RU2238456C1 - Adaptive ball-screw drive - Google Patents

Abstract

FIELD: mechanical engineering.

SUBSTANCE: drive has axially aligned transmissions two of which transform motion and have driving links and driven links connected with them through the rolling bodies. The screw transmissions are provided with screw and ring grooves. The driven links are rigidly interconnected and are connected with the hub of the wheel of a vehicle and mounted for rotation around their axis and connected with the frame of a vehicle. Two other screw transmissions provided with the driving levers have two driving links interconnected in pairs via the rotation bodies. The driving links are mounted for engaging the driving links.

EFFECT: enhanced efficiency.

55 cl, 47 dwg

Description

The present invention relates to techniques for communicating rotational motion to an object, and more particularly, to an adaptive transducer of mechanical movements. The present invention can be used in many fields of mechanics. It will find the best application as transducers of muscular movements in vehicles, namely in bicycles, cycle cars, wheelchairs, in cars, trainers, in attractions, in water and air vehicles, and so on. In the energy sector, the present invention can be used, first of all, as converters in wave, wind and tidal power plants.

A well-known muscular vehicle drive (PCT / RU 95/00062), comprising coaxially mounted helical gears, one of which is a motion converting device and contains at least one driving link and one driven link connected through the rolling bodies with rotation around its axis and associated with the actuator. Another helical gear is a drive gear, serves as a mechanism for creating axial force and provides torque. The drive gear contains at least one drive link and one support link, interconnected by means of rolling elements, while the drive link is installed with the possibility of interaction with the leading and driven links of the converting helical gear and is connected to the application unit and changes in axial force. As an application node, a lever with a variable shoulder length and / or a lever system is used.

A converter of this type can work both as a multiplier and as a reducer, to smoothly change according to the necessary law or multistage in wide ranges at the same time all the parameters and characteristics of mechanical motion - speed, torque, and most importantly, the acceleration of the driven link with the automatic creation of inertial rotation. This converter can work both with rigid and with free kinematic connections: freely change the amplitude, frequency and range of drive movements.

The known drive is not well suited for the efficient transfer of human muscular energy: to change the parameters of movement, it uses additional means or devices that require switching during operation, distracting the attention of a person, which can lead to an emergency.

The present invention is based on the task of creating an adaptive ball screw drive, providing the choice of the necessary power modes of operation of the drive with the highest efficiency of transmission of muscular energy from a person to the drive under changing driving conditions by providing free and fast movement of the drive arms and / or changing the direction of the forces acting on them .

The problem is solved in that in an adaptive ball screw drive containing coaxially mounted helical gears, two of which are motion converting and contain driving links and driven links connected through them through rolling bodies, one of which is made with helical grooves, and the other with ring grooves grooves, while the driven links are rigidly connected to each other and to the wheel hub of the vehicle, mounted to rotate around its axis and connected to the frame of the vehicle, and two other screw gears with drive levers, which are drive and serve as a mechanism for creating axial force and provide torque and acceleration, contain two drive links and two support links pairwise interconnected by rolling elements, and the drive links are installed with the possibility of interaction with the leading links transforming helical gears on surfaces with rolling and / or sliding friction, according to the invention, the drive links are interconnected with the possibility of joint movement, and PORN units associated with driving levers and are pivotable relative to the drive axis and each other.

This design allows you to transfer the muscular energy of a person to the drive with maximum efficiency, provides uniform or accelerated rotation of the driven link under the action of constant and / or continuously changing driving forces in each cycle. When acting on the drive levers with multidirectional forces, the reciprocating movement is converted into a one-way rotational movement, when both levers act by forces of one direction, they move freely from one mode (range) of movements to another, while it does not affect inertial rotation. Modes of movement are characterized either by obtaining maximum torques (due to operation at the largest lever arm), or by obtaining high speeds of rotation of the driven link (due to a significant angle of rotation of the lever). This allows you to avoid excessive movements of the legs or arms with a constant lever length, smoothly switch from a mode with high torques to a mode with increased speed of rotation and, if necessary, freely move the levers to a mode with the necessary technical characteristics with optimal work of muscular forces.

The drive links can be installed with the possibility of joint rotational motion and / or reciprocating motion. In addition to quickly changing the operating modes of the drive, this makes it possible to create and transmit increased torques directly to the driven links.

The drive links having threads of different directions can be rigidly connected to each other, and support links having threads corresponding to the threads of the drive links are rotatably mounted on a common axis connected to the frame and are rigidly connected to the drive levers. This allows the use of vehicles with lower stiffness frames and lighter.

The supporting links, interconnected by the bearing axis with the rolling bodies, and with the frame of the vehicle through rolling bearings, allow all reactions from the forces of the drive forces to be locked in the bearing axis and not transmitted to the frame of the vehicle.

Drive helical gears can be made with sliding friction, and driven links are made integral. This eliminates the need for additional parts and complex machining and makes it possible to use screw driven links of a simple design as a hub.

In one embodiment of the drive, the support links are connected through a bearing connection to the vehicle frame located between the driven links and the drive levers. This makes it possible to use the proposed drive in vehicles of various design modifications and hermetically isolate the wheels with a casing that does not interfere with the work of the legs or arms.

The connection between the drive links is carried out by means of a gear or spline connection and fasteners. This provides a more technologically advanced manufacturing of these parts in large-scale and mass production.

The drive and drive links can be installed with the possibility of interaction between each other on surfaces with sliding friction, which eliminates additional connections between them, which simplifies the design of the drive.

The connection between the drive links can be carried out by means of locking hooks, providing a rigid connection between them without additional connecting elements and precise alignment. In addition, this kind of hard mounting of drive links reduces assembly time of the drive and allows you to automate this process.

The drive links can be interconnected by welding, while the drive and drive links interact with each other on surfaces with rolling friction and sliding, with the possibility of adjusting the gap between these surfaces. This makes it possible to achieve minimum clearances while ensuring the operability of the drive. In addition, this provides the highest productivity in the manufacture of the drive.

In one embodiment of the drive, each support link covers a corresponding driven link and is mounted rotatably in a housing in which the driven links are rigidly connected to the wheel hub via a common shaft. This drive design can be used in a variety of vehicle designs in which wheels or other actuators are connected by a common shaft.

To ensure the ability to adjust the interference between the links when they are rigidly connected, the drive links are rigidly interconnected and the driven links are interconnected by means of end splined joints and a threaded coupling.

The drive links can be made as a whole with the possibility of interaction on surfaces with sliding friction with driving links connected by an external ball-bearing connection, while the driven and supporting links are installed in a housing made in one piece with the frame. This gives additional rigidity to the drive without the use of a tie axis.

The vehicle body can be prefabricated, which makes it possible to use the main drive links integral.

The drive levers can be fixed in the center of the drive to rigidly connected support links serving as an axis on which driven links are mounted separately with inertial rotation with a small rotation radius. In this case, the swinging movement of the levers can be converted into two independent from each other rotational movements of the driven links with different characteristics.

Driving and driving links can be installed with the possibility of interaction on their surfaces with rolling friction and sliding with the adjustment of the gaps between these surfaces by moving the drive frame, rigidly connected with the drive links. This allows you to produce parts with free tolerances in the axial direction (large interval adjustment of axial clearances).

To significantly reduce the specific loads on the balls when transmitting significant torques, the drive levers are additionally connected to the driven links by thrust ball bearings, and the driven links and the supporting axis are protected by a movable casing. In addition, this makes it possible to ensure the tightness of the drive as a whole by simple means.

The drive links can be rigidly connected to each other by means of an intermediate link, which is connected with the cradle mounted on the axis with the possibility of translational movement, while the axis is made split and connected with the frame, and the support links that are installed on it are connected with the drive levers. This design of the drive provides the addition of various forces from the drive levers and involves the independent operation of each of them to create continuous torque.

In order to ensure high efficiency with a relatively small number of parts, the drive links are made as a whole, connected with support links made in one piece with the drive levers installed in the frame housing, connected through a bearing connection to the driven links made as a whole.

The connection of the drive links with the support links can be carried out through the sliding thread. Moreover, each link of the drive is multifunctional, which leads to the least number of parts, and the use of super-lubricants will provide a sufficiently high efficiency of the drive.

The drive links can be rigidly connected to each other by means of slots, screws and nuts and are installed with the possibility of interaction with the leading links, while the supporting links are made in one piece with the levers. Such structural changes are aimed at improving the technological processes of machining and assembly.

The drive links can be installed with the possibility of interaction between each other through rolling elements enclosed in a separator made in the form of a movable sleeve. The independent work of each drive lever to convert the reciprocating screw motion into rotational one-way is combined with the possible synchronization of drive movements from unidirectional forces and, if necessary, the summation of multidirectional forces while maintaining synchronous movements.

For equal strength of the gears of the drive, the interacting links of the drive and converting helical gears have essentially the same diametrical size of the links.

In one embodiment of the drive, the support links are made in one piece with the drive levers and have rolling splines on the inner surfaces through which they are connected to the drive links, which are installed to interact with each other through the rolling bodies and connected by their internal rolling threads to the corresponding threads drive axis. This design of the drive provides reciprocating movements of the drive arms with synchronized movements from the actions of pushing forces and / or gravity without the use of intermediate links.

If the drive is additionally equipped with pivoting links interacting with the rolling splines with the drive links, while supporting links are rigidly and motionless relative to the vehicle body, and each drive link is connected to its driving link through surfaces with rolling and sliding friction, then we obtain a drive in which the reciprocating motion is first converted into a reciprocating screw, and then into a one-way rotational with inertial effect.

The drive links can be installed with the possibility of joint rotational motion and / or reciprocating motion in mutually opposite directions. This allows you to use a large number of adaptive drive options.

On the mating surfaces of the drive and support links, threads of the same name can be made, and the drive links can be connected to each other by means of a movable connection, providing reciprocating movement relative to each other in mutually opposite directions, and, in addition, on the surfaces of the leading and / or driven links can be made of the same thread. In this embodiment, it is possible to have one integral slave link with the same thread, and reduce the range of used parts by half (for example, due to the possibility of using the same thread in drive screw pairs).

In one embodiment, the drive is provided with pivoting and intermediate links, the intermediate links being installed between the leading and supporting links with the possibility of interacting with the leading links on surfaces with sliding and rolling friction, while each of the intermediate links is rigidly connected to the corresponding drive link having inner and outer surfaces are screw and slotted grooves for interaction through rolling elements with support and rotary links, and each rotary link is installed inside three corresponding support links with which it is connected by a ball-bearing connection, the pivoting links being connected to the drive levers and to each other by a ball-bearing connection and mounted to rotate relative to each other and the supporting links that are connected to the vehicle frame.

In such a drive, it is possible to change adaptation work options by changing the interaction of the intermediate links.

If the intermediate links are interconnected by a ball-bearing connection, the operation of the drive levers is fully synchronized and all adaptation properties will be aimed at increasing the benefits available in this form of movement. A ball bearing ring on both sides can be used to interact with the drive links through the balls.

Intermediate links can be installed with the possibility of one-way interaction with each other through the rolling elements. This interaction provides a summation of the acting drive forces, and, if necessary, synchronization of drive movements, while an independent two-sided action on each drive lever during movement up to half its maximum trajectory creates the most favorable adaptive operating modes.

Intermediate links can be installed with the possibility of interaction between each other through rolling elements and a compression spring. This interaction provides the widest range of adaptive properties and, in addition, under the action of the spring, the drive levers automatically return to the initial positions of the power modes, which ensures the highest torques and accelerations at the right time.

Intermediate links can also be installed with the possibility of interaction with each other through surfaces with sliding friction. When each pedal with a tuclips is independently operated (pulling and pushing forces act on the lever), when it is not necessary to synchronize movements, this interaction will occur with a one-sided action on both levers, when they are used as a support.

In addition, the intermediate links can be installed with the possibility of interaction between each other on the sliding surfaces or through the rolling bodies and interaction with the leading links on the surfaces with sliding friction and / or rolling.

Various options for the interaction of intermediate links provide a change in the adaptive properties of the drive (the possibility of braking, use as a support).

Intermediate links can be installed with the possibility of interaction with each other through elastically deformable rolling bodies enclosed in a separator moving along the inner surface of the driven links, and, in addition, each intermediate link is connected to the corresponding driving link with the possibility of interaction on surfaces with rolling and sliding friction. This leads to the possibility of one-way synchronization of drive movements and braking under the action of one-way forces.

Intermediate links can be connected to the driving links through balls with separators with the possibility of interaction on surfaces with sliding or rolling friction and have screw and splined grooves on the internal surfaces through which they are connected through the balls with the outer screw grooves of the supporting links and the outer splined grooves of the rotary links while the intermediate links are installed with the possibility of interaction with each other on surfaces with sliding friction.

In the embodiment, when the intermediate links move reciprocally to synchronize the movement and use the levers as a support while providing free (inertial) rotation of the driven link, the intermediate links can interact with each other through surfaces with sliding friction.

Leading links can be installed with the possibility of interaction with each other on surfaces with sliding friction. Independent transformative movements in this interaction can provide reliable braking of the driven links to a complete stop.

In the case when the intermediate links are installed with the possibility of interaction with each other through the rolling elements, synchronization of movements from unilateral forces can be carried out with various movements of the intermediate links (reciprocating or reciprocating).

The installation of intermediate links with the possibility of interaction between each other through the compression spring provides the possibility of independent independent movement of the drive levers during the entire course of the drive links, while the drive levers always act on the torque that returns them to their original position.

Intermediate links can be installed with the possibility of interaction with each other through a compression spring and rolling elements. This makes it possible to carry out independent movements of the drive levers up to half their stroke, followed by synchronization of movements during the entire full stroke from unidirectional, alternating forces, while at any time the levers can return to their original position.

The installation of intermediate links with the possibility of interaction between each other through a ball-bearing connection leads to complete synchronization of the movements of the drive levers, and each lever can be acted upon by multidirectional forces using gravity, while using the drive levers as a support.

The drive links can be rigidly connected to the intermediate links installed with the possibility of reciprocating movement relative to the axis of the drive and interaction with each other. In this case, two independent reciprocating movements of the rotary links are converted into reciprocating drive links with possible synchronization from one-way forces, which through the leading links is converted into continuous inertial rotational movement of the driven links.

To convert movement only under the action of unidirectional forces that create the greatest torques and accelerations, the drive links are made integrally with the intermediate links and additionally interact through an elastic element.

The support links can be rigidly connected with the frame, and the drive levers are rigidly connected with the axis of the drive, while the same thread is made in the drive screw pairs. In this case, the reciprocating motion of the levers and axles is converted into the reciprocating motion of the drive links, which with the help of the leading links is converted into continuous inertial rotation of the driven links.

The support links can be rigidly connected with the frame, the drive axis is made integral, with each part of which the corresponding drive lever is rigidly connected, while parts of the axis are mounted to rotate relative to each other, and the intermediate links are mounted to interact with each other through the spring. In this design, independent movements of the drive levers will be carried out throughout their entire course, including the power, medium and high-speed zones, and the intermediate links are multifunctional.

The intermediate links can be installed with the possibility of interaction between each other and with the corresponding support links through the compression springs, as a result of which the intermediate links return to their original position more softly (shocklessly).

To reduce the diametrical dimensions of the drive and achieve high performance drive assembly intermediate links are installed between the support links in the axial direction.

The intermediate links can be rigidly connected with the drive links, inside which they are located in the axial direction. This design allows the use of standard bearing products and convert two reciprocating motion into a continuous inertial rotational.

In one embodiment of the drive, the support links are made in the form of half shafts, rigidly connected to each other and the vehicle frame, while in the center of these half shafts, driven links are installed that can be rotated in one piece with a minimum radius of rotation, and the drive links are connected through balls with supporting links with the possibility of adjusting axial play and are rigidly connected to the drive levers. This design allows the slave unit to be integral with a minimum rolling radius, which leads to an increase in free run-out and to minimize radial play.

The drive links can be rigidly connected to the drive levers through adjusting nuts, and the housings are mounted to move along the driven and supporting links. This allows independent and simultaneous transformations during the entire stroke of the drive levers, the pedals of which must have clamps, and the task of sealing the drive is simple.

To convert two independent reciprocating screw movements into continuous inertial rotation with the possibility of braking in the lower position of the levers, the driven links are expedient to be made integral, and the housings should be placed between the frame and drive levers and made elastically deformable.

The support links can be rigidly connected to the frame in the center of the drive, and the driven links rigidly connected to the wheels are installed between the drive and drive links. Such a drive converts two independent reciprocating movements into two independent inertial rotations with the possibility of braking the levers in the upper position after idling, while braking can be performed at any time.

The drive levers can be installed with the possibility of axial movement relative to the drive links with subsequent fixation, which provides adjustment of the gaps. The design of such a drive is simple and effective due to the multifunctional purpose of each part and the possibility of changing the adaptive properties and characteristics of the drive.

The drive links can be rigidly interconnected by means of the end teeth and a threaded nut interacting with the driving links through rolling elements with separators. This arrangement of the drive will make it one of the most popular due to its adaptive properties, allowing the drive to be used in almost all muscular vehicles, as well as its low weight, rational and high-performance manufacturing technologies.

Intermediate links can be installed between the leading and supporting links in the axial direction. The adaptive properties of such a drive apply not only to the conversion of movement, but also to the braking process, the independent movement of each lever applies only to idle.

Intermediate links can be installed with the possibility of interaction with the drive links on surfaces with sliding friction. With the correct selection of conical surfaces (cone angles), it is possible to achieve the operability of the drive, the drive movements in which must be strictly combined with idle both to convert the movement and to apply braking.

In one embodiment of the drive, the driven links are integral and are a common axis of the drive. At the same time, other parts of the drive are also simple and technologically advanced, designed for mass production, and the operation of the drive due to its adaptive properties is so effective that it allows to increase the transmission efficiency of human muscular energy to the mechanism up to 90-98%, which is the main objective of the invention.

In the future, the invention is illustrated by specific examples of its implementation and the accompanying drawings, in which:

figure 1 depicts a General view of the adaptive ball screw drive according to the invention;

figure 2 - drive, in which the drive links interact with the leading links on the surfaces with sliding friction;

figure 3 - drive with prefabricated slave link;

4 is a drive in which the drive levers are located outside the frame with which they form a ball-bearing connection;

5 is a drive similar to that shown in figure 2, while the drive links are connected rigidly by splines;

6 is a drive with an adjustable gap between surfaces with sliding friction and rolling of the drive link, and the drive links are rigidly connected by welding;

7 is a drive, the driven links of which are associated with a common shaft;

Fig. 8 shows a drive, the driven and driven links of which are rigidly connected by end splines and screw bushings;

Fig.9 - drive with leading links connected by an outer ball-bearing connection;

figure 10 - drive, the accuracy of the mutual arrangement of the links which is provided by the precast housing;

11 is a drive with a Central location of the drive lever and with driven links, the rotation speed of which may be different;

Fig - the same, but with the adjustment of axial clearances;

Fig - drive with a central arrangement of drive levers and protective casings of constant shape;

Fig - drive, in which the drive and swivel links are interconnected by means of a crawler and a disk ring;

Fig - drive with links of simple forms;

Fig - drive, slave and drive links which are made as a whole;

Fig - drive, the drive links of which are made with a metric thread;

Fig. 18 is a drive, the separator of which between the drive links is made in the form of a sliding sleeve;

Fig.19 - drive with drive links reinforced with a pipe axis with standard bearings;

Fig.20 is a drive, the inner surface of the drive levers which is made with slots;

Fig - drive with swivel links that interact with the drive helical gear;

Fig - drive, in which the drive links make mutually opposite reciprocating motion, and the converting and driving screw pairs have the same thread;

Fig - drive, in which the intermediate links are rigidly attached to the drive links;

Fig - intermediate links interacting through rolling bearings (fragment);

Fig - intermediate links interacting through rolling bearings and compression spring (fragment);

Fig.26 is a drive that allows you to synchronize the movement of the drive levers and perform braking;

Fig.27 - drive with independent movements of the drive links, and when acting on both drive levers with unidirectional forces, braking can be performed;

Fig.28 is a drive that allows independent and synchronized movement of the drive levers;

Fig.29 is the same, but with the automatic movement of the drive levers in the upper position;

Fig - drive with fully synchronized movements of the drive levers, allowing you to summarize multidirectional forces;

Fig - drive, in which the drive links are made in one piece with the creepers, moving relative to the axis and interacting with each other through the compression spring;

Fig - drive, in which the drive links are rigidly connected with the rattles, making a reciprocating motion relative to the axis;

Fig - drive, the drive links of which are rigidly connected with intermediate links and are installed with the possibility of interaction between each other through the compression spring and interaction through the spring with the supporting links;

Fig. 34 is a drive with improved assembly technology;

Fig - drive with a reciprocating motion of the drive levers;

Fig - drive with slave links, made as a whole;

Fig. 37 is a drive providing the smallest possible rolling radius;

Fig.38 - drive with adjustable gaps between surfaces with sliding friction and rolling and conical casings;

Fig - drive with the location of the slave link between the drive and drive links and the Central location of the drive lever;

Fig - drive with separate protective covers;

Fig - drive with improved adaptive properties, in which the interference in the drive links is provided with end teeth and a threaded sleeve;

Fig - drive with high speed characteristics while reducing axial dimensions;

Fig - drive with intermediate links interacting with drive links on surfaces with sliding friction;

Fig - drive, the rigidity of which provides a slave link;

Fig - scheme of the power mode of operation of the drive;

Fig is a diagram of a medium mode of operation of the drive;

Fig is a diagram of the high-speed mode of operation of the drive.

The adaptive ball screw drive according to the invention comprises helical gears coaxially mounted in the vehicle body 1 (FIG. 1). The external motion-converting helical gear contains two driving links 2 and 3 in the form of screws with multi-threading grooves 4, through which they are connected through balls 5 to the separators 6 through ring grooves with two driven links 7 and 8 in the form of nuts rigidly interconnected . The internal screw drive transmission contains two drive links 9 and 10, made in the form of nuts, rigidly connected to each other, for example by welding or made as a whole, and having multiple threads of the same or opposite direction (left and right). The drive screw drive also contains two coaxially mounted relative to each other support links 11 and 12 in the form of screws connected to the drive links 9 and 10 through rolling elements in the form of balls 13. The support links 11 and 12 through balls 14 from the separators 15 are formed with the axis 16 ball-bearing connections and are rigidly connected to the levers 17 and 18, for example, spline connections, while the support links 11 and 12 are mounted with the possibility of free rotation relative to each other and the axis 16. The axis 16 is connected with the pins 19 to the housing 1 (or frame). In addition, the support links 11 and 12 form due to balls 20 with cages 21 ball bearing connections with driven links 7 and 8, which are rigidly connected to the wheel (not shown) using fasteners (screws, studs, pins). The drive links 9 and 10 through the balls 22 with the separators 23 are connected with the leading links 2 and 3, installed with the possibility of interaction with them either through the balls 22, or through the conical surface 24.

Figure 2 shows an embodiment of the drive, in which the drive links 25 and 26 (screws) of the transforming helical gear are mounted to interact with each other through the end grooves by means of balls 27 located in the separators 28. Each drive link 25 and 26 through a conical surface interacts with the corresponding drive link 29 and 30 (nut), while the drive links 29 and 30 are connected to each other via pins 31, as shown in figure 2, as well as to the support links 32 and 33 through the balls 34. The drive links 29 and 30 d lzhny they are rigidly connected to each other using a "cold welding", using the types "LOCTITE 620" polymerized compositions.

The support links 32 and 33 cooperate by means of balls 35 and separators 36 with the axis 37. In the drive and support links 29, 30 and 32, 33, rings 38 and various associated stop elements are respectively installed to prevent the balls 34 located between them from falling out. The support links 32 and 33 form ball-bearing connections with the rings 39 and 40 by means of balls 41 and cages 42 through which they are connected to the vehicle body 43.

The driven links 44 and 45 in the form of nuts are rigidly connected to each other and to a wheel (not shown) and form ball-bearing connections with the supporting links 32 and 33, while each driven link 44 and 45 has two annular grooves through which they are through balls 46 and separators 47 are connected with the leading links 25 and 26.

The support links 32 and 33 in this case, by means of splined axes 48 and screws 49, are rigidly connected to the levers 50, each of which can be connected with pedals for legs or hand grips of various designs.

Figure 3 presents an embodiment of the drive, in which the drive screw gears are made with sliding friction. The drive gears contain support links 51 and 52 and drive links 53 54, made as a whole. The driven links 55 and 56 are made integral by means of a threaded sleeve 57 and ring disks 58 and fasteners. Drive links 60 and 61 are connected to drive links 53 and 54 via ball-bearing connections 59.

A distinctive feature of the drive, shown in figure 4, is that the drive links 62 and 63 are connected to each other by end teeth and fastened with screws 64 (or studs), which is more technologically advanced in the manufacture of drives in large-scale production. The drive is coupled to the vehicle frame 65, for example, through a ball-bearing connection 66 to create an airtight casing around the wheel. The support links 67 and 68 are connected through a ball-bearing connection 66 with a frame 65 located between the driven links 69 and 70 and the drive arms 71 and 72.

The drive shown in FIG. 5 is similar to the drive shown in FIG. 2, with the only difference being that the drive links 73 and 74 (nuts) have teeth or slots on their end faces facing each other along which they are mated with a friend (without backlash or with a slight backlash) with the possibility of transmitting torque from one link to another. The drive links 73 and 74 and the drive links 75 and 76 are mounted relative to each other so that between their conical mating surfaces are formed gaps from 0.1 to 0.4 mm, necessary to ensure the operability of the drive. The drive links 73 and 74 are rigidly connected to each other with the help of locking hooks 77. This embodiment of the connection of the drive links 73 and 74 during mass production of the drive is more technologically advanced both during machining of parts and during assembly of the drive. In the mass production of drives driven links 78 and 79 (nuts), it is advisable to make teams.

In the drive shown in Fig.6, the driven links 80 and 81 in the form of nuts, each of which has from 1 to 3-4 or more bearing annular grooves, are rigidly connected to each other and form ball-bearing connections with balls with support links 82 and 83 84 and separators 85. Leading links 86 and 87 (screws) can be three to ten or more entry. At the intersections of the helical grooves of the driving links 86 and 87 and the radial grooves of the nuts 80 and 81, balls 88 are placed and, if necessary (depending on the accuracy of the manufacturing of the screw converting pair), the separators 89.

The drive links 90 and 91 (nuts) can have the same or opposite threads (left-right, left-left, right-right), are installed relative to each other with high accuracy and are connected rigidly by welding or soldering. The drive links 90 and 91 can interact with the driving links 86 and 87 not only their central parts, but also opposite ends through balls 92 located in the separators 93, and bearing rings 94, fixed with rings 95.

The support links 82 and 83 form by means of balls 96 and separators 97 ball-bearing connections with the axis 98, while in the frame or body of the vehicle they are installed using ball-bearing connections formed by rings 99, balls 100 and cages 101. In addition, the supporting links 82 and 83 rigidly fastened to the pedals or levers 102 by means of splined bushings 103 and screws 104. The drive links 90 and 91 are connected by welding, while the drive links 90 and 91 and the drive links 86 and 87 are interconnected actions between each other on surfaces with rolling and sliding friction and with the possibility of adjusting the gap between these surfaces.

7 shows one of the options for the drive, in which the outer gear is a drive helical gear, and the inner is a converting helical gear. The best application of drives of this modification are pedal boats, cycle cars, cycle scooters. In such an actuator, the driven links 105 and 106 are connected to a common shaft 107, which is mounted in a housing 108 on ball bearings. The support links 109 and 110 form a ball-bearing connection 111 with the housing 108 and are rigidly connected to the levers 112. In addition, the support links 109 and 110 are connected through the balls 113 to the drive links 114 and 115, interacting with the leading links 116 and 117, which are connected with the followers links 105 and 106 having left and right threads.

Each supporting link 109 and 110 covers a corresponding driven link 105 and 106 and is mounted rotatably in a housing 108, in which the driven links 105 and 106 are mounted rotatably and are rigidly connected to the wheel hub 118 by means of a common shaft 107.

On Fig presents the drive, the drive links 119 and 120 as well as the driven links 121 and 122 are rigidly connected to each other by means of end splines and threaded couplings 123 and 124, respectively.

In the drive shown in Fig. 9, the drive links 125 and 126 are made integrally with the possibility of interacting on surfaces with sliding friction with the driving links 127 and 128, and along the threads with sliding friction - with the supporting links 129 and 130. Driving links 127 and 128 are interconnected by an outer ball-bearing connection 131. The driven links 132 and 133 and the supporting links 129 and 130 are installed in a detachable housing 134 made in one piece with the frame.

The housing 135 (figure 10) can be made precast and rigid, which eliminates the use of a common axis.

Figure 11 shows the drive, in which the drive levers 136 are fixed in the center of the drive to the support links 137 and 138 which are rigidly interconnected and serve as an axis. On the supporting links 137 and 138 with the possibility of free inertial rotation with the smallest possible radius, the driven links 139 and 140 are installed separately from each other, which are made with ring grooves, while the leading links 141 and 142 are made in the form of ring screws with an external thread.

On Fig presents a drive with separate installation of the converting and driving helical gears and with a central location of the drive levers 143 and the smallest possible rolling radius of the driven links 144 and 145 relative to the supporting links 146 and 147, while the driving links 148 and 149 are ring bushings with outer circumferential grooves. The driving links 148 and 149 and the driving links 150 and 151 are installed with the possibility of interaction on their surfaces with rolling friction and sliding with the adjustment of the gaps between these surfaces by moving the drive frame 152, rigidly connected to the drive links 150 and 151.

The drive levers 153 (Fig. 13) of the vehicle, located in the center of the drive, are additionally connected to the driven links 154 and 155 by thrust ball bearings 156. The driven links 154 and 155 and the supporting links 157 and 158 are protected by movable housings 159 and 160, which have a constant form.

In the drive shown in FIG. 14, the drive links 161 and 162 are rigidly connected to each other by means of an intermediate link 163, which is connected to the sprocket 164 mounted on the axis 165 with the possibility of reciprocating motion. The axis 165 is made split and connected with the frame 166, while the supporting links 167 and 168, which are mounted on the axis 165, are connected with the drive levers 169.

On Fig presents a variant of the drive, in which the drive links 170 and 171 are made as a whole, connected with the supporting links 172 and 173, which are made in one piece with the drive levers 174 and 175. The drive levers 174 and 175 are installed in the frame body 176 connected through bearing connections 177 with slave links 178 and 179, made as a whole.

The drive links 180 and 181 (Fig. 16) can be made as a whole and are connected with the support links 182 and 183, which are made in one piece with the drive levers 184 and 185. The support links 182 and 183 are installed in the frame body 186 connected through bearing connection 187 with driven links 188 and 189, which are made as a single unit. The driving links 190 and 191 are connected to the driving links 180 and 181 through balls with separators and interact through the balls 192 with the driven links 188 and 189. Communication of the driving and supporting links 180, 181 and 182, 183 can be carried out through the sliding thread.

The drive shown in FIG. 17 comprises drive links 193 and 194, rigidly connected to each other by means of slots 195, screw 196 and nuts 197, and are mounted to interact with drive links 198 and 199. Drive screw gears are support links 200 and 201, made for integral with the drive levers 202 and 203, and the drive links 193 and 194 interact with each other through surfaces 204 with sliding friction.

The drive links 205 and 206 (Fig. 18) are installed to interact with each other through rolling bodies 207, which are enclosed in a separator 208, made in the form of a sliding sleeve. In this case, each drive link 205 and 206, having a left or right thread, through the balls 209 interacts with the corresponding support link 210 and 211 and is connected with its leading link 212 and 213, having a left or right thread. Leading links 212 and 213 through balls 214 are connected with the driven links 215 and 216, made as a whole.

As shown in FIG. 19, the drive links 217 and 218 can be connected to each other by a hollow pipe axis 219 and standard rolling bearings 220. The driving and driven links 221, 222 and 223, 224 of the converting transmission, as well as the driving and supporting links 217, 218 and 225 and 226 of the drive transmission, have essentially the same diametrical size.

On Fig presents a drive in which the supporting links 227 and 228 are made integrally with the drive levers 229 and 230 and have slots 231 rolling, through which with the help of balls 232 they are connected with the drive links 233 and 234, installed with the possibility of interaction between themselves through the body 235 rolling. In addition, the drive links 233 and 234 are connected by their internal rolling threads to the corresponding threads of the split axis 236, which is fixed and connected to the frame 237.

The drive may be provided with pivoting links 238 and 239 (Fig. 21), which interact by means of rolling splines 240 with drive links 241 and 242. The support links 243 and 244 are rigidly connected to each other and are stationary relative to the vehicle body. Each drive link 240 and 241 is connected with its leading link 245 and 246 through surfaces 247 and 248 with rolling friction and sliding, respectively, and between themselves through rolling bodies 249.

The drive links 250 and 251 (Fig.22) are installed with the possibility of joint rotational motion and / or reciprocating motion in mutually opposite directions. Moreover, they have the same rolling threads, through which they are connected with support links 252 and 253 connected with drive levers 254 and 255. Support links 252 and 253 with ball-bearing joints are connected with a single axis 256. Drive links 250 and 251 are connected by movable pins 257 and each of them has a leading link 258 and 259, respectively, which interacts with the corresponding slave link 260 and 261. The driven links 260 and 261 can be made as a single unit, since they have threads of the same direction.

On Fig presents one of the best options for adaptive ball screw drive of muscle vehicles of a new generation, in which, due to minor structural changes, it is possible to achieve significant changes in the operation of the drive arms with varying degrees of adaptation to the transmission of muscle energy by a person. In addition, the drive parts are technologically advanced and versatile.

The drive is equipped with intermediate links 262 and 263 installed between the leading links 264 and 265 and the supporting links 266 and 267 with the possibility of interaction with the leading links 264 and 265 on surfaces with sliding friction and rolling. Each of the intermediate links 262 or 263 is rigidly connected to the corresponding drive link 268 or 269, having screw and splined grooves on the inner and outer surfaces for interaction through rolling bodies with support links 266 and 267 and with pivot links 270 and 271. Each of the pivot links 270 or 271 is installed inside the corresponding support link 266 or 267, with which it is connected by ball-bearing connection 272. In addition, the rotary links 270 and 271 are interconnected by ball-bearing connection 273 and are installed with awn rotation relative to one another and the support members 266 and 267 which are connected to the frame 274.

The driven links 275 and 276 are made in the form of nuts with a six-entry left and right thread and are rigidly connected to each other and to the housing 277, which is made in the form of a wheel cage. The driven links 275 and 276 are connected through balls 278 with a diameter of 5 mm to the driving links 264 and 265, which have two pairs of outer annular grooves and are installed to interact with each other through double-row cages 279 with balls 280 and a bearing ring 281 connecting intermediate balls through 282 links 262 and 263. However, the intermediate links 262 and 263 can be installed with the possibility of interaction with each other through the surface with sliding friction.

The rolling splines of the drive links 268 and 269 and the pivot links 270 and 271, which interact with each other through the balls 283, are used for fastening by means of pins 284 of the intermediate links 262 and 263 and the drive levers 285.

Intermediate links 262 and 263 can be installed with the possibility of interaction with each other on surfaces with sliding friction or with the possibility of interaction, for example, by means of a ball-bearing connection.

Intermediate links 262 and 263 can interact with each other through bearing rings 286 and 287 (Fig.24), with which they are connected through rolling bodies 288, such as balls. Between these bearing rings 286 and 287, a compression spring 289 can be installed (FIG. 25).

On Fig shows a drive containing two stamped cups 290 and 291, serving as the hub of the spoke or disk wheels of the vehicle. The glasses 290 and 291 are rigidly connected to each other and to the driven links 292 and 293 in the form of threaded sleeves with multiple left and right threads through standard fasteners. Glasses 290 and 291 through rings 294, balls 295 and cages 296 form ball-bearing connections with support links 297 and 298 in the form of nuts, which are rigidly connected to the frame 299 through spline or other connections, and through their screw grooves and balls 300 they are connected to the drive links 301 and 302 having grooved grooves on the inner surfaces of the grooves and helical grooves on the outer surfaces of the grooves.

The drive links 301 and 302 through balls 303 are connected to the rotary links 304 and 305, forming between themselves an end ball-bearing connection with balls 306 and cages 307. In addition, the drive links 301 and 302 are rigidly connected to the intermediate links 308 and 309, each of which is installed with the possibility of interaction with the leading links 310 and 311 (rings) on the mating surfaces, as well as through balls 312 with separators 313 and rings 314 and 315. The driving links 310 and 311 through their annular grooves through balls 316 with separators 317 are connected to edible links 292 and 293.

Between the intermediate links 308 and 309 in the prefabricated separators 318 that keep the balls 319 from falling out, centering on the inner surface of the driven links 292 and 293 (nuts), there are balls 320 of elastically deformable material or steel.

Support links 297 and 298 with multi-thread left or right threads through double ball bearings formed by balls 321, cages 322 and rings 323 are connected to pivot links 304 and 305, which are connected to drive levers 326 through splined grooves 324 using pins 325.

On Fig-30 presents the design of the drives with various adaptive properties. The driven links 327 and 328 of the transforming helical transmission are rigidly connected to each other by the wheel hub 329, and the driving links 330 and 331 are movably connected to the driven links 327 and 328 through the balls 332 and, if necessary, through the separators 333.

Each of these drives is equipped with two intermediate links 334 and 335, each of which is installed between the supporting link 336 or 337 and the leading link 330 or 331, respectively, with the possibility of interaction with the leading link 330 or 331 on a conical surface with sliding friction, as well as through a ball-bearing connection : balls 338 and separators 339.

On the inner surfaces of the intermediate links 334 and 335, helical rolling grooves 340 are made through which through balls 341 they are connected to the outer grooves of the supporting links 336 and 337, which are rigidly connected to the frame 342. In addition, slotted grooves are made on the inner surfaces of the intermediate links 334 and 335 grooves 343, through which, through balls 344, intermediate links 334 and 335 interact with pivot links 345 and 346.

The pivot links 345 and 346 are interconnected movably by a ball-bearing connection formed by balls 347, cages 348 and rings 349. Also pivotally through balls 350 and cages 351, the pivot links 345 and 346 are connected to support links 336 and 337, and through end slots or teeth with using bolts 352 they are rigidly connected with levers 353.

Intermediate links 334 and 335 can be installed with the possibility of interaction with each other on surfaces with sliding friction, as shown in Fig. 27, or with the possibility of interaction, for example, by means of a ball-bearing connection formed by balls 354 (Fig. 28) and cages 355.

Between the intermediate links 334 and 335 (Fig. 29) there may be balls 356 and separators 357, as well as compression springs 358.

Intermediate links 334 and 335 can interact with each other through a ball-bearing connection formed by a ring 359 (Fig.30), balls 360 with cages 361.

On Fig presents a drive in which the drive links 362 and 363 are made in one piece with the intermediate links 364 and 365, which are installed with the possibility of reciprocating movement relative to the axis 366 of the drive and interact with each other. In addition, these links further interact through an elastic element 367, such as a compression spring. Each drive link 362 and 363 interacts from the inside with the corresponding support link 368 and 369, and from the outside with the drive link 370 and 371. The support links 368 and 369 are connected through the ball bearings 372 and 373 to the axis 366 and are rigidly connected to the drive levers 374. The intermediate links 364 and 365 are made as crawlers with the ability to move along the plane of the axis 366. The leading links 370 and 371 through balls 375 interact with the driven links 376 and 377, made in the form of nuts with threads of different directions.

The supporting links 368 and 369 can be rigidly connected to the frame 378, and the drive levers 374 are rigidly connected to the axis 366, while the same thread can be made in the drive screw pairs.

The drive shown in FIG. 32 contains support links 379 and 380, rigidly connected to the frame 381. The drive axis is made up of parts 382 and 383 mounted to rotate relative to each other. At the same time, a corresponding drive lever 384 is rigidly connected to each axle part 382 and 383. Intermediate links 385 and 386 are installed with the possibility of interaction with each other through the spring 387 and are rigidly connected to the drive links 388 and 389.

Intermediate links 390 and 391 (Fig. 33) can be installed to interact with each other and the corresponding drive links 392 and 393 through a compression spring 394. Additionally, springs 397 and 398 are installed between the intermediate links 390 and 391 and the support links 395 and 396.

The actuator shown in Fig. 34 allows independent and simultaneous operation of two actuating levers 399 and 400 at once, which are connected to the rotary links 401 and 402, which form an end ball bearing connection 403. Each rotary link 401 and 402 is connected through a ball bearing connection 404 to the corresponding supporting link 405 and 406. Each pivot link 401 and 402 through balls 407 form a spline movable connection with drive links 408 and 409, on which intermediate links 410 and 411 are pressed, is located s between the support units 405 and 406 in the axial direction. Each intermediate link 410 and 411 is associated with a corresponding drive link 412 and 413 through rings 414, balls 415 and conical surfaces.

On Fig shows a drive containing two glasses 416 and 417, rigidly interconnected and forming ball-bearing connections through balls 418 and cages 419 with leading links 420 and 421 in the form of nuts with left and right thread, connected through balls 422 with drive links 423 and 424 in the form of screws. Intermediate links 425 and 426 are rigidly connected to drive links 423 and 424 and movably interconnected by means of a ball bearing block consisting of a thrust bearing 427 and two angular contact bearings 428 connected by an axis 429. The drive links 423 and 424 form ball screw gears with support links 430 and 431, which are rigidly connected to the frame 432 and form ball-bearing connections 433 and 434 with cups 416 and 417. The intermediate links 425 and 426, which are located inside the drive links 423 and 424 in the axial direction, are rigidly connected to the drive roar gami 435, which are connected with the frame 432 through elastic casings 436.

36, the drive comprises support links 437 and 438 made in the form of half shafts that are rigidly connected to each other and to the frame 439 of the vehicle. In the center of these semi-axes with the possibility of free rotation installed slave links 440 and 441, made in one piece with a minimum radius of rotation. The drive links 442 and 443 form helical rolling gears with support links 437 and 438, and with the drive links 444 and 445 they are connected with the possibility of adjusting axial play and are rigidly connected to the drive levers 446. Between the drive levers 446 and the frame 439 are protective housings 447.

The drive links 448 and 449 (Fig. 37) can be rigidly connected to the drive levers 450 through the adjusting nuts 451 and the covers 452, which are mounted to move along the driven and supporting links 453, 454 and 455, 456, respectively.

The driven links 457 and 458 (Fig. 38) can be made integral, and the housings 459 are located between the frame 460 and the drive levers 461 and are made elastically deformable.

On Fig shows the drive, in which the supporting links 462 and 463 are rigidly connected with the frame 464 mounted in the center of the drive. The driven links 465 and 466, rigidly connected to the wheels 467, are installed between the drive and driving links 468, 469 and 470, 471.

The drive levers 472 and 473 (Fig. 40) can be mounted on the drive links 474 and 475 with the possibility of axial movement and their subsequent rigid fixation.

On Fig presents a drive in which the drive links 476 and 477 are rigidly connected to each other by means of the end teeth 478 and a threaded nut 479, interacting with the leading links 480 and 481 through the body 482 of the rolling elements with separators 483.

Intermediate links 484 and 485 (Fig. 42) can be installed in the drive between the leading and supporting links 486, 487 and 488, 489, respectively, in the axial position.

In addition, the intermediate links 490 and 491 (Fig. 43) can be installed with the possibility of interaction with the drive links 492 and 493 on the surfaces 494 with sliding friction.

Slave links 495 and 496 (Fig. 44) can be made in one piece and be a common axis of the drive.

The adaptive properties of a drive should be understood as a high degree of adaptation of its operation to a convenient highly efficient (high efficiency) transmission of human muscle energy in strict accordance with the law of movement of the arms, legs, back using its own weight with a free choice of drive operating modes depending on acceleration and movement conditions vehicle.

This process is two-way. On the one hand, the drive only due to the possibility of perception of optimal power pulses is able to give out all the necessary parameters of motion - acceleration, speed, torque. It is also necessary that the drive freely change the parameters of the drive movements - amplitude, frequency and range. On the other hand, thanks to this, a person has the opportunity to choose from a variety of different work options exactly what he needs at a given time. The main thing is that a person, at his will, determines, selects and acts on the drive with the necessary force in combination with the most convenient movements for this interaction - amplitude, frequency, range (freely changing - the course, number of movements, body position, legs) in which movement.

The proposed drive designs allow you to choose the most economical modes of operation of a person on muscle vehicles, i.e. it is best to use active (dynamic) and passive (static) muscular forces of a person to ensure the movement of a vehicle with a muscular drive in various modes. When using the proposed drive, for example, on a bicycle, it is possible to conditionally distinguish three modes of its operation - power, medium and high-speed.

1. The power mode is characterized by the fact that it is carried out with the largest arm L (Fig. 45) of each drive lever A, practically equal to its length R. The angle α of the rotation of the levers A is from 5 to 30-40 °, while the value of h of vertical movement in depending on the length R of the levers And can be from 30 to 120-150 mm The frequency of movements per minute can be from 15-30 to 60-120, and in some cases up to 180-220, while the torque in this mode can be in the range of 40-15 kg / m, and the speed can be from 0 to 15- 20 km / h. Accelerations caused by constantly acting gravity, pushing and pulling forces can also be significant.

2. The average operating mode of the drive occurs when the shoulder L (Fig. 46) of levers A from 100 to 75%. Lever angle α of levers A is the same as in the power mode, i.e. 30-40 °. The value of h vertical movement is also in the range of 120-150 mm The frequency of movements per minute can vary from 30 to 120 and higher, while the torque is 15-5 kg / m, and the speed is from 15 to 30-50 km / h.

3. At a high-speed drive operation mode, the arms L (Fig. 47) of levers A can vary from 75% to zero or from 100% to zero, i.e. at the end of the course, an inertial force acts. The relative angle α of the rotation of the levers And can be 75-120 °. The value h of vertical movement is in the range from 150 to 250-300 mm. The frequency of movements per minute can vary from 30 to 120 and higher, and the speed can reach 75 km / h and higher.

The division of the drive into three modes is conditional, in fact, the transition from the power mode with minimal movements to the high-speed mode with maximum or optimal movements occurs smoothly and gradually. It should be noted that with inertial motion, i.e. during rest, a person can set the pedals in the most convenient lower position for better relaxation of the legs, from which the pedals to continue working at any time can be moved to the desired position.

The proposed adaptation ball screw drive of the vehicle operates as follows.

When acting on the pedals and / or handles (not shown in FIG. 1) with legs and / or hands in mutually opposite directions (if the drive screw gears are made with left and right multi-thread), the levers 17 and 18 rotate the supporting links 11 and associated with them 12 in mutually opposite directions and through the intermediate balls 13 act on the drive links 9 and 10, which perform translational motion along the axis, while they move in each direction on their conical surfaces on the conical rhnosti drive links 2 and 3. The strength of the interaction and the friction torque occurring on the conical surfaces allow to convert translational movement of drive links 2 and 3 via the balls 5 into a rotational movement in one direction the driven members 7 and 8 and associated with them wheels. Moreover, when one helical gear (for example, drive link 9, drive link 2, driven link 7) converts the translational motion into rotational, drive link 10 of another screw drive acts on the drive link 3 under the action of a ball-bearing connection formed by balls 22 and cages 23, in the presence of a gap between the conical surfaces makes an accelerated screw movement with a direction of rotation coinciding with the direction of rotation of the driven links 7 and 8. For this, the gaps (axial backlash) between the surfaces with t by rolling and sliding friction between the driving links 9, 10 and the driving links 2, 3 should be as small as possible and ensure their reliable interaction when moving in each direction. It should also be noted that the idle energy of the leading links 2, 3 (screw movement with accelerated rotation) is always transmitted to the driven links 7 and 8, as a result of which their rotation speeds are aligned, and this is always accompanied by the automatic formation of a gap between surfaces with sliding friction.

Motion conversion will occur when the levers 17, 18 are moved relative to each other in mutually opposite directions, with each lever 17, 18 can be moved at a speed from V = 0 to V _max = gt, where g = 9.8 m / s ² .

The transformation will also occur if you move one of the levers 17 or 18, while the other lever 18 or 17 will remain in place. The proposed drive design provides a large number of options for moving the levers 17, 18 with a smooth transition from the high-speed mode of operation of the drive to the power mode with symmetric and / or asymmetric movements of the arms and legs, i.e. the adaptive properties of the drive allow you to work on it and physically prepared people and people who have flaws in physical development, and even people with disabilities without arms and / or legs.

In addition, a significant difference between the proposed drive from known designs is that, if necessary, it is possible to freely move both levers 17, 18 in any direction, while it is desirable that the speed of rotation of the levers 17 and 18 is the same, or you can act on the levers 17 and 18 with little effort so that the slight axial movement that may occur and which may result in braking is as small as possible.

The design of this drive allows you to make symmetric and asymmetric drive movements with a constant and / or changing amplitude and frequency of movements with a smooth transition of these movements from one mode to another (power - medium - speed), which allows you to effectively transfer movement energy from a person to a muscular transport drive facilities.

If the drive screw gears are made with the same multi-thread (left - left or right - right), then the conversion will occur when both levers 17, 18 move in the same direction. Such capabilities of the drive allow you to create a large number of various designs of muscle vehicles, in which the gear ratio of the drive is easily changed in automatic smooth mode.

The drive shown in figure 1 can be used on various vehicles, mainly land and water, has a wide range of adaptive properties and automatically performs the main thing - a clean inertial rotation of the wheel after the cessation of forces in one direction and automatically prevents rotation in the opposite direction - brake on the hill. When braking, jamming and faceting of balls 5 will not occur, therefore, the durability of the drive will be very high.

The operation of the drive, shown in figure 2, is characterized in that when the drive links 29 and 30 under the influence of the support links 32, 33 are moved, for example, to the left, the drive link 30 interacts with its conical surface with the conical surface of the driving link 26, which the balls 46 are driven by the driven link 45 and the link 44 connected to it. At the same time, a gap formed by moving to the left between the conical surfaces of the driving and driving links 25 and 29, respectively, allows the driving link 26 to act under the action of the ball Ov 27 move the other leading link 25 to the left. In this case, the leading link 25 rotates relative to the link 26 and makes a helical movement relative to the driven link 44 due to the presence of its own helical grooves and ring grooves of the driven link 44, between which the balls 46 roll and rotate.

It should be emphasized that the rotation of the driving link 25 occurs due to the transfer of a part of the torque from the rotating driven links 44 and 45, while their directions of rotation coincide, since the torque created at this time by the converting links 30 and 26 is much greater.

In addition, always when creating torque and rotational speed by one driving link, the other driving link will perform idle screw movement with significantly lower torque, but at a speed significantly higher than the speed of rotation of the driven links. Therefore, it is very important that the accumulated energy of the helical (mainly rotational) movement of the driving link is transferred to the followers upon termination of the converting forces, that is, the rotation energy of the driven links 44 and 45 is summed with the idle rotation energy of the driving link 25. In this drive, the energy idle of the leading link is insignificant, but the fact of energy return is important (energy is not lost, but returned). The summation of these energies occurs automatically until their rotation speeds become the same. After this, until a new transforming movement, the driven links 44 and 45 through their grooves and balls 46 act on the helical grooves of the driving links 25 and 26 so that they are pressed against each other through the balls, automatically forming gaps between the tapered surfaces of the driving and driving links 25 , 26 and 29, 30, respectively. This creates a free run (inertial rotation) of the drive, while no jamming and friction between the working surfaces and the balls does not occur. During inertial rotation of the wheel (driven links 44 and 45, driving links 25 and 26 and balls 46 and 47 rotate along with it), it is easy to move both drive levers, turning them simultaneously in one direction or another, while supporting and drive links 32, 33 and 29, 30, respectively.

The operation of the drive shown in FIG. 3 is identical to the operation of the drive of FIG. 1, but its efficiency is somewhat lower, since the drive helical gears are made with sliding friction. However, thanks to the use of modern greases, this drive is more reliable and durable.

The use of the frame 65 with the casing located between the wheel and the drive levers 71 and 72 in the drive shown in FIG. 4 makes the work on it more comfortable both when converting movements and when moving freely.

The operation of the drives in FIGS. 5 and 6, despite some structural differences associated with technological changes in the manufacture and assembly, remains virtually the same. Less rigid installation of support links practically does not affect the high level of performance.

Figures 7-10 show drives whose operation is the same as previous drives. Some of their structural and technological changes are aimed at their use for vehicles of various designs, for which it is such structural solutions that are most rational. Of this group of drives, the drive shown in FIG. 7 is especially distinguished, since in it the driven and driving links are located inside the drive, and the drive screw pairs are located outside. One of the most important advantages of such a drive is that the radius of interaction of the conical (drive) surfaces is increased, and the drive levers 112 are located along the radial axis of symmetry in the center. This design is applicable in many vehicles, such as pedalo, cycle bikes, cargo bicycles, special scooters. A variety of drive options for muscular vehicles make it possible to create even more diverse and special vehicles and other devices.

In the drive, shown in Fig.11, the drive levers 136, made with a variety of sites (rocking chairs), can make reciprocating movements with a free change in amplitude, frequency, range. So, when you turn the screw axis, rigidly connected with levers 136 (platforms), consisting of two support links 137 and 138, the drive links 137a, 138a, making translational movements, act on the conical surfaces of the driving links 141 and 142, which create independent rotation the driven links 139 and 140. The presence of two wheels on the driven links with independent rotation give the drive stability and provide the ability to turn in any direction both when moving under the influence of forces, and during inertial movement. Drive screw pairs can be made with various combinations of threads (left - right, right - left, left - left, right - right). Depending on this and the movement on the drive, you can get different: continuous inertial; one-way inertial with rotation in one or the other direction.

The operation of the drive shown in FIG. 12 is similar to the drive described above. The execution of driven links with threaded and leading links with ring grooves may affect the fact that with the same drive sizes and ball diameters used in the conversion pairs, the gear ratio will be different (rotation speed and torque). In some designs, it is advisable that the drive levers 143 act as a frame, and the frame functions as two levers, to which a person will exert forces through the pedals and / or handles and with which he will act completely independently, choosing the best adaptive modes.

In the drive of FIG. 13, the exchange of functions of the frame and drive levers is also possible. But in this embodiment, better performance is ensured by better tightness and rigidity. It should also be noted that when the drive levers 153 are combined, the reciprocating motion is converted to rotational. In the case where the levers 153 become a frame, two independent reciprocating movements are converted into continuous rotation.

The operation of the drive in Fig. 14 is also possible in the case where the drive arms 169 will oscillate, asynchronous and synchronous in each direction (depending on the direction of the threads), while the driven links 161 and 162 will oscillate, which are converted into rotational motion. Thus, this design makes it possible to use threads in various directions in drive and converting helical gears and, depending on this, to obtain various combinations of movements with drive levers. If the drive levers 169 are interchanged with the frame 166, then during the reciprocating movements of the levers 169, the drive links 161 and 162 will only perform reciprocating movements that are converted into rotational ones. Thus, it is possible to have different output technical characteristics of the drive only due to the fact that it is possible to change the functions of the drive levers and frames.

The drive shown in FIG. 15 converts strictly defined movements by which a person will act only on the drive levers 174 and 175. This is a simpler version of the drive in FIG. 1, which works in exactly the same way if the drive links are like , are made with threads of different directions, and the actuating levers act strictly in different directions. In this case, a continuous rotation of the driven links with an inertial effect is obtained. When acting on levers 174 and 175 by unidirectional forces, motion conversion does not occur, the levers only move. Variants of work are possible when multidirectional forces exert great pressure on the conical surface of the driving link and, under such an action, turn both levers in the same direction with different angular velocities. Due to this, a wide range of technical characteristics of the drive is obtained, which is good to use when accelerating and / or riding uphill. The adaptive properties of the drive make it possible for a person to adapt to the operation of a mechanism that provides the characteristics necessary for movement.

The drives in FIGS. 16 and 17 are able to operate similarly to the drives shown in FIGS. 1 and 15 and have different technical characteristics depending on the angle of inclination of the helical gears with sliding and rolling friction.

The drive shown in Fig. 18 is designed so that work on it can be carried out by each lever both independently of each other and synchronously from the pulling forces, that is, when, for example, the drive link 205 idles (acts on the drive link through rolling bodies), at the same time, it acts through balls 207 on the drive link 206, which makes a working stroke acting on the conical surface of the drive link 213. Thus, two reciprocating movements, synchronized or independent, by pulling x and pushing forces are converted into continuous inertial movement of the driven links 215 and 216. With the simultaneous action of pushing forces on the levers, they can be used as a support. It is also possible to act on the drive only with pushing forces and at the same time synchronize the movements of the levers, transmitting working forces through the balls 207, that is, the transformation will occur under the action of the lever rising up. Such a variety of actions and interactions is possible against the background of a free change in the amplitude, frequency, range of motion of the drive levers. To obtain a certain type of work on the drive, the drive and converting helical gears must be performed with a specific thread direction, and to obtain the initial technical characteristics, it is necessary to correctly select the number of approaches, the angle of inclination, the number of balls and their diameter.

On Fig shows a drive that fully synchronizes the movement of the drive links 217 and 218, and hence the drive levers, which can make reciprocating movements with rotations in mutually opposite directions or in any one direction, depending on which thread directions will be executed on drive pairs. In order to obtain one-way continuous rotation, the driven links 223 and 224, like the driving links, must have threads of different directions (left, right). When their relative position should be taken into account the minimum value of the ratio of torque and speed.

During operation of the drives shown in FIGS. 18 and 19, the legs and / or arms together with the drive levers must make reciprocating movements (rotation from 0 to 150 ° with simultaneous reciprocal-axial movement up to 20-50 mm), which, when increased driving frequencies become uncomfortable and less effective. Eliminate this allows the drive shown in Fig.20. To perform strictly reciprocating movements, the levers 229 and 230 are mounted in the frame housing on bearings and have rolling slots through which they interact with the corresponding external splines of the drive links 233 and 234. Using swinging movements, the levers 229 and 230 are driven back -screw movements drive links 233 and 234, which can interact with each other through an end bearing (used to synchronize the movements of the drive levers), and with leading links along conical surfaces for the floor rotation rotation. On such a drive it is very convenient to work with your own weight, moving it from one foot to another.

Similarly, the actuator in Fig.21. The difference is that the leading links 245 and 246 are threaded and are each connected to their drive link 241 and 241 through ball-bearing joints 247, and the drive links are moved along the helical axis 243, 244, which is rigidly connected to the frame. In this drive, it is also possible to carry out drive movements with the axis 243, 244, which in this case is connected with the drive levers, and the links 238, 239 with the frame.

Very interesting options for drives (Fig.22) are obtained when using threads in one direction in the drive and converting screw gears. In the case where the drive screw gears have a thread of one direction (left - left, right - right), and in order for the drive links 250 and 251 to perform translational movements under the action of the support links 252 and 253, they must be interconnected, for example, movable pins 257. Now, when the levers 254 and 255 are affected by mutually opposite forces, the drive links 250 and 251 will translate in mutually opposite directions. In this case, the leading links 258, 259 associated with them will move relative to the driven link having a thread of one direction and will create a continuous inertial rotation. That is, in these embodiments, it is possible to have a common driven link with a left or right thread.

With the simultaneous rotation of both levers in any direction, the movement will not occur, that is, in the same way as the drives in Fig. 1, it becomes possible to freely move them to correctly select the operating mode.

The drive shown in Fig.23, contains intermediate links, a change in the interaction between which leads to a change in the adaptive properties of the mechanism and the emergence of new properties. When the intermediate links 262 and 263 are connected by a bearing ring 281 with balls mounted in cages of various designs, the movements of the drive levers 285 will be fully synchronized and each of them can be double-acting, and at any time they can be used as a stop while maintaining the inertial rotation of the driven links 275 and 276 with the hub 277. Two reciprocating movements of the drive arms 285 with pivoting links 270 and 271 are converted into mutually opposite screws the movement of the drive links 268 and 269 together with the intermediate links 262 and 263, under the action of which through the leading links 264 and 265, a continuous inertial hub 277 is obtained.

If the ring 281 is replaced by two rings 286 and 287 (Fig.24), then the nature of the drive will change significantly while maintaining the possibility of synchronized movement of the drive levers under the action of one-sided forces for the entire maximum stroke (full range of movements), that is, such movements are advisable to achieve and maintaining maximum vehicle speed at a freely changing frequency. However, at the initial moments of movement (acceleration) and / or when driving uphill, it is possible to make independent simultaneous and / or variable movements from a position at which the arm leverage lengths are maximum. Such movements can be made up to the middle of the full stroke of the levers, changing the amplitude and frequency of movements, and then smoothly switch over to the full stroke (maximum range of movements), but with alternating movement of each lever with the possibility of synchronization from unilateral forces.

Even more diverse interactions of drive and converting gears can be obtained if a spring 289 is installed between the rings 286 and 287 (Fig. 25). Due to the constant action of the spring 289, the drive levers always return to the positions at which they have the largest shoulder through parallel chains of links ( for various vehicles, their specific installation). Therefore, in addition to the properties possessed by the drive in Fig. 24, this drive provides automatic return of levers to their original position under the action of a spring. For this type of drive, the adaptive properties can be most clearly manifested due to the unilateral action of the spring on each lever.

The acceleration of the vehicle is directly dependent on the time of the force exerted on the lever with the largest shoulder. A quick increase in speed leads to a possible increase in the frequency of movements, so that the length of the lever arm at each moment of time is the greatest, and the application (action) of maximum forces. As the vehicle accelerates, a further increase in speed can be provided by smaller power pulses Ft, since in these drive designs the action time t can be const, changes in the power pulse occur only with the force F, which changes from static to dynamic with its different values.

The adaptation properties of the mechanism can only be discussed when a person has the opportunity to choose the most rational one from various work options, in which the least amount of energy is expended, and it is the most convenient for this mode of operation. In addition, the drive can provide effective braking with simultaneous action by two unidirectional forces, such as, for example, the drive in Fig.26.

This drive, as shown in Fig. 23, can operate in a large number of modes with a different set of adaptive properties, and with synchronized operation by the drive levers, which is achieved by alternating one-sided actions on each lever, high rotation speeds can be obtained. But, if you act on two levers at once in this mode, then the braking of the leading and, with them, the driven links will occur. This is made possible by the use of elastically deformable balls 318, the elasticities of which are sufficient to transfer forces to organize idle movement of each half of the transducer. But with a one-sided impact on both levers, the balls 318 are deformed and the chain of parts located between the leading links 310 and 311 closes and when the tapered surfaces of the intermediate and driving links 308, 309 and 310, 311 come into contact, braking occurs accordingly.

The drive of Fig. 27 and subsequent similar designs have the same adaptive properties as the drives shown in Figs. 23-25, but have improved technical characteristics (increased free run-out) due to a decrease in the diameter (22-30 mm) of the bearings of the driven links (hub wheels).

In the drives depicted in Figs. 27-30, depending on the application of the threads of the drive and converting screw pairs (left - left; right - right) and, accordingly, in another embodiment (left - right; right - left), various technical characteristics can be obtained, that is, the ratio of the number of revolutions to the torque will be different under the action of the same force and with the same movement. This ratio, depending on the angle of inclination of the helix in the gears, can be significant. So, if the thread direction is the same on the drive (link 336) and converting (link 330 and respectively links 337 and 331) screw gears, then for one complete double movement of the levers 353, the driven link 328 can make 1-1.5 turns. However, if these transmissions will have opposite threads with the same angle of inclination of the thread, then in one complete double movement of the levers 353 the slave link 328 will make 2.5-3.5 turns. In these cases, the drive operates as follows. The two reciprocating movements of the levers 353 and the rotary links 345 and 346 are converted into two reciprocating movements of the intermediate links 334 and 335 relative to the support links 336 and 337, the movements of which through the driving links 330 and 331 are converted into continuous inertial motion of the driven links 327 and 328 This drive (Fig.27) may have another technical characteristic with the same design. For this it is necessary to carry out driving movements by supporting links 336 and 337, under the action of which, taking into account that the rotary links 346 and 345 will be stationary and connected with the frame, the intermediate links 334 and 335 will make reciprocating movements, at which they will act on leading links. In this case, the driven links will rotate at a speed of 2-3 revolutions in one full double movement of the levers rigidly connected to the supporting links 336 and 337. Thus, drives with the same parts of a similar design can convert reciprocating movements with freely variable amplitude, frequency and range of motion in continuous rotation, which can have three different technical characteristics depending on the relative installation of the parts in the drive. At the same time, on the lever pedals (the length of the levers can be constant and equal to 200-300 mm or vary telescopically) during the working stroke, you can act with a force of 70 to 120 kg and above. And, besides this, depending on which links will be in contact when the internal movable blocks are closed, the drive links 330 and 331 or the intermediate links 334 and 335 of the levers will be used as supports or as a brake with one-sided simultaneous action on these levers. By creating different options for the interaction of intermediate links 334 and 335, the described properties can be changed or supplemented, providing a whole set of adaptive properties of the drive. Installing balls 354 and separators 355 allows you to synchronize drive movements (when acting on one lever, we get the rotation of the driven link and the rise of the second lever). By installing springs 358, the levers are returned to their original position. The connection of the intermediate links 334 and 335 with a ball-bearing connection 359, 360 and 361 ensures complete synchronization of the movements of both levers in both directions with the transfer of bilateral forces on them, the actions of which are summed up.

In the drive variants shown in FIGS. 31 and 32, the drive links 362, 363 or 388, 389 have the properties of creeps moving progressively relative to the axis 366 or 383, are able to make independent working movements under the action of the rotary links 368, 369 and levers 374 and idle movement under the action of the spring 367. It is also possible to obtain continuous rotation due to the reciprocating motion of the axis 366 or 382 and 383 with the motionless drive links 368, 369 or 380, 379.

On Fig shows a drive in which the reciprocating motion of the drive links 392, 393 with fixed support links 395 and 396 or the reciprocating movements of the support links 395 and 396 with translationally moving drive links 392 and 393 are converted into rotational. Such a drive has increased idle softness.

The drive in Fig. 34, having a rational design with reduced diametric dimensions, can be used in children's vehicles and in a variety of designs, including sports. This design will work best in independent drive movements with the ability to create maximum torque that occurs immediately from the simultaneous action of two levers moving from the upper starting position under the influence of the rider's own weight. For independent movements of the levers, it is desirable that the pedals be equipped with clamps. If we act in a similar way on the drive shown in Fig. 35, mounted, for example, on freight 3- or more wheeled vehicles, the speed characteristics of which play a secondary role, then for fully synchronized movements of the levers 435 making reciprocal screw movements under the action gravity (weight), as well as pulling and pushing forces that add up, the work will be quite acceptable.

The increase in power will just happen when summing up all the acting forces, although the weight of a person who alternately acts on each pedal is quite enough for effective work.

In drives (Figs. 36-40) with completely independent movements of the drive levers, it is assumed that there are tuklipsy on each pedal. The main advantages of their designs include, first of all, the minimum rolling radii (rotation) of the driven links, which can be 6-25 mm. The central location of the movable support of the driven links involves the operation of levers both inside the frame and outside, while it is also possible that the drive levers for the conversion of movements were connected with the drive or support links. The ability to convert the movements of the drive or support links into a continuous inertial rotational will allow you to create a large number of various vehicle designs.

The design features of the drive depicted in Fig. 41 make it more perfect: with its smaller dimensions, the technical characteristics are higher. First of all, the leading links 481 and 480 are made not with threaded but with ring grooves, due to which the axial size of the drive is reduced by 1/3 and / or there is the possibility of increasing the speed and load capacity. The drive links also have smaller axial dimensions and can be manufactured with the most productive in-line technology. A threaded nut (coupling) 479 with an interference fit connects the drive links 476 and 477 and perfectly organizes surfaces with rolling friction after locking. Features in the operation of the drive determine its use in many vehicles, but primarily for racing bicycles and cycle cars. This is because when using this type of drive it is very effective and with the achievement of high results, you can use a large power reserve of athletes. When installing such a drive on a bicycle to the action of mutually opposite forces, the sum of which, with a small amplitude of movements, can be 200-350 kg, the weight of the cyclist is added. Such a drive makes it possible to smoothly switch from power to high-speed operating modes, in which the value of vertical movement will remain optimal and amount to 100-250 mm, as well as to rest the athlete during the inertial movement more intensively, since he can take relaxing symmetrical postures with legs straightened . For further movement, parallel movement of both levers into the required working area and the resumption of work with the optimal amplitude and frequency of movements are possible.

More efficient operation of the drive is possible on a cycle mobile, where hand work is added to the forceful effects of the legs. An athlete (or any person), comfortably sitting in a chair with a back with shoulders, the location of which changes relative to the axis of the drive so that when the backrest is upright, the legs work in the force zone and as the backrest is lowered, it moves and stops so that the work of the arms and legs goes into the speed zone, while the body assumes a semi-recumbent position (and for especially high-speed vehicles, it also lies down). In this case, the transformation of the body shape can occur, aimed at changing the drag coefficient, that is, the vehicle takes a more streamlined shape as the speed increases. Thus, the knee-lever mechanism of a person’s legs makes it possible to create power impulses of different sizes very economically (with low expenditures of muscle energy) so that the generated force is inversely proportional to the leg movement (amplitude of movement). With small movements (5-10 mm), it is possible to create forces at a low cost, significantly exceeding the weight of a person (from G to 2-3 G and above). With significant displacements (250-300 mm) in high-speed mode with a mutual location of the lower leg and thigh at an angle of 100-110 ° at the beginning of the course, you can act with a force of 3-5 kg with a further increase in force.

Two more drive options, mainly for cycle vehicles, are shown in FIGS. 42-43. Here, only synchronized operation with drive levers is possible, the length of which at the initial moments of acceleration and / or riding uphill is very easy to increase one and a half to two times, and as the acceleration, when the force of action can be reduced, the length of the lever decreases and the trajectory of the leg aimed at approximating the law of the knee-lever mechanism.

On Fig presents another variant of a universal drive with very small radial and axial dimensions, which is especially preferred for children's vehicles. The pedals of such a drive must be made with buckles for the implementation of two-way interaction.

для получения одного оборота ведомого звена, то есть

Поэтому силовые импульсы F×t=m×V, переходящие в количество движений, наилучшим образом передаются на привод через рычаг, имеющий определенную траекторию движения, то есть такой же закон движения, как и мускульно-рычажная система ног и рук человека (коленно-рычажные механизмы ног и рук). Таким образом, КПД передачи мускульной энергии на привод очень высок, при этом в зависимости от назначения транспортного средства возможны различные варианты адаптационной работы самого привода.Thus, the adaptive properties of the drive mechanisms allow you to choose the most economical modes of operation of a person on muscle vehicles, without making any switchings aimed at changing the gear ratio of the drive itself, but only due to appropriate changes in the operation of the legs and / or arms (amplitude, frequency and range of their movements) to receive the whole range of characteristics necessary for the movement of the vehicle - torque, speed and acceleration. This is made possible thanks to the proposed ball screw drive located in the wheel hub (or other actuator) connected to the frame (rack), the drive link of which is a pedal of various designs and a lever of constant and / or variable length. Such operation of A = S × F drive becomes possible due to several times increase (n ~ 5-10 and more) of the force acting in the mechanism (due to its high load capacity), n × F and reduction of the same amount of movement

to get one turnover of the slave link, that is

Therefore, power impulses F × t = m × V, turning into the number of movements, are best transmitted to the drive through a lever having a certain trajectory of movement, that is, the same law of motion as the muscular-lever system of the legs and arms of a person (knee-lever mechanisms of legs and arms). Thus, the efficiency of the transmission of muscular energy to the drive is very high, while depending on the purpose of the vehicle, various adaptation options for the drive itself are possible.

1. Drives having the best adaptive properties should be considered shown in figures 1-7, 41, since you can work simultaneously with two drive levers, moving them together, freely choosing the necessary power loads for transmitting power pulses with minimal movements of the legs and / or arms . At the same time, pulling and pushing mutually opposite forces can be transmitted to the levers when using their own weight. When the vehicle moves by inertia, the levers can occupy any position convenient for the legs or arms: for a cyclist, for example, this is the lowest position of the pedals that can be used as a support. The levers together can be moved to any desired position depending on traffic conditions and terrain. When using such a drive on bicycles, the pedals must be equipped with tuklipsy for power moving them up. The best use of such drives should be expected on all types of cycle cars, especially high-speed ones, which use leg and arm forces to move.

2. The drive with synchronized mutually opposite movements of the levers can be successfully used for high-speed bikes, especially track ones. The range of levers for transmitting maximum pulling and pushing forces using its own weight can be increased up to 150 ° in order to have the largest leverage shoulders in the combined mode when their middle position is combined. To transmit maximum power from a person to the drive, the pedals must also be equipped with clamps. One of the main advantages of such a drive is that pedals in any position can be used as a support to maintain balance or during short rests, such actions are not reflected in the inertial rotation of the wheel. It will be more convenient to work on the drive if you use your own weight and / or pushing forces without using pulling forces. At the same time, by pressing one pedal of the lever, the other lever automatically rises up (moves in the opposite direction), while raising a relaxed, resting leg. It is also very convenient to use your own weight at the initial moments of acceleration, moving the center of gravity from side to side, having a symmetrical reliable support under your feet. This type of drive can be used in many types of muscle vehicles, primarily bicycles, cycle cars, wheelchairs, pedal boats and others.

3. The third type of drives includes those in which the movements of each lever in the power mode are independent of each other and remain so until the middle of the stroke of the levers. With an increase in the stroke of the levers by more than half, they can be synchronized to the maximum amplitude (stroke) of the pedals. In this case, the pedals at any time can be transferred to the power mode. A convenient symmetrical middle arrangement of levers can also be used as a support for inertial movement and / or when overcoming road irregularities.

4. The third type of actuators can be classified as actuators of the third type, with each lever returning to its original position under the action of a spring.

5. The fifth type includes actuators with independent movements of levers throughout the entire stroke.

6. Drives with independent movements of the levers and the reverse stroke, which is carried out due to the spring, are of the sixth type.

7. The seventh type includes drives in which, to obtain the same torque, the pulling forces can be significantly less (2.3 - 5 times) pushing. Such drives are especially suitable for wheelchairs when driving uphill.

8. Drives 2, 3, 4, 5 and 6 of the type, in which the movements of the levers in each direction occur together, are of the eighth type.

Each type of drive can carry out swing movements of the levers.

Thus, the drive made according to the invention optimizes the process of transmitting to it the muscular energy of a person, his power impulses. Optimization of this process includes:

- bringing into conformity the law of change in the muscular forces of a person during movements of the arms, legs or other parts of the body, depending on the amplitude, frequency of movements and end positions and the required law of the vehicle, which is characterized by continuous changes in torque, speed and acceleration during one cycle of movements ;

- smooth change of the gear ratio of the drive in automatic mode, taking into account the subsequent mode of movement;

- the use of inertial forces arising from movements;

- summation of symmetrical and asymmetric muscular forces of a person;

- synchronization of symmetric and asymmetric movements of the legs and / or arms;

- providing functional braking in any position of the pedals by changing the direction of action on one of the pedals and / or on both pedals.

Efficient use of energy is made possible by the use of:

1. Screw inertial drives with a linear dependence of their input and output parameters. These include drives in which the converting helical gears are threaded with a constant pitch and during each cycle of drive movements the power and speed characteristics are changed by means of drive levers or a lever system.

2. Inertial screw drives with non-linear dependence of their input and output parameters, which is ensured by the use of threads with continuously variable pitch in converting helical gears.

3. Inertial screw drives with non-linear dependence of their input and output parameters, which is ensured by the use of threads with variable pitch in the transforming helical gears and by changing the drive movements by means of drive levers or a lever system.

The use of the above drives in the construction of bicycles, cycle cars, wheelchairs, etc. become more rational, since the drive is located in the hub of the drive wheel, and the movements are carried out along a favorable trajectory without dead spots. The cyclist has the opportunity to more effectively use their own weight when accelerating and riding uphill, to summarize the pulling and pushing movements of the legs when they are synchronized, to reduce the amplitude of movements, to brake in any position of the pedals.

In bicycle designs, it becomes possible to smoothly adjust the gear ratio and characteristics of torque, speed and acceleration by changing the amplitude, frequency and range of motion.

Using drives of the proposed designs allows you to:

- reduce the distance between the wheels, facilitate and simplify the frame;

- increase the diameter of the drive wheel while reducing the total length of the bike;

- change the design of the steering wheel;

- make the drive wheel absolutely symmetrical and more rigid and stable;

- install the drive symmetrically to the longitudinal axis of the bicycle;

- replace the saddle in some designs with the profiled surface of the whole frame;

- change the technical characteristics of the drive (having the same parts) due to the rearrangement (during assembly) of parts with different directions of the thread and / or changing the functions of the support and rotary links.

With the simultaneous action of the arms and legs of the cycle rider, the cycle car is controlled by tilting the body when moving in the direction of rotation. Using the drive in cycle cars, wheelchairs, pedal boats will allow you to create a large number of different designs.

Claims (56)

1. An adaptive ball screw drive containing coaxially mounted helical gears, two of which are motion converting and contain driving links and driven links connected through the rolling bodies, one of which is made with helical grooves, and the other with ring grooves, while driven the links are rigidly connected with each other and with the wheel hub of the vehicle, mounted for rotation around its axis and connected with the frame of the vehicle, and two other screw gears with drive levers, which are driving and serving as a mechanism for creating axial force and providing torque and acceleration, contain two drive links and two support links pairwise interconnected by rolling elements, and the drive links are installed with the possibility of interaction with the driving links of the transforming helical gears on the surfaces with rolling and / or sliding friction, characterized in that the drive links are interconnected with the possibility of joint movement, and the support links are connected with the drive lever Agami and installed with the possibility of rotation relative to the axis of the drive and each other. 2. The drive according to claim 1, characterized in that the drive links are mounted with the possibility of joint rotational motion and / or reciprocating motion. 3. The drive according to claim 2, characterized in that the drive links having threads of different directions are rigidly connected to each other, and support links having threads corresponding to the threads of the drive links are rotatably mounted on a common axis connected to the frame and rigidly connected with drive levers. 4. The drive according to any one of claims 1 to 3, characterized in that the support links are interconnected by a bearing axis with the rolling bodies, and they are connected to the vehicle frame via rolling bearings. 5. The drive according to claim 2, characterized in that the drive helical gears are made with sliding friction, and the driven links are made integral. 6. The drive according to claim 2, characterized in that the support links are connected through a bearing connection to the frame of the vehicle, located between the driven links and the drive levers. 7. The drive according to claim 1, characterized in that the connection between the drive links is carried out by means of a gear or splined connection and fasteners. 8. The drive according to claim 1, characterized in that the drive and drive links are installed with the possibility of interaction with each other on surfaces with sliding friction. 9. The drive according to claim 1, characterized in that the connection between the drive links is carried out by means of locking hooks. 10. The drive according to claim 1, characterized in that the drive links are interconnected by welding, while the drive and drive links interact with each other on surfaces with rolling friction and sliding, with the possibility of adjusting the gap between these surfaces. 11. The drive according to claim 1, characterized in that each supporting link covers a corresponding driven link and is mounted rotatably in a housing in which the driven links are rigidly connected to the wheel hub via a common shaft. 12. The drive according to claim 1, characterized in that the drive links are rigidly interconnected and the driven links are interconnected by means of end splines and a threaded sleeve. 13. The drive according to claim 1, characterized in that the drive links are made as a whole with the possibility of interaction on surfaces with sliding friction with drive links connected by an external ball-bearing connection, while the driven and supporting links are installed in a housing made in one whole with frame. 14. The drive according to claim 1, characterized in that the vehicle body is prefabricated. 15. The drive according to claim 1, characterized in that the drive levers are fixed in the center of the drive to the rigidly connected support links serving as an axis on which driven links are mounted separately with free inertial rotation with a small radius of rotation. 16. The drive according to claim 15, characterized in that the drive and drive links are mounted so that they can interact on their surfaces with rolling and sliding friction with adjusting the gaps between the surfaces by moving the drive frame rigidly connected to the drive links. 17. The drive according to clause 16, characterized in that the drive levers are additionally connected to the driven links through thrust ball bearings, and the driven links and the reference axis are protected by a movable casing. 18. The drive according to claim 1, characterized in that the drive links are rigidly connected to each other by means of an intermediate link, which is connected with a cradle mounted on the axis with the possibility of translational movement, while the axis is made split and connected with the frame, and the supporting links, which mounted on it, connected with drive levers. 19. The drive according to claim 1, characterized in that the drive links are made as a whole, are connected with support links made in one piece with the drive levers installed in the frame housing, connected through a bearing connection with the driven links made as a whole. 20. The drive according to claim 19, characterized in that the connection of the drive links with the support links is carried out through the sliding thread. 21. The drive according to claim 19, characterized in that the drive links are rigidly connected to each other by means of slots, screws and nuts and are installed with the possibility of interaction with the leading links, while the support links are made in one piece with the levers. 22. The drive according to claim 19, characterized in that the drive links are mounted to interact with each other through rolling elements enclosed in a separator made in the form of a movable sleeve. 23. The drive according to claim 19, characterized in that the interacting links of the drive and converting helical gears have essentially the same diametrical size of the links. 24. The drive according to claim 1, characterized in that the support links are integral with the drive levers and have rolling splines on the internal surfaces through which they are connected to the drive links, which are installed to interact with each other through the rolling bodies and connected by their internal rolling threads with corresponding threads of the drive axis. 25. The drive according to paragraph 24, characterized in that it is additionally equipped with swivel links interacting through the rolling slots with the drive links, while the support links are rigidly connected to each other and stationary relative to the vehicle body, and each drive link is connected with its leading link through surfaces with rolling and sliding friction. 26. The drive according to claim 1, characterized in that the drive links are mounted with the possibility of joint rotational motion and / or reciprocating motion in mutually opposite directions. 27. The drive according to p. 26, characterized in that on the mating surfaces of the drive and support links are made of the same name threads, and the drive links are interconnected by means of a movable connection, providing reciprocating movement relative to each other in mutually opposite directions, in addition, the surfaces of the leading and / or driven links are made of the same thread. 28. The drive according to claim 1, characterized in that it is provided with rotary and intermediate links, the intermediate links being installed between the leading and supporting links with the possibility of interaction with the leading links on the surfaces with sliding and rolling friction, each of the intermediate links being rigidly connected with a corresponding drive link having screw and slotted grooves on the inner and outer surfaces for interaction through the rolling bodies with the support and pivot links, and each pivot link is installed internally and a corresponding support link with which it is connected by a ball-bearing connection, the pivoting links being interconnected by a ball-bearing connection and mounted to rotate relative to each other and support links that are connected to the drive levers. 29. The drive according to p. 28, characterized in that the intermediate links are interconnected by a ball-bearing connection. 30. The drive according to p. 28, characterized in that the intermediate links are installed with the possibility of interaction with each other through the rolling elements. 31. The drive according to p. 28, characterized in that the intermediate links are installed with the possibility of interaction between each other through the rolling elements and the compression spring. 32. The drive according to p. 28, characterized in that the intermediate links are installed with the possibility of interaction between each other through the surface with sliding friction. 33. The drive according to p. 28, characterized in that the intermediate links are installed with the possibility of interaction between each other on the sliding surfaces or through the rolling bodies and interaction with the driving links on the surfaces with sliding friction and / or rolling. 34. The drive according to p. 28, characterized in that the intermediate links are installed to interact with each other through elastically deformable rolling elements enclosed in a separator moving along the inner surface of the driven links, in addition, each intermediate link is connected with the corresponding driving link with the possibility of interaction on surfaces with rolling and sliding friction. 35. The drive according to p. 28, characterized in that the intermediate links are connected to the leading links through balls with separators with the possibility of interaction on the surfaces with sliding friction or rolling and have screw or slotted grooves on the inner surfaces through which they are connected to the outer by means of balls the grooves of the support links and with the outer grooves of the rotary links, while the intermediate links are installed with the possibility of interaction with the leading links on the surfaces with sliding friction. 36. The drive according to clause 35, wherein the leading links are installed with the possibility of interaction with each other on surfaces with sliding friction. 37. The drive according to p. 35, characterized in that the intermediate links are installed with the possibility of interaction with each other through the rolling elements. 38. The drive according to clause 35, wherein the intermediate links are installed with the possibility of interaction with each other through a compression spring. 39. The drive according to p. 35, characterized in that the intermediate links are installed with the possibility of interaction between each other through a compression spring and rolling elements. 40. The drive according to p. 35, characterized in that the intermediate links are installed with the possibility of interaction between each other through a ball-bearing connection. 41. The drive according to p. 28, characterized in that the drive links are rigidly connected to intermediate links that are installed with the possibility of reciprocating movement relative to the axis of the drive and interaction with each other. 42. The drive according to paragraph 41, wherein the drive links are integral with the intermediate links and additionally interact through an elastic element. 43. The drive according to paragraph 41, wherein the support links are rigidly connected to the frame, and the drive levers are rigidly connected to the axis of the drive, while the same thread is made in the drive screw pairs. 44. The drive according to paragraph 41, wherein the support links are rigidly connected to the frame, the axis of the drive is made integral, each part of which is rigidly connected to the corresponding drive lever, while the parts of the axis are mounted to rotate relative to each other, and the intermediate links are installed with the ability to interact with each other through a spring. 45. The drive according to p. 28, characterized in that the intermediate links are installed with the possibility of interaction between each other and with the corresponding support links through the compression springs. 46. The drive according to p. 28, characterized in that the intermediate links are installed between the supporting links in the axial direction. 47. The drive according to p. 28, characterized in that the intermediate links are rigidly connected with the drive links, inside which they are located in the axial direction. 48. The drive according to claim 17, characterized in that the support links are made in the form of half shafts, rigidly connected to each other and the vehicle frame, while in the center of these half shafts, driven links are installed that can be rotated in one piece with a minimum rotation radius and the drive links are connected through balls with support links with the possibility of adjusting axial play and are rigidly connected with the drive levers. 49. The drive according to p. 48, characterized in that the drive links are rigidly connected to the drive levers through the adjusting nuts, and the casings are installed with the possibility of movement along the driven and supporting links. 50. The drive according to p. 48, characterized in that the driven links are made integral, and the casings are located between the frame and the drive levers and are made elastically deformable. 51. The drive according to claim 48, characterized in that the support links are rigidly connected to the frame in the center of the drive, and the driven links rigidly connected to the wheels are installed between the drive and drive links. 52. The drive according to p. 48, characterized in that the drive levers are installed with the possibility of axial movement relative to the drive links with subsequent fixation. 53. The drive according to claim 2, characterized in that the drive links are rigidly connected to each other by means of the end teeth and a threaded nut interacting with the drive links through rolling elements with separators. 54. The drive according to p. 28, characterized in that the intermediate links are installed between the leading and supporting links in the axial direction. 55. The drive according to p. 28, characterized in that the intermediate links are installed with the possibility of interaction with the drive links on surfaces with sliding friction. 56. The drive according to claim 3, characterized in that the driven links are made in one piece and are a common axis of the drive.

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