embodiments, and Figure 49
The figure is a plan view, and FIG. 50 is an end view. 2,50,120... base, 6,54,140...
Output bar, 8, 56... Roller, 10, 58... Side guide, 12, 62, 132... Rack, 14, 6
6,124,160,194,222,266,
316,376,416...Motor, 18,260
...Sliding plate, 20...Sliding guide, 22,106,2
64... Holding member, 24,258... Sliding base, 2
6,200,280,322,384,434...
Drive gear, 28, 76, 126, 162, 19
6,224,226,268,318,320,
380, 418...Output shaft of prime mover, 30...Control arm, 32,202,326...Roller,
34... Groove, 40... Reaction link, 78, 128... Drive arm, 80, 130, 164, 166, 30
8,408...Gear, 100...Sliding bracket, 1
02...Plate, 104,262...Jib, 108...Spacer, 134,172,234,274,31
0,362,364,376,386,410,
424,438...link, 150,180,21
0,250,300,350,400,150
A, 250A...frame body, 152, 182, 212,
252, 302, 352, 402, 152A, 2
52A...Output shaft, 156, 168, 198, 21
8,232,270,324,436...Arm,
186, 256, 358... Internal gear, 204... Annular groove, 216, 228... Sprocket, 230...
Chain, 328... Groove, 330, 332... Rail, 378... Eccentric plate, 382... Eccentric shaft.

Claims (1)

[Claims] 1. Frame bodies 2, 4; 50, 52; 120, 122;
150; 210; 250; 300; 350; 40
12; 62; 132; 166; 186; 21
Output member 6; 54; 132, 134, 140; 16 with 6; 256; 308; 358; 408;
2,164; 182,186; 212,216;
252,256; 302,308; 352,35
8; 402, 408 and a first drive member 26; 80; 130; 164; 20 rotatable about a first axis _A1 spaced from the drive surface of the output member;
0;228;230;280;322;384;
434, and a second drive member 32; 42; 76; 126; 170; 19 which is eccentrically fixed to the first drive member and rotatable around a second axis _A2 .
6;236;268;326;380;440;
and the output member and the first drive member are drivingly connected via the drive surface, and the first drive member moves along a path in which the first axis _A1 is equidistant from the drive surface of the output member. the second drive member and the frame are interconnected, and the second drive member is relative to the second axis A ₂ along a path in which the drive surface intersects the drive surface of the output member. a reversible rotary prime mover 14 guided to move in a direction and having an output shaft drivingly coupled to one of said drive members;
66;124;160;194;222;26
6; 316; 376; 416; a device 34; 100; 258; 328 for restricting the first axis _A1 or the second axis _A2 to a certain passage close to the passage of the output member; 370;
424, wherein the prime mover makes an output shaft movement corresponding to an input angle greater than 180° and less than 360°, and the drive connection in the drive plane between the first drive member and the output member is such that the drive connection at the drive plane corresponds to the working stroke of the output member. The first axis is such that a straight line passing through both the first and second axes A ₁ and A ₂ at the start and end times is perpendicular to the driving surface of the output member.
The above two drive members and output members are symmetrical and inclined at equal acute angles with respect to a straight line passing through A ₁ as follows equation (1) φ=arc cos(R/R ₁ )...(1) (where The power transmission device is characterized in that it has the relationship shown in the formula (where R is the radius of the first driving member, _R1 is the distance between the first and second axes, and φ is the angle thereof). 2. The power transmission device according to claim 1, wherein the first driving member is connected to the rotating prime mover. 3 The second shaft _A2 is connected to the rotating prime mover,
Power transmission device according to claim 1, characterized in that said second axis _A2 moves along said path substantially transverse to the drive surface. 4. The above-mentioned patent claim characterized in that the device for restricting the first axis A ₁ or the second axis A ₂ to a certain passage close to the passage of the output member is a sliding guide 34; 100; 258; 328. The power transmission device according to any one of the ranges 1 to 3. 5 a link 370 in which a device for restricting the first axis A ₁ or the second axis A ₂ to a path close to the path of the output member is connected to the frame by one or more connecting rods; ;424. The power transmission device according to any one of claims 1 to 3, characterized in that: 6. Claims 1 to 5, characterized in that the output member performs a rotational movement, and the drive surface 166; 256 of the output member is arranged eccentrically with respect to the output shaft _A5 . The power transmission device according to any one of the above. 7. The power transmission device according to any one of claims 1 to 6, wherein the first drive member is formed as a toothed fan-shaped portion.