RU2267673C2 - Transmitting unit and differential speed converter - Google Patents

Abstract

FIELD: mechanical engineering.

SUBSTANCE: transmitting unit comprises races (42) and (43). Race 43 is made of a rocking washer. The surfaces of the rotation bodies that face each other are provided with closed ring ways (44) and (45) that cooperate with each other via balls (46) (rolling bodies) which are in a permanent contact with ways (44) and (45). The angle of inclination of the rocking washer should provide the ways to be inclined to each other at the site of the contact with the rolling bodies at an angle less or equal to the angle of self-wedging of the rolling bodies.

EFFECT: enhanced reliability.

47 cl, 47 dwg

Description

The field of technology. The invention relates to the field of general engineering, and in particular to means for transmitting rotation with speed conversion, based on a mechanism with a swinging (precessing) washer, and can be used in drives of machines and mechanisms of the broadest purpose.

The prior art. Known speed converters, called and classified in different ways, but based on the same principle of gear transmission with a swash plate.

These include a wave gear end gear according to the patent application of the Russian Federation No. 94023896, IPC F 16 H 1/00. Its transmitting unit contains a swinging washer with an end gear, which is meshed with a fixed end gear. The precession of the washer is caused by a wave generator in the form of an eccentric with a pressure roller. The swinging washer is connected to the driven shaft using a spatial (or universal) hinge.

A planetary precession bevel gear (USSR SU No. 1414976), a wave transmission with rigid links (SU No. 653458), and a conical wave transmission RU No. 2145016 were constructed according to a similar kinematic scheme. Similar kinematic schemes, but with differences in the execution of individual nodes, implement speed converters according to US Pat. No. 3,525,890; No. 3,664,154; No. 4281566; No. 4,841,809; No. 5562560. Some of them have two transmitting nodes, i.e. implement a two-stage transmission.

All of the above speed converters have common disadvantages, which are determined by the gearing used in them. First of all, this is a large friction and high heat loss, especially at high speeds of rotation. In addition, only a few teeth are engaged at the same time, which limits the amount of moments transmitted by these mechanisms. Part of these shortcomings is eliminated by speed converters with nutational or precession systems of torque transmission with cam gear links through rolling bodies (US No. 4715249; US No. 4563915; SU No. 1427115). The differential speed transducer with a swash plate according to US patent No. 4563915 has a transmitting node of three links. A swinging washer with two cam elements in azimuthally periodic elements in the form of ridges and depressions located at its opposite ends is placed between two other links in the form of bodies of revolution. Cam surfaces of the swash plate through chains of balls interact with similar cam elements on the surfaces of the bodies of revolution facing the swash plate. The balls are held at a fixed angular distance from each other by a thin-walled separator with holes introduced between the interacting cam elements. The ridges and depressions are directed along the axis and are designed so that the rolling elements move along a sinusoidal curve on the surface of an imaginary sphere with a center coinciding with the center of the swash plate (and the center of the precession). However, in this device, balls located at a fixed distance will constantly engage and disengage with cam surfaces, since they are directed along the axis of the ridges, and the depressions on the end surfaces are at different distances from the center of the imaginary sphere.

This disadvantage is eliminated in US patent No. 4620456, as well as US No. 5443428. The transmitting unit of such speed converters also includes three links, one of which is a swinging washer, and the other two are bodies of revolution. The intermediate swinging washer is provided with at least one cam surface in the form of a curved raceway that engages through a chain of balls with a track on one of the rotation bodies of the transmitting unit. In patent No. 4620456, the side surface of the swinging washer is curved in a sphere, and the trochoidal raceway is made at the intersection of the side and end surfaces, or on the end surface of the swinging washer. In the case of a single-stage transducer, at the opposite end of the swinging washer, holes are made that engage through a second chain of balls with holes on another body of revolution. The rotation bodies are connected to the power take-off shaft or converter housing, respectively. To fix the angular position of the balls relative to each other when they simultaneously pass the protrusions or depressions on the mating tracks between the mating surfaces, a thin-walled separator is introduced, in the holes of which the balls are placed. In a two-stage converter on an oscillating washer, epitrochoidal raceways with different numbers of teeth are made on both sides, mating with hypotrochoidal tracks on the body and output parts.

The puck swings relative to the center of precession, which is the center of symmetry of the system, and the chains of balls are in nutrating motion, because their planes are offset from the center of the precession. The balls oscillate both in the axial and in the radial direction, i.e. when the mechanism is working, the displacement angle of the engaging parts changes, which for high-speed mechanisms leads to vibration and the problems it causes: noise and wear. In addition, raceways along epi- and hypotrochoidal curves are difficult to manufacture. Understanding this, the authors proposed to manufacture all the details of the transmission mechanism from plastic, on which raceways of complex shape can be made by stamping. Obviously, such gears are not suitable for power mechanisms, but can only be used for devices, watches, etc. products.

In US patent No. 5443428, a transducer of the same design is described, but with an even more complicated calculation and manufacture of a cam periodic surface in the form of a plurality of spherically arranged wave-shaped protrusions and depressions, designed to eliminate the slipping of balls. Two chains of balls lying on opposite sides of the equatorial line of the sphere, relative to the center of the sphere, perform only angular movements, therefore, noise and vibration are reduced. However, each chain of balls relative to the axis of the transmitting unit makes a complex motion, which consists of precession relative to the point of intersection of the plane of the chain of balls with the axis of the system and of planetary motion relative to the axis of the transducer. That is, with respect to this axis, the balls make radial movements, which leaves the possibility of noise and vibration. In addition, the special requirements for the shape of the cam surfaces make the converter of little use in power drives of mass application and manufacturing.

A known speed converter (US No. 1748907), the transmitting node of which consists of two bodies of revolution: a spherical head covered by a swinging washer. Wells are made on the inner spherical surface of the swash plate along the equatorial line. The spherical head is made with a closed periodically curved raceway along the axis on its outer lateral surface in the equatorial region of the sphere. In the holes there are balls that are in constant engagement with the curved raceway. In this transmitting unit, the center of precession of the ball chain coincides with the center of precession of the swinging washer, therefore, the chain of balls will participate only in the precessing movement, and the requirements for the shape of the curved raceway are significantly reduced. The main disadvantage of the converter is significant friction losses when the balls slip relative to the holes on the swash plate.

The invention of the application WO 008201043, which we selected as a prototype for one of the variants of the transmitting unit, is devoted to solving the problem of obtaining a transmitting unit in which rolling bodies contact periodic tracks only with pure rolling, without sliding friction. The application describes a transmitting unit of two bodies of revolution, comprising a cage covering each other and a swinging washer with mating surfaces made on a sphere. In the equatorial region of the spherical surfaces, periodic raceways are made, at least one of which is closed and curved in waves. Another raceway can be made in the form of a system of grooves spaced around the circumference, elongated along the meridians of the sphere. Engaged with raceways are engagement elements in the form of rolling bodies. For rolling bodies - balls, the number of periods of the raceways per unit differs from a multiple of four, and the number of periods of the raceways of the swinging washer and cage differs by 2. The differential speed transducer based on this transmitting unit contains the first and second shafts and the housing. The swinging washer is connected to one of these elements by a link that converts the swinging motion to rotational, and to the other of these elements, a link that transfers the rotation of the swinging washer regardless of its swinging motion. The third of the elements of the Converter is directly related to the clip. The pure rolling of the balls relative to the tracks in this invention is obtained in two ways. In the transmitting unit with meridional grooves, they are performed on the outer covering element, compensating for the difference in the distance from the points of contact of the ball with the internal and external parts to the center of the sphere, a different path traveled by the ball relative to the inclined wave front in the closed groove and relative to the meridional groove. The second way is to change the shape of the cross section of the tracks on the rise and descent. In this case, the effective rolling radius in different parts of the raceways changes, and this aligns the path traveled by the ball relative to tracks with different steepnesses of the fronts. Thus, in both cases, the goal is achieved by aligning the path traveled by the ball relative to both raceways at the same time. However, as our studies have shown, this condition is not enough to make the balls only roll when interacting with the raceways, excluding their slipping.

In addition, the prototype, like each of the above speed converters with a swash plate, has a fixed body, with which in each particular design a specific part is connected, and the transmitting unit has an internal volume limited by the body. A converter with its own housing, as a rule, is not built into the drive mechanisms, but is placed and assembled from the outside, which increases the overall dimensions of the device. Thus, the object of the invention is to develop a universal, easy to manufacture, minimum in specific weight and size characteristics and convenient for embedding in a wide variety of machines and mechanisms of the transmitting unit and speed converter.

The ball rolling condition we found turned out to be suitable not only for transmitting units with periodic raceways. Its use in ball-friction-planetary transmission units has allowed to create a whole class of simple transmission mechanisms, devoid of the main drawback of all friction gears, namely the occurrence of slippage during wear of parts. The transmitting unit of the known ball-friction-planetary gears (SU No. 844863, SU No. 1229484, RU No. 2010141) contains two bodies of revolution with raceways, between which rolling elements - balls are located in the seats of the separator. One of the rotation bodies is connected to the input shaft, the other to the housing or another shaft, and a separator is connected to the output shaft of the speed converter, which converts the orbital motion of the balls into rotation of the output shaft. With the simplicity of the design, the main problem of friction-planetary ball gears is the need for a pressure mechanism that prevents the balls from slipping when the transmitted moment increases or when the balls and raceways are worn during operation. Pressure mechanisms mainly use various elastic elements.

The technical result of the present invention is the elimination of slipping balls in the transmitting nodes with a swash plate. At the same time, for the friction-planetary ball gears, the problem of automatically controlling the magnitude of pressing the ball is solved without the use of special mechanisms.

The transmitting nodes made according to the invention are the basis not only for differential speed converters, they can be used independently, for example, in mixers. It is possible to create a mechanism that directly converts the energy of vibrational motion (for example, sea waves) into the energy of rotation with an increased or decreased speed of rotation. An additional technical result achieved by individual variants of the invention is its arrangement in the form of a bearing assembly, without a fixed housing, in which one of the parts becomes stationary when the speed converter is planted at its workplace.

It is simpler to understand the essence of the invention by the example of a transmitting unit with a swash plate in friction-planetary ball speed converters, therefore, we will begin the description with this embodiment of the invention.

SUMMARY OF THE INVENTION

In accordance with the invention, the transmitting unit contains two bodies of rotation, one of which is made with the possibility of two independent movements: swing relative to the other and rotate around its own axis, inclined to the axis of the other body of rotation and is a swinging washer. On the surfaces of the bodies of revolution facing each other, closed circular raceways are made, interacting with each other by means of the rolling bodies that are in constant contact with the tracks of both bodies of revolution. The angle of inclination of the swash plate was chosen so that the tracks at the point of contact with the rolling bodies have an inclination to each other less than or equal to the self-jamming angle of the rolling bodies. In practice, this angle for conventional structural materials can be taken in the range of 0.1-10 degrees. When this condition is met, the rolling bodies, for example balls, will be sandwiched between the surfaces of the swash plate and the second body of rotation without slipping and during rotation of one of them will be involved in orbital motion relative to the other. In their orbital motion, the balls act like fists on the puck, causing it to swing. Thus, the transmitting unit with the swinging washer will implement the principle of friction-planetary ball transmission, in which the planetary motion of the ball is converted into the swinging motion of the washer or vice versa. The inclination of the raceways to each other will provide automatic adjustment of pressing the ball, because as the load and the wear of the ball and raceways increase, the ball will shift in azimuth to a region of a smaller distance between the raceways.

To expand the range of gear ratios, it is advisable to make profiles of the cross section of the raceways so that the contact areas of the rolling body with the tracks are at different distances from the axis of rotation of the rolling body.

The transmitting unit with a swinging washer according to the invention can be performed in two structural modifications: disk and coaxial. In the first modification, the rotation bodies are made in the form of disks, one of which sways relative to the other. Ring closed tracks are made on the flat surfaces of the disks facing each other and are in contact with one rolling body located between the raceways. To fulfill the condition of the inclination of the raceways to each other at an angle less than the angle of self-jamming of the rolling elements, the angle of inclination of the swash plate to the axis of the transmitting unit must lie within 0.2-15 degrees. The rolling body in this assembly itself is installed in that place of the circumference of the raceways, where the distance between them corresponds to the size of the rolling body.

For the rolling body - the ball, the side walls of the raceway of any of the disks are expediently made elastically movable relative to each other. In this case, the radius of curvature of the cross section of the raceway becomes variable, and when the load changes, the point of contact of the ball with the raceway will shift from the axis of rotation of the ball. Those. we get a transmitting unit with an automatically changing gear ratio depending on the load.

In a coaxial modification of the transmitting unit, the bodies of rotation are made in the form of cages and a swinging washer, each with side surfaces facing each other in the form of a spherical belt with the center of the sphere at the center of the precession of the swinging washer. In the general case, each of the raceways on the swinging washer and cage is made in the form of a system of closed annular grooves parallel to each other, lying in planes perpendicular to the axis of rotation of the corresponding part. The rolling bodies are balls located at the intersection of the grooves of the swash plate with the grooves of the cage.

In special cases, the system of grooves of the swinging washer can be represented by one groove made along the equatorial line of the swinging washer and intersecting with one or more grooves on the cage. One groove in the cage is offset from the line of the large circle of the sphere by a distance equal to half the magnitude of the swinging washer and is engaged with the groove of the swinging washer with one ball.

To obtain a system of balls balanced with respect to the axis of the cage, two annular grooves are made on the cage, located on opposite sides of the large circle of the sphere at a distance from it equal to half the swing-out span of the swash plate. The annular grooves of the cage are engaged with the groove on the swash plate by two diametrically spaced balls. The same balanced system of balls will be obtained if one groove is made along the line of the large circle of the sphere, and two balls are placed at two diametrically opposite points of intersection of this groove with the groove of the swash plate.

It is possible to combine the two above options in one design. There will be three grooves on the clip, one on the line of the large circle of the sphere and two on different sides of it at a distance of half the magnitude of the swinging washer. Four pairwise diametrical balls located on diameters perpendicular to each other will be engaged.

It is possible to combine one groove in the equatorial plane of the cage with two grooves on the swinging washer spaced from the equatorial line of the washer by a distance equal to half the span of the swinging washer.

The grooves on the clip can be made on separate and independently rotating annular elements of the clip.

It should not be forgotten that all the above ball-friction-planetary units work only if the condition imposed on the angle of inclination of the tracks to each other is met. Failure to do so will cause the balls to slip, i.e. to the violation of their frictional connection with the raceways, and the violation of the transmission of torque.

The second embodiment of the invention is implemented on transmitting units with a swash plate with periodic raceways. To achieve the indicated technical result, such a transmitting unit, as well as a prototype, comprises a cage and a swinging washer that cover each other. Their lateral mating surfaces are made in the form of a spherical belt with the center of the sphere at the center of the precession of the swash plate. In the equatorial region of the spherical belt, the raceways, periodic in azimuth, are made on the surfaces of the cage and the swash plate, at least one of which is made closed and wave-like curved in the axial direction. The tracks engage with each other through a chain of balls located at the intersection of the raceways. Unlike the prototype, the tracks at the point of contact with the balls have an inclination to each other less than or equal to the angle of self-jamming of the balls. This condition is satisfied if the angle α of the slope of the front of the periodic raceway to the equator on the swinging washer and the corresponding angle β on the cage are connected with the angle γ of the inclination of the swinging washer by the relations:

The angles α and β depend on the number of periods and the amplitude of the raceways. The amplitudes, in turn, are related to the angle of inclination of the swash plate. In any case, by varying these values, it is possible to achieve the fulfillment of conditions (1) and (2).

Compared with the prototype, in our case, the condition for choosing the number of periods of raceways also changes. The number of balls n can be any. However, with a small number of balls (within one to two tens) to obtain a balanced system of balls, it is desirable that the number of balls is even. The number of periods of the raceways N ₁ and N ₂ on the swash plate and cage are related to the number of balls n by the ratios: N ₁ = kn ± 1; N ₂ = qn ± 1, where k and q are integers or numbers of the form 1 / m, where m is the number by which the number of balls is divisible without a remainder. Expanding the range of possible numbers N ₁ and N ₂ , not only provides an extension of the range of gear ratios for one node with a certain number of balls, but also increases the number of combinations of periods of the raceways, under which the condition of ball self-jamming is fulfilled. It is appropriate to note here that the friction-planetary transmitting unit described above of the coaxial configuration is, in fact, a special case with the number of periods of the raceway on the swash plate N ₁ = 0 and with the number of periods on the cage N ₂ = 1.

Periodic raceways on both parts can be closed wave-curved. The raceway on one of the parts can be made open, in the form of a system of grooves spaced around the circumference, elongated along the meridians of the sphere.

To increase the functionality of the transmitting unit, the cage is cut along the midline of the curved raceway, forming two independently rotating cage elements. The raceway on each of the elements is a system of half-waves made with a different number of periods.

Differential speed converter based on the described transmitting nodes contains three shafts. The swinging washer of the transmitting unit is connected with one of the shafts by a mechanism for independently converting its swinging motion into rotation of the shaft and vice versa, with a second of the shafts of the transmission mechanism of its rotation about the inclined axis regardless of its swinging motion. A second rotation body of the transmitting unit is directly connected to the third shaft.

For ball-friction-planetary transmitting units in a disk configuration, the mechanism for converting the swaying motion of the washer into rotation of the shaft and vice versa is made in the form of a face cam interacting with the swiveling disk through the bearing, and the second shaft is a gear housing and is connected to the swash plate by a device to prevent its rotation.

For transmitting units of coaxial design, it is advisable to make all shafts coaxial and hollow, forming a coaxial design of the cages in the form of a bearing unit.

A converter with a transmitting unit, in which the cage consists of independently rotating elements, is equipped with additional shafts that are directly connected to these elements.

A mechanism for independent conversion of the swaying motion of the washer into the rotational motion of the first shaft, and vice versa, can be an oblique crank shaft on which the swash plate is seated through the bearing. Any of the friction-planetary ball transmitting units of coaxial design, implemented on the same swinging washer from the side opposite to the main transmitting unit, can also serve as a mechanism for converting a swinging motion into a rotary one. Then the first shaft of the converter will be the holder of the friction-planetary unit.

The mechanism of independent transmission of rotation of the swash plate to the second shaft can be made in the form of a cross, a system of flexible rods or hinges, in the form of a universal joint or bevel gear.

Coaxial transmitting units allow the creation of two-stage speed converters without a significant increase in size. The steps can be arranged sequentially along one axis or spanning each other (coaxial design of a two-stage converter). The two-stage coaxial converter, in turn, can be made in two versions.

In the first embodiment, the transmitting nodes of both stages use the same swinging washer. To do this, on the swash plate of the first transmitting unit from the side opposite to this unit, the transmitting unit of the second stage is assembled, i.e. a system is formed of three elements successively covering each other: a clip, a swinging washer, and a clip. The second transmitting unit in this case simultaneously performs the function of a mechanism for transmitting the rotational motion of the swash plate to the converter shaft, which is connected directly to the holder of the transmitting unit of the second stage. As a mechanism for converting the swaying motion of the washer into rotational and vice versa, not all of the above-described means can be used, since some of them use the second side surface of the swash plate, which in this case is occupied by the second transmission unit. A special mechanism has been developed for this converter, which consists of two hollow shafts inserted on bearings between the inner and outer cages of the converter from opposite ends. Each of the shafts is made with the same oblique crank. The swing washer is seated on both crank shafts using bearings. Hollow shafts can also be made with end cams interacting with the ends of the swash plate through thrust bearings.

In the second embodiment, the two-stage converter is composed of two separate transmitting nodes enclosing each other. The swash plates of both nodes face each other. The mechanism for converting the swinging movement of each of the washers into a rotational one is a hollow shaft inserted between the swinging washers of both stages and having elements on the side surfaces facing the swinging washers that cause the washers to precess. Such elements can be oblique cranks with the same or opposite inclination, on which swinging washers are mounted through bearings. With the same slope of the oblique cranks, the washers swing synchronously, with the opposite - in antiphase. The elements that cause the precession of the pucks can be done differently. On the side surfaces facing each other in each pair, a hollow shaft is a swinging washer, an annular groove and an annular protrusion are made, mating with each other by means of two diametrically opposite balls. Balls are located between the walls of the groove and the protrusion on opposite sides of the latter. The washers of both stages are connected to each other by a rotation transmission unit, so that the transmitting unit of the second stage simultaneously functions as a mechanism for transmitting the rotational motion of the swinging washer to the shaft directly connected to the holder of the transmitting unit of the second stage.

A two-stage speed converter can be made of two transmitting nodes of a coaxial configuration located sequentially one after another along the same axis. In this case, the swinging washers of both stages are connected by a rotation transfer unit between the parallel shafts, and the mechanisms for converting the swinging movement of the washers into rotation of the shaft can be performed in the same way as for a single-stage converter, and must ensure synchronous precession of the washers. As a result, the swinging washers during the precession are parallel to each other. Such a converter with external similarity to the two-stage converter according to US patent No. 5443428 differs fundamentally from it in that the periodic raceways on both swinging washers are located in the equatorial region. That is, the chains of balls of both steps participate in the precession with respect to a point lying in the plane of the chain of balls and there is no nutting component in their motion. This greatly simplifies the requirements for the shape and accuracy of the raceways to completely eliminate noise and vibration.

The rotation transfer unit between the parallel shafts can be made according to any of the known schemes. A mechanism with parallel cranks is well suited for these purposes. Most preferred from the point of view of reducing friction losses is a mechanism with parallel ball-crank cranks, as, for example, in US patents No. 4829851 or US No. 4643047. The same assembly can also be made in the form of a shaft with which each of the swinging washers is connected by a cross. An original mechanism has been developed for the latter converter to convert the swaying motion of the washers into rotational motion and vice versa. It is a cage located along the axis between the steps of the transducer and provided with an outer annular protrusion. The cage is made with two oblique parallel cranks, on which swing washers are mounted with bearings. The annular protrusion extends beyond the outer casing of both transmitting nodes of the Converter and its outer rim is made as an element of a worm, bevel gear or friction gear. Such a mechanism transfers the swaying movement of the washers to the shaft, the axis of which is perpendicular to the common axis of the transmitting nodes. That is, the speed converter is designed to transmit rotation between the crossing shafts.

A two-stage speed converter with a sequential arrangement of steps can be performed with washers swinging in antiphase. In this case, the swinging washers of both steps are connected by a rotation transmission mechanism between the inclined shafts, and the swinging transmission mechanism provides antiphase precession of the washers.

It should be noted that the speed converters made according to the invention are effective only at small angles γ of inclination of the swash plate. Otherwise, to transfer rotation between parts inclined to each other at large angles, a mechanism is required that will significantly reduce the effect of the absence of slipping of balls in the transmitting unit itself. At the same time, for some versions of the transmitting node, the angle γ for fulfilling relations (1) and (2) may turn out to be quite large. To avoid this contradiction allows the transmitting node with a swinging washer, in which both cages are swinging washers. In this case, in relations (1) and (2), the angle γ should be understood as the angle of inclination of the washers to each other. At the same time, each of the washers has an inclination to the axis of the transmitting unit that is two times smaller. Accordingly, the angle in the rotation transmission mechanism decreases.

Such a transmitting unit can be the basis of many different schemes of differential speed converters with different functionalities. In general, a differential speed transducer comprises at least three coaxial hollow shafts forming a coaxial cage structure in the form of a bearing assembly, as well as a transmitting assembly with two swinging washers. The swinging washers are connected to one of the shafts by a mechanism for independently converting the swinging motion into rotational motion and vice versa, and with the other two shafts the washers are connected by rotation transmission units between the inclined shafts.

The precession of the swinging washers can be excited in antiphase. The speed converter in this case will work similarly to the converter with one swinging washer, only the angle of inclination between the washers, which determines the angular characteristics of the raceways, will be equal to the sum of the precession angles of each of the washers. This modification allows you to reduce the precession angle of each swinging washer while maintaining the same angle of inclination of the washers to each other. This simplifies the requirements for the mechanisms for converting the oscillating motion of the washers into rotational motion of the shaft and improves their working conditions. At the same time, a decrease in the angle of precession, i.e. the angle of inclination of each washer to the axis of the converter, simplifies the requirements for the transmission units of rotation between the inclined shafts and allows them to transmit a higher moment, all other things being equal.

The mechanism for converting the swinging motion of the washers in this case can be made in the form of two coaxial hollow shafts connected to each other, one of which is located outside the outer swinging washer, and the second inside the inner swinging washer. In each pair, the hollow shaft is a swinging washer on their lateral surfaces facing each other, a raceway and an annular protrusion are made, mating with each other by two diametrically opposite balls located between the walls of the groove and the protrusion on opposite sides of the latter. The balls in each pair are arranged so that the washers have an opposite inclination.

The same result can be achieved if oblique cranks with opposite slope are executed on the surfaces of the hollow shafts facing the swinging washers, interacting with the swinging washers through bearings.

To expand the functionality of the converter, the mechanism for converting the oscillating motion of the washers into rotation of the shaft should be made of two separate, independent from each other elements, each of which is connected with a separate shaft of the converter. The resulting converter will have an additional input shaft. If the phases and velocities of the precession of the swaying washers (i.e., two input speeds) are equal, we obtain a zero velocity at the output of the mechanism. With the opposite direction of the input speeds, or with the opposite phase of the precession, the mechanism will work as a speed converter with two inputs and two outputs with a different ratio of speeds on them.

A brief description of the figures of the drawings.

The invention is illustrated by graphic materials, in which Fig. 1 schematically shows a ball-friction-planetary transmitting unit in disk modification, and Fig. 2 is a diagram illustrating in a scan the interaction of raceways and balls for this unit. Figures 3, 4, 5, and 6 show various profile designs of raceways to expand the range of gear ratios. In Fig.7 is given in cross section a General view of the speed Converter with such a transmitting node.

Figs. 8-19 illustrate various structural variants of a ball-friction-planetary transmitting unit in coaxial design, with Figs. 8, 10, 12, 14, 16, 18 showing a general view of variants of the transmitting unit, and Figs. 9, 11, 13 , 15, 17, and 19 are diagrams of the interaction of their raceways with balls.

In Fig.20 shows an axial section of the transmitting node with periodic raceways, and Fig.21 is a diagram illustrating the relationship of the angle of inclination of the swash plate, the angle of inclination of the fronts of the periodic raceways and the angle between the raceways at the point of contact with the ball. On Fig.22-27 in a side scan presents a diagram of the interaction of the raceways and balls for different versions of the transmitting node with periodic raceways. The diagrams in FIGS. 22 and 23 illustrate the possibility of fulfilling an angular condition by choosing the number of periods of the raceways at the same angle of inclination of the swash plate and the same amplitudes of the raceways. The diagrams in Figs. 24 and 25 show that it is possible to fulfill the angular condition by changing the amplitude of the raceways with the same number of periods. And finally, diagrams 26 and 27 show how you can achieve the fulfillment of the angular condition by changing the angle of inclination of the swash plate. On Fig and 29 are respectively an axial section and a diagram of the interaction of the raceways with balls for the transmitting node, in which one of the periodic raceways is made intermittent, in the form of meridional grooves spaced around the circumference. On Fig and 31 shows an axial section and a diagram of the interaction of the links of the transmitting node with a clip of two separate elements.

On Fig, 33, 34, 35 in axial section shows differential speed transducers with a coaxial transmitting node, differing from each other by mechanisms for converting the swaying motion of the washer into rotation of the shaft and the transmission units of rotation of the swash plate regardless of its swinging movement (rotation transfer between inclined shafts).

On Fig, 37 depicts a two-stage Converter with transmitting nodes of the steps implemented on one swinging washer. The converters differ from each other only in the implementation of the mechanism for converting the oscillating motion of the washer into rotation of the shaft.

The two-stage converters in Figs. 38 and 39 consist of two transmitting nodes spanning each other and differ from each other in the mechanism for converting the oscillating motion into rotation of the shaft.

40, 41, 42, 43 are various modifications of a two-stage converter with a sequential arrangement of steps.

On Fig schematically presents the transmitting node with two swinging washers, and on Fig, 46, 47 - schematic diagrams of the variants of converters based on this transmitting node.

It should be noted that all types of converter designs corresponding to the invention are not limited to the drawings.

Embodiments of the invention.

The transmitting node in figure 1 contains two bodies of revolution 1 and 2, made in the form of disks, with annular closed raceways 3 and 4 on facing each other. Disk 2 is configured to precess. For this, its rotation axis OO 'is inclined to the axis CC' of the transmitting unit, and the disk 2 rotates around its own axis of rotation OO ', and also swings relative to the axis CC' regardless of rotation, i.e. disc 2 is a swash plate. In contact with raceways 3 and 4 is a rolling body 5, in this case a ball. Figure 2 shows the interaction diagram of the ball 5 with raceways 3 and 4. The numbers 6 and 7 indicate the lines of movement of the center of the ball 5 relative to the disks 1 and 2. The angle γ of the tilt of the swash plate 2 to the disk 1 is chosen so that the angle φ between the raceways 3 and 4 at the point of contact with the ball 5 did not exceed the ball self-jamming angle. Self-jamming of rolling elements is widely used in so-called freewheels or freewheels (see, for example, Polyakov B.C., Barabash I.D. Couplings. L .: Mashinostroenie, 1973, p. 225). The angle of self-jamming is understood as the angle between two surfaces at which the rolling body rolls into the narrow part of the wedge due to frictional forces and is clamped between the surfaces. The self-jamming angle of the rolling elements depends on the coefficients of friction of the rolling element relative to the raceways, which, in turn, depend on the material and the surface finish of the bodies and raceways. As our studies have shown, the angle (it is advisable to choose from a range of 0.1-10 degrees. However, in some cases, for example, for rolling elements made of elastic material, or for raceways with a friction coating, it can be 15-17 degrees. When rotating one of the disks (for example, disk 1) relative to the other, the ball 5 will roll into the narrow part of the wedge between tracks 3 and 4. Unlike the freewheel, the ball will not jam in our transmitting unit, since the washer 2 and ball 5 have two degrees of freedom, yes When the ball 5 moves to track 4, the washer 2 begins to swing, moving the center of the ball in orbit at a speed two times lower than the speed of the point on the surface of the ball at the point of contact with track 3. The planetary movement of the ball will cause the puck to move with an angular speed half the input speed of rotation, ie the gear ratio of the assembly is 2: 1. The inclined position of the swash plate 2 leads to the fact that the ball 5 is constantly pressed to the surface of the raceways 3 and 4 b of additional clamping mechanisms that are required in conventional ball friction-planetary transmitting nodes. When the load increases or the raceways wear, the ball 5 slides into the narrower part of the wedge between tracks 3 and 4, and the pressing force automatically increases. Thus, the transmitting unit operates without slipping the ball, because the speed of planetary movement of the ball 5 in orbit is consistent with the speed of its rotation relative to its own axis. The angle (the inclination of the swash plate is related to the angle φ between the raceways by the ratio: tgγ = π / 2tgφ, i.e. when choosing the angle (from the range of 0.1-10 degrees, the angle of inclination of the swash plate should be selected in the range of 0.2-15 degrees.

As in a conventional ball friction-planetary gear, in the proposed site, you can increase the range of gear ratios by changing the effective rolling radii R ₁ and R ₂ of the rolling body 5 along tracks 3 and 4 (see Figs. 3, 4 and 5). For this, the cross-sectional profiles of tracks 3 and 4 are made such that the rolling radii of the ball R ₁ and R ₂ along tracks 3 and 4 are not the same. The gear ratio i ₁₂ from disk 1 to disk 2 is i ₁₂ = R ₁ / R ₂ . Figure 5 illustrates the case when the difference occurs when the rolling body is made in the form of a stepped roller in contact with raceways 3 and 4 by steps 6 and 7 with different diameters. 6 shows how to make a transmitting node with automatic adjustment of the transmitted moment. The outer annular part of any of the disks (in this case, disk 1) with a raceway on it is such that the side walls 8 of the raceway are elastically movable relative to each other. In other words, the raceway in cross section can change the radius of curvature. In Fig.6, the mobility of the side walls 8 of the track is provided by two ring clamps 9. When the load on the output shaft increases, the ball 5 moves around the circumference to a narrower part of the wedge between the raceways, while squeezing the walls 8 of the raceway 3 from each other. The ball-track contact point 3 moves from point B to point C, increasing the effective rolling radius R _{1 of} ball 5 along track 3. This increase will cause an increase in gear ratio and transmitted moment.

The differential speed converter with a disk friction-planetary unit (see Fig. 7) contains a shaft 10, rigidly connected to the body of revolution 1, and a shaft 11, connected to the swinging washer 2, the mechanism for converting its swinging movement into rotation of the shaft 11. This mechanism in this the case is an end cam 12 interacting with a swinging washer 2 through a bearing 13. The third link in the converter is a housing formed by two flanges 14 and 15. The swinging washer 2 is connected to the housing 14 by a unit that prevents its rotation, maintaining swinging motion. This node is a rod 16 passing through holes in the peripheral annular part 17 of the swash plate 2. The rod 16 pulls the flanges 14 and 15 together. The holes for the rods 16 in the swinging washer have dimensions that allow distortions during the swinging movement of the washer. The shafts 10 and 11 are planted in the housing flanges 14 and 15 using bearings 18 and 19.

The transmitting friction-planetary unit of the coaxial modification contains a yoke 20 and a swash plate 21, which cover each other. On Fig, 10 and 12 depict the transmitting nodes in which the swash plate 21 covers the cage 20 from the outside. It should be noted that the reversed layout of the nodes is quite functional when the swinging washer 21 is placed inside the holder 20. The mating lateral surfaces 22 and 23 of the holder 20 and the washer 21 are made in the form of a spherical belt with the center of the sphere (point C) in the center of symmetry of both parts. The swinging washer 21 is precessively positioned relative to point C. The raceways 24 and 25 are made on the mating lateral surfaces 22 and 23. The track 25 on the swinging washer 21 is an annular groove made along the equatorial line of the spherical surface of the swinging washer. Track 24 is an annular groove shifted from the equatorial line of the spherical surface 22 by a distance equal to half the magnitude of the swaying motion of the washer 21. Both grooves in the cross section are in the form of a semicircle, and at the point of intersection of the ball 26, which is in constant contact with both annular grooves. The numbers 27 and 28 indicate the location of the midlines of the grooves 24 and 25 in a side scan.

In another modification of this transmitting unit (Fig. 10), two symmetrical parallel annular grooves 24 and 29 are made on the cage 20, located on both sides of the equator at a distance from it equal to half the span of the swash plate 21. At the intersection of the grooves 24 and 29 with two balls 26 and 30 are located on the swash plate 21 with a groove 25. In the diagram of FIG. 11, the number 31 indicates the midline of the groove 29.

In Fig. 12, the groove 32 on the ferrule 20 is located at its equator and engages with the groove 25 on the swinging washer by two diametrically opposite balls 33 located at the intersection of tracks 32 and 25. In Fig. 13, these are the intersection points of the midlines 28 and 34 of the grooves 25 and 32.

The node in Fig. 14 combines the two previous options. Here, on the yoke 20, three annular grooves 24, 29 and 32 are made parallel to each other. Balls 26, 30 and two balls 33 are located in the grooves at their intersection with the groove 25 on the swash plate. It should be noted that there can be more grooves on the cage, the main thing is that they are parallel to each other and lie in planes perpendicular to the axis of rotation of the cage 20, and the balls should be located at the intersection of these grooves with the groove 25 on the swash plate. While the balls 33, which mesh with the groove 32 made along the line of the large circle of the sphere, are located around the circumference of the annular grooves diametrically opposite to each other. Those. the ball system will be balanced. For the remaining grooves, the balls will not balance each other, therefore, for each groove located on one side of the equator on the cage, it is advisable to make a groove symmetrical to it on the other side of the equator.

On Fig presents a variant of the site, in which on the swinging washer made two annular grooves 35 and 36, located on different sides from the equatorial line of the washer and at a distance from it equal to half the magnitude of the swinging washer. On the clip, the groove 32 is made along the line of a large circle of a spherical surface and is engaged with the grooves 35 and 36 with two balls 26 and 30 located at the intersection of the middle lines 37 and 38 of the tracks 35 and 36 with the middle line 34 of the track 32.

In principle, a variant with a groove system on a swash plate and a groove system on a clip is possible. It increases the number of balls interacting with bodies of revolution. An increase in the number of balls distributes the power flows to a larger number of interacting elements and increases the ultimate moment transmitted by the assembly, ceteris paribus.

The cage 20 can be made of separate rings 39, 40, 41, each of which is made one raceway (see Fig. 18 and 19). Rings can rotate around a common axis independently of each other. Such a transmitting node increases the number of input and output elements, which expands its functionality. Features of the operation of converters with such transmitting nodes will be discussed below.

The transmitting unit with a swinging washer with periodic raceways is two cages 42 and 43 spanning each other. The cage 43 is rotatable around the axis BB ₁ , inclined to the axis OO _{1 of the} transmitting unit, and with the possibility of precession relative to point C, which is the intersection point axes. That is, the clip 43 is a swinging washer. The lateral facing each other surfaces of the cage 42 and the swinging washer 43 are made in the form of a spherical belt of radius R, with the center of the sphere at point C. On these surfaces in the equatorial region, raceways 44 and 45, periodic in azimuth, are engaged with each other chains of balls 46. One or both of the raceways are closed periodically axially bent grooves of a semicircular cross section. The angle γ of the inclination of the swinging washer 43, as well as the shape of the periodic tracks 44 and 45, are selected so that the angles of inclination of the tracks to each other at the point of contact with the rolling bodies 46 do not exceed the self-jamming angle of the rolling bodies. 21 schematically shows the fronts 47 and 48 of the raceways 44 and 45. With one full swinging movement of the washer 43, the chain of balls 46 precesses with the swinging washer, and each ball, interacting with the front 48 of the wave track 45, moves around the circumference relative to the cage 42 at an angle corresponding to the period of the race track 45. At the same time, the balls 46, like cams, press against the front 47 of the wave track 44 on the cage 42 and cause it to rotate relative to the chain of balls 46 by an angle corresponding to the period of the race track 44. General rotation of one From the cages relatively different, with the full cycle of the swinging motion, the puck will occur at an angle equal to the sum or difference of these rotations, depending on which front the balls act on. Thus, the gear ratio i of the node is determined by the expression:

where N ₁ and N ₂ are the number of periods of the raceways 44 and 45. The fulfillment of the angular condition ensures that each ball is in the wedge-shaped gap between two inclined surfaces S1 and S2 with an angle between them smaller than the angle of self-jamming of the balls. When moving one of them, for example, when S2 is sliding relative to S1 (which corresponds to the swaying motion of the washer 43), the balls 46 roll into the narrow part of the wedge between the surfaces S1 and S2 without slipping and press on the front 47 of the wave track 44, forcing it to rotate as it was described above. At the same time, the frictional forces of its interaction with one of the surfaces that occur when the wedged ball rolls cause it to rotate relative to the chain of balls. Since the chain of balls 46 and the swinging washer 43 have two degrees of freedom, the rolling movement of the balls in orbit and the movement of the cages under the action of frictional and pressure forces are consistent with each other, i.e. balls will roll in wave tracks 44 and 45 without slipping.

In WO 008201043, as a condition for the ball to roll cleanly, the alignment of the path traveled by the ball with respect to track 45 on the swash plate 43 and relative to track 44 on the clip 42 is adopted. However, this condition is not sufficient. At angles between the raceways at the point of contact with the balls that are larger than the self-jamming angle of the balls (as shown in the drawings and diagrams in WO 008201043), the ball will slip out of the wedge and will be held at the intersection of the tracks only by their opposite walls 49 and 50, t .e. the ball will only be a cam. On Fig the area of the ball in this case is shown by hatching. Obviously, in this case, the ball will necessarily slip relative to any of the surfaces (47, 48, 49 or 50), and the presence of an acceptable region larger than the size of the balls will cause them to run out and increase wear.

The angle φ of the inclination of the raceways to each other depends on the angles α and β of the inclination of the fronts 47 and 48 of the raceways 44 and 45 to the equatorial line on the yoke 42 and the swash plate 43, respectively, and on the angle of inclination γ of the swash plate, and is defined as:

or

As shown above, for ordinary structural materials, the self-jamming angle lies in the range 0.1–10 °; therefore, the condition φ must be satisfied

In the general case, the angles α and β depend on the amplitudes of the bend and on the number of periods of the raceways. The numbers of periods N ₁ and N ₂ of the raceways on the cage 42 and the swash plate 43 are connected to each other, since an integer number of periods must fit on the same circle of radius R. WO 008201043 states that the number of periods of the raceways must be different from the number of balls per unit, and from each other by 2, while the number of balls should be a multiple of 4. Our studies have shown that the number of periods N ₁ and N ₂ of the raceways and the number of balls n are related by the relations:

where k and q are integers or numbers of the form 1 / m, where m is the number by which the number of balls is divisible without remainder. The number of balls, as mentioned earlier, can be any.

Thus, in our case, from the whole variety of combinations of numbers N ₁ and N ₂ satisfying condition (7), one should choose those for which inequality (6) holds. Figures 22 and 23 illustrate the possibility by changing N ₁ and N ₂ to achieve a decrease in the angle φ. The numbers 51 and 52 indicate the midlines of the raceways 44 and 45 on the yoke 42 and the swash plate 43, respectively. 53 is the line along which a point moves on the surface of the swinging washer during its precession. The number 54 shows the trajectory of the movement of the balls 46. The amplitude of the raceways and the angle of inclination of the swash plate 43 are the same in both figures. In the first case, when N ₁ = 3, N ₂ = 13 and n = 4, the angles between the raceways, at least in two locations of the balls 46 exceed the angles of self-jamming. 23, the midlines of the raceways 51 and 52 at all locations of the balls 46 intersect at angles smaller than the self-jamming angle. The numbers of the periods of the raceways and the number of balls are 3, 9 and 4, respectively.

You can also adjust the angle φ by changing the amplitudes of the raceways, or by changing the angle of inclination of the swash plate for the same number of periods of the raceways. These situations are illustrated in Figs. 24, 25, 26 and 27. In Figs. 24 and 25, the middle lines 51 and 52 of the raceways are shown with the number of periods 15 and 9 and the number of balls 8. The minimum of the angles of intersection of the raceways in the first of the figures exceeds 10 degrees, i.e. more self-jamming angle. On Fig, with a decrease in the amplitude A1 of the bend of the raceway on the yoke 42, the maximum of the intersection angles of the tracks does not exceed the angle of self-jamming. In this case, all balls 46 will operate in a self-jamming mode, i.e. no slip. Figs. 26 and 27 differ from each other only by the angle of inclination γ of the swash plate 43. It is obvious that condition (4) is fulfilled in the transmitting assembly according to circuit 27, and the balls will move without slipping.

The raceway on one of the cages may be open. On Fig depicts the transmitting node, in which the periodic raceway on the cage 42 is made in the form of a system of spaced apart circumferential segments of grooves 55 located along the meridians of the spherical surface. In Fig. 29, as in the previous diagrams, the numbers 51 and 52 indicate the center lines of the respective raceways. Obviously, such a transmitting unit will operate without slipping of the balls 46 with a very steep bending front of the raceway 45 and small angles of inclination of the swash plate 43, since the corresponding condition in this case is transformed into the expression φ = 90 ° -α + γ <10. However, not for all balls 46 the pure rolling condition will be satisfied. For balls located at points E and F, the self-jamming condition is not fulfilled for any values of α, β, or γ. Thus, in contrast to the statement in the description of the application WO 008201043 that the assembly with meridional grooves on the female part will work without slipping, we claim that individual balls in this design will slip in any case. If the open race track is made on the swash plate 43, and the closed track on the cage 42, then the corresponding angular condition: φ = 90 ° -β-γ <10 expands the possibilities for choosing the angles β and γ, however, the arguments about the slipping of balls at points E and F remain valid for this case.

In the transmitting assembly of FIG. 30, a chain of balls 46 interacts simultaneously with three periodic raceways. Track 45 on the swash plate 43 is open and represents circumferentially spaced groove segments. The clip is made of two separate independently rotating parts, which are clips 56 and 57 of the same diameter joined by the ends. Periodic tracks 58 and 59 having different periods are made on the inner lateral surface of the clips around the circumference of their end contact. In the diagram of Fig. 31, the middle lines of the tracks 58 and 59 are indicated by the numbers 60 and 61. The number 52 indicates the middle line of the periodic race 45 on the swash plate 43. In this modification of the transmitting unit, this race track is made intermittent. Obviously, not all balls 46 will interact with the clips 56 and 57 at the same time. The balls located to the left and right of zone I in Fig. 31 will interact with the yoke 56, and the balls in zone I will interact with the yoke 57. The gear ratio of the assembly depends on the ratio of the number of periods of all three raceways, which extends the range of its variation.

We now consider speed converters with the above-described transmitting nodes. The converter in Fig. 32 is implemented on a transmitting unit with closed periodic raceways on a yoke 42 and a swash plate 43. It contains three coaxial hollow shafts 62, 63 and 64. The shaft 62 is connected to the swash plate 43 by a mechanism for converting the rotation of the shaft 62 into the swash motion of the washer 43. It is an annular protrusion 65 on the outer side surface of the shaft 62, mating with the annular groove 66 on the swing washer 43. Between the opposite walls of the groove 66 is diametrically opposite to each other and on different sides of the annular 65 has two blunt bulb 67. By rotating shaft 62 the balls 67 roll on each of its path, formed by an annular projection 65 and the opposing walls of the groove 66, causing the swinging movement of the washer 43. The mechanism works in the opposite direction, i.e. swinging the washer will cause the rotation of the shaft 62. It should be noted that, unlike the end cam, in the application WO 8201043, which transmits force in only one half-period of swinging the washer, the mechanism described above works in both half-periods. The shaft 63 is connected to the swinging washer 43 by a mechanism for transmitting its rotation, regardless of the swinging movement. In this design, this mechanism is a bevel gear 68. The third shaft of the converter is directly a cage of the transmitting assembly with a race 44 on its side surface. The hollow shaft 64 is seated on the shaft 62 using a bearing 69. The shaft 63 is centered between the shafts 62 and 64 of the bearings 70 and 71. The number 72 indicates a thin-walled cage, which is necessary in separate transmitting nodes to keep the balls at the same angular distance from each other in those places where the tangents to the raceways at their intersection are parallel (at points B and D in FIGS. 23, 25 and 27). The separator follows the shape of the mating surfaces, i.e. also represents a spherical belt. The seats of the separator 72 are formed through holes. It should be noted here that the separator is a necessary element only for individual manufacturing options of the transmitting unit. In particular, a separator is not needed for transmitting units with a high gear ratio and with high accuracy in the manufacture of raceways. The converter is a differential mechanism with two inputs and one output. In the gearbox mode, the input is a shaft 62, one revolution of which causes one complete swing of the washer 43. If at the same time one of the shafts 63 or 64 is fixed, i.e. connect to the housing of the drive mechanism, then the other shaft will be output. If one of the shafts 63 or 64 is rotated at a speed different from the speed of the input shaft, then the output speed will depend on the ratio of the speeds at the inputs. In multiplier mode, the input must be any of the shafts 63 or 64.

Consider the operation of the converter in gear mode. For definiteness, let shaft 64 be connected to the body. The input shaft is shaft 62, during rotation of which the balls 67 are involved in rolling movement in the orbit and cause the precession of the washer 43. Since in the transmitting node of the Converter cage 42 is stationary, the interaction of the balls 46 with the raceways 44 and 45 will cause the rotation of the washer 43 with the gear ratio defined by expression (3). The rotation of the washer through the bevel gear 68 is transmitted to the output shaft 63. Since the transmitting unit of the converter operates under conditions of pure rolling of the balls, friction, noise and wear losses are minimal. It should be noted that the converter with the friction-planetary unit will work in the same way, only its gear ratio will change. In the converter circuit with transmitting units made in accordance with FIG. 18 or 30, additional shafts appear that are directly connected to the cage elements. This increases the number of possible modes of operation of the Converter.

In the construction of the converter of FIG. 33, the shaft 63 is a body part and is formed by two flanges 73 and 74 connected to each other and the housing. The swing washer 43 is connected to the flanges 73 and 74 by two end gears 75 and 76. The use of two gears as a rotation transmitting mechanism increases the number of teeth in interaction and increases the transmitted moment. Shafts 62 and 64 are mounted in flanges 73 and 74 using bearings 77, 78, 79, 80. As a mechanism for converting the oscillating movement of the washer 43 into rotation of the shaft 62 and vice versa, a coaxial friction-planetary transmission unit similar to that shown in FIG. 10. In it, two annular grooves 24 and 29 on the shaft 62 are engaged by means of two balls 26 and 30 with a groove 25 on the swash plate 43. Instead of this assembly, any of the coaxial friction-planetary assemblies described above can be used.

The versions of the converters in Figs. 34 and 35 differ from each other by mechanisms for converting the rotation of the shaft 62 into the swinging motion of the washer 43 and mechanisms for transmitting rotation from the swinging washer 43 to the shaft 63, regardless of the swing of the washer. In the converter of FIG. 34, the first of these mechanisms is based on an oblique crank 81 on a shaft 62, onto which a washer 43 is fitted with a bearing 82. To transmit the force from the oblique crank to both half-cycles of the washer swinging, the bearing 82 is expediently made four-point angular contact. The rotation transmission mechanism is a spider 83, with which the swash plate 43 is connected to the hollow shaft 63. The bearings 69 and 84 center the shafts 62, 63 and 64 relative to each other. The mechanism for converting the oscillating movement of the washer 43 into the rotation of the shaft 62 in Fig. 35 is similar to the mechanism in Fig. 32, only the annular protrusion 85 is made on the washer 43, and the annular track 86 is on the side surface of the shaft 62. As a transmission transmission mechanism in Fig. 35, a system of flexible rods or hinges 87, which allows the washer 43 to swing regardless of the rotation of the shaft 63.

In the two-stage coaxial speed converters in FIGS. 36 and 37, the transmitting nodes of both stages are implemented on one swing washer 43. One of the transmitting nodes is formed by periodic raceways 45 and 44 on the side surfaces of the swing washer 43 and the hollow shaft 64, which is the holder of the transmitting node, and a chain of balls 46. The node for converting the rotation of the shaft 62 into the swinging motion of the washer 43 is an oblique crank 81 onto which the swinging washer 43 is fitted with a shoulder 89 through the angular contact four-point bearing 88. To securely fit the washer from the opposite end of the transducer, a similar shaft 90 with an oblique crank 91 is inserted, onto which the opposite end of the washer 43 is fitted through the same bearing 92 with a shoulder 93. The transmitting unit of the second stage is formed by periodic tracks 94, 95 and a chain of balls 96. Track 95 is made on the side surface of the washer 43, the opposite surface with the track 45 of the first transmitting node. The track 94 is made on the side surface of the hollow shaft 97, facing the swinging washer 43. The numbers 72 and 98 denote the separators of the transmitting nodes of both stages. The shafts 62, 64, 90 and 97 of the transducer are assembled in a single unit by means of bearings 99, 100, 101 and 102 located at the ends of the transducer. Shafts 62 and 90 rotate as one shaft and cause the swash plate 43 to move.

The embodiment of the speed converter shown in FIG. 37 differs from the embodiment in FIG. 36 only in the mechanism for converting the oscillating movement of the washer 43 into rotation of the shaft 62 and vice versa. It consists of end cams 103 and 104 on the ends of the shafts 62 and 90 facing each other, interacting with the ends of the swash plate 43 through the thrust end bearings 105 and 106. The use of two opposite-lying end cams also ensures the transfer of force to both half-cycles of swing of the washer 43. This described converter compares favorably with the converters in the application WO 8201043, where all the swing mechanisms of the washer operate in only one half-cycle.

The two-stage converter operates as follows. When rotating from an external drive of one of the shafts, for example shaft 62 (together with shaft 90), the washer 43 begins to swing. The rotation of the input shaft is not transmitted to the swash plate, as it is decoupled from the shaft by bearings 88, 92 or 105, 106. This movement of the washer 43 due to the interaction of the raceways 44 and 45 with the balls 46 will cause the swinging washer 43 to rotate relative to the shaft 64 by an angle determined by the ratio of the periods of the raceways 44 and 45. Subject to self-jamming conditions of the balls 46 relative to tracks 44 and 45, they will roll along the tracks without slipping. The second-stage transmitting unit, formed by periodic raceways 94 and 95 and balls 96, will work in a similar way, only the swinging washer 43, which simultaneously sways and rotates, will be its input link. Thus, for the first stage of the converter, the function of the node transmitting the rotation of the swash plate 43 will be performed by the transmitting node of the second stage. In this case, the output shaft of the converter will be shaft 97, the rotation speed of which relative to the input shaft 62 will be determined by the rotation speed of the shaft 64 and the ratio of the number of periods of the raceways of the transmitting nodes of the first and second stages. It should be noted that the input or output shafts can be any of the shafts 62 (aka 90), 64, and 97. In this case, the converter will work as a multiplier or gearbox (when one of the shafts is stationary), or as a differential speed converter, depending on the ratio speeds on two input shafts.

The coaxial two-stage converters in Fig. 38 and 39 are formed by two transmitting nodes located one inside the other. The transmitting unit of the first stage is formed by a swinging washer 43 with a periodic race 45, a hollow cage shaft 64 with a periodic path 44 and a chain of balls 46. The mechanism for converting the swinging movement of the washer into rotation of the shaft 62 is an oblique crank 81 with an angular contact four-point bearing 88, on which the washer 43 is mounted. The opposite side surface of the shaft 62 is made with an oblique crank 107, inside of which a swing washer 109 of the second stage is mounted on the same bearing 108. On the inner side surface of the washer 109, a second-stage transmitting unit is realized, formed by periodic paths 110 and 111 on the washer 109 and the hollow shaft 112 and the chain of balls 113. The oblique cranks 81 and 107 may have the opposite inclination, as shown in Fig. 38, or the same incline. Accordingly, the washers 43 and 109 will swing in antiphase, or synchronously. The first option is more preferable, since in it the washers are balanced in weight relative to the axis of the transducer. Washers 43 and 109 are connected to each other by a rotation transmission unit, regardless of their swinging movement. In the figures, this assembly is a flexible ring 114. The shafts 62, 64 and 112 at the ends are connected by bearings 101 and 102.

The converter in Fig. 39 differs in mechanisms for converting the oscillating motion of the washers 43 and 109 into rotation of the shaft 62. These mechanisms are made in the form of friction-planetary transmitting units with raceways 115 on opposite side surfaces of the shaft 62, with two raceways 116 and 117 parallel to the equator each of the swinging washers, and two pairs of diametrically opposite balls 118 and 119 in these tracks. The numbers 120 and 121 indicate the bearings by which the shafts 62, 64 and 112 of the converter are fixed relative to each other.

The operation of these two-stage converters is similar to the previous ones.

In the two-stage converter with the sequential arrangement of steps in Fig. 40, the transmitting unit of the first stage is formed by a swash plate 43 and a cage shaft 64 with balls 46 in the raceways 44, 45. The second-stage unit is formed by a swash plate 122 mounted on a second oblique crank 123 on the shaft 62 using an angular contact four-point bearing 124. Washers 43 and 122 are parallel to each other. The washer 122 covers the hollow shaft 125, which is the holder of the transmitting node of the second stage. Periodic raceways 126 and 127 are formed on the surfaces of the swash plate 122 and the collar 125 facing each other. A chain of balls 128 is located in the raceways. The precession axes OO ₁ and CC _{1 of the} swash plates 43 and 122 are parallel to each other and are eccentrically offset relative to each other. Therefore, the rotation transmission mechanism from one washer to another in this design is a rotation transmission unit between the parallel shafts in the form of a parallel ball crank. It is a hole 129 and 130 on the end surfaces of the swinging washers 43 and 122, which are engaged with each other by means of balls 131. The axis of the holes are evenly spaced around the circumference of each washer, and the diameters of the holes are larger than the diameter of the balls 131 by the amount of displacement of the axes of the swinging washers relative to each other 43 and 122 with their synchronous precession relative to points A and B. During the precession of the washers, the balls 131, running around the holes 129 and 130, allow the washers 43 and 122 to move, but do not allow them to rotate relative to each other. Thus, the rotation of one of the washers causes the rotation of the other, while the balls 131 allow the surfaces of the washers to move relative to each other, while maintaining the possibility of precession of each of them relative to its center. Hollow shafts 64 and 125 can rotate independently of each other due to the presence of bearings 132 between them. All three shafts 62, 64 and 125 of the converter are assembled into a single unit using bearings 133 and 134. The number 135 indicates the separator of the transmitting unit of the second stage.

The next construction of the two-stage converter shown in Fig. 41 differs by a mechanism for converting the rotation of the shaft 62 into the swinging motion of the washers 43 and 122. This mechanism contains two diametrically opposite balls 136 and 137, which are located between the raceway 138 on the outer side surface of the shaft 62 and the annular the protrusions 139 and 140 of the washers 43 and 122. To simplify the assembly, the cage 125 is made detachable along the line dividing the periodic race 126 to two symmetrical parts. Shafts 62, 64 and 125 are connected by bearings 132, 133, 134.

The embodiment of the two-stage converter in FIG. 42 has washers 43 and 122 swinging in antiphase. For this purpose, oblique cranks 141 and 142 with an opposite slope are made on the shaft 62. The connection between the clips is carried out using bevel gears 143 and 144. All other designations in Fig. 42 correspond to the designations of Figs. 40 and 41.

The two-stage converter in FIG. 43 is distinguished by original designs of a mechanism for converting the rotation of the shaft 62 into the oscillating movement of the washers 43 and 122 and the transmission transmission unit between the washers 43 and 122, regardless of their precession. The shaft 62 is made in the form of a cage with bevel cranks 81 and 123 on the outer side surface and has in the middle part an outer annular protrusion 145 that extends beyond the shafts 64 and 125. The outer rim of the annular protrusion 145 is made in the form of a bevel gear 146 connected to the wheel 147 on the shaft 148. This mechanism transfers the rotation between the crossing shafts 62 and 148. In this converter, power take-off can be performed simultaneously from the clips 64 and 125, therefore, the converter is very effective as a rear axle reducer for a car. Inside the shaft 62 and the swinging washers 43 and 122, a hollow shaft 149 passes, which is connected to the washers 43 and 122 by two crosses 150 and 151. The crosses allow the washers to swing freely, transmitting rotation from the washer to the washer. The numbers 133 and 134, as in the previous drawings, indicate the bearings connecting the elements of the Converter to each other.

A two-stage converter with a sequential arrangement of steps works as follows. Assume that the clip shaft 64 of the first stage transmitting unit is fixedly mounted. When the shaft 62 rotates with an angular speed ω _{1, the} swinging washer 43 precesses at the same speed and, acting on the balls 46, forces them to roll in the non-slip raceway 44 on the cage 64 with a speed of ω ₂ , which depends on the number of periods of this raceway. The rolling movement of the balls 46, in turn, will cause the washer 43 to rotate relative to the chain of balls, which depends on the number of periods of the raceway 45 of the swash plate 43. With respect to the stationary cage 64 (relative to the housing), the washer 43 will rotate with an angular speed ω ₃ , which is a function of the number periods of the raceways 44 on the cage 64 and 45 on the washer 43. By the balls 131 of the parallel crank, the teeth of the wheels 143 and 144 or the shaft 149 with the crosses 150 and 151, this rotation is transmitted to the washer 122, which simultaneously precesses with the angular velocity th ω _1. The balls 128 of the second transmitting unit, interacting with the race track 126 on the washer 122 and the track 127 on the yoke 125, will cause the latter to rotate relative to the washer 122 by an angle determined by the ratio of the periods of the raceways 126 and 127. The total rotation of the driven shaft-holder 125 will depend on ω ₁ , ω ₂ , ω ₃ and, ultimately, will be determined by the number of periods of all four raceways on the swinging washers and clips of the transmitting nodes of both stages. If the shaft 64 will rotate, i.e. will be the second input shaft, then the output speed will depend, among other things, on the ratio of the input speeds of the shafts 62 and 64. The center of the precession of the ball chain 46 is point A, and the center of the precession of the ball chain 128 is point B, which coincide with the centers of symmetry of the corresponding washers. That is, the precession of each chain of balls is carried out relative to a point lying in the plane of this chain, which greatly simplifies the requirements for the profile of the periodic raceway.

Turning now to FIG. 44, which depicts a transmitting assembly in which both clips 152 and 153 are precessive and are swinging washers. As in the transmitting unit in Fig. 20, periodic raceways 154 and 155 are made on the lateral surfaces of the cages in the shape of a spherical belt, at the intersection of which a chain of balls 156 is placed. In such a transmitting unit with a common angle of inclination between washers equal to γ, the angle of inclination of each washer to the axis of OO ₁ is γ / 2. That is, the precession angle of each washer is halved, which creates more favorable conditions for the operation of the mechanism that drives the precession of the washers, as well as the rotation transmission unit.

Figures 45 and 46 are diagrams of speed converters in which the washers 152 and 153 swing towards each other, i.e. precess in antiphase. Such a precession is provided by a mechanism, which consists of two hollow shafts 157 and 158, interconnected by a flange 159. Shaft 157 is located inside the transmitting unit, and the shaft 158 is located outside. A closed annular groove 159 and an annular protrusion 160 are made on the side surfaces of the shaft 157 and the washer 152 facing each other. Similar groove 161 and the protrusion 162 are made on the surfaces of the other pair facing each other; the shaft 158 is a swash plate 153. Between the side wall of the groove 159 and two balls 163 are inserted into an annular protrusion 160 on one side of the washer 152 and between the opposite wall of the groove 159 and the opposite side of the protrusion 160 on the diametrically opposite side of the washer. Two balls are inserted between the groove 161 and the protrusion 162 164. Balls 163 and 164 are located relative to each other so as to provide an opposite inclination of the washers 152 and 153. The washers 152 and 153 are connected to the hollow shafts 165 and 166 by rotation transmission units between the non-axial shafts. On Fig this is a system of levers or flexible rods 167 and 168, and on Fig and 47 these nodes are made in the form of a bevel gear 169 and 170.

The mechanism for converting the oscillating movement of the washers 152 and 153 into the rotational movement of the shafts 157 and 158 connected to each other in Fig. 46 is two oblique cranks with an opposite inclination 171 and 172 on the side surfaces of the shafts 157 and 158 facing the oscillating washers. The oscillating washers 152 and 153 are seated on the crank shafts 171 and 172 using angular contact four-point bearings 173 and 174.

The operation of the speed converters in FIGS. 45 and 46 is practically no different from the operation of the converter shown in FIG. 33 or 34. One of the shafts 165 or 166 is an output link, and the other is fixed motionless. Power take-off is always carried out through a rotation transfer unit between non-coaxial shafts, and this unit is designed for a smaller angle of inclination of the shafts than in a converter with one swinging washer. In addition, the precession angle of each of the swinging washers was halved, ceteris paribus, i.e. the mechanism for converting the swinging motion of the washer into rotational motion of the shaft and vice versa works at smaller angles.

The speed converter in FIG. 47 has two independently rotating hollow shafts 175 and 176 with oblique cranks located inside and outside the transmitting assembly. The swinging washers 152 and 153 are seated on the oblique cranks by means of bearings 173 and 174. The crank shafts 175 and 176 form two converter inlets, and the cages 165 and 166 can serve as outputs. If the input shafts rotate at the same speed and in one direction and the oblique cranks have the same slope, then the washers 152 and 153 will swing without rotation in one direction as a whole. They will be motionless relative to each other, and the output speed of the converter will be zero. When the direction of rotation of one of the input shafts is reversed, the converter transmits a torque with a gear ratio determined by the ratio of the periods of the raceways on each of the washers. In this way, the speed converter acquires the additional function of a coupler.

Thus, in the transmission units described in the application with a swash plate, there is no sliding friction of the engaging elements, which increases the efficiency, reduces the noise and wear of the tracks and rolling bodies. A variety of circuits of speed converters with such transmitting nodes are built on the basis of a bearing, i.e. consist of several coaxial cages, each of which can serve as input (or input), output (or output) shafts or housing, changing the operating mode and functions of the converter. Each of the elements described above can be used separately or together, forming structures for various applications, but all of them do not go beyond the essence of the present invention.

Claims (47)

1. The transmitting node with a swash plate, containing two bodies of revolution, one of which is made with the possibility of precession, ie two independent movements: swing relative to the other and rotation around its own axis, inclined to the axis of the other body of revolution, and is a swinging washer, closed ring raceways are made on the surfaces of the rotation bodies facing each other, interacting with each other by means of rolling bodies that are in constant contact with the tracks on both parts, and the angle of inclination of the swash plate was chosen so that the paths in contact with the rolling bodies have an inclination to each other less than or equal to the self-jamming angle t ate rolling. 2. The transmitting node according to claim 1, characterized in that the angle of inclination of the raceways to each other is from 0.1 to 10 °. 3. The transmitting node according to claim 1, characterized in that the raceways have such a profile that the contact areas of the rolling body with the raceways are located at different distances from the axis of rotation of the rolling body. 4. The transmitting node of claim 1, characterized in that the rotation bodies are made in the form of disks with annular closed raceways on flat surfaces facing each other that are in contact with each other by means of one rolling body. 5. The transmitting node according to claim 4, characterized in that the angle of inclination of the swash plate was selected from the range of 0.2-15 °. 6. The transmitting node according to claim 4, characterized in that the rolling body is made in the form of a ball and the side walls of the raceway are made elastically movable relative to each other. 7. The transmitting assembly of claim 1, characterized in that the rotation bodies are made in the form of cages and a swinging washer, each with side surfaces facing each other in the form of a spherical belt with the center of the sphere at the center of the precession of the swinging washer, balls serve as rolling bodies, and each of the raceways on the swinging washer and cage is made on a spherical belt in the form of a system of closed circular grooves parallel to each other, lying in planes perpendicular to the axis of rotation of the corresponding part, and the balls are located in a month the intersection grooves of the swash plate with the grooves of the clip. 8. The transmitting node according to claim 7, characterized in that the raceway on the swinging washer is made in the form of one closed annular groove located along the equatorial line of the washer. 9. The transmitting node according to claim 8, characterized in that one ring groove is made on the clip, offset from the line of the large circle of the sphere by a distance equal to half the span of the swinging washer, and engaging with the groove of the swinging washer with one ball. 10. The transmitting node according to claim 8, characterized in that two annular grooves are made on the cage, located on opposite sides of the large circle of the sphere at a distance equal to half the span of the swinging washer, engaged with the groove on the swinging washer by two diametrically spaced balls. 11. The transmitting node according to claim 8, characterized in that one ring groove is made on the clip, located along the line of the large circle of the sphere and engages with the groove of the swinging washer with two diametrically located balls. 12. The transmitting node according to claim 8, characterized in that the ring has three annular grooves, one on the line of the large circle of the sphere and two on opposite sides of it at a distance equal to half the span of the swinging washer, engaged with the groove on the swinging washer four pairwise diametrical balls. 13. The transmitting node according to claim 7, characterized in that the raceway on the cage is made in the form of one annular groove along the equatorial line of the cage, and the groove system on the swinging washer is two grooves spaced from the equatorial line of the washer at a distance equal to half the span swinging washer. 14. The transmitting node according to claim 7, characterized in that in the system of annular grooves on the clip, at least one of the grooves is made on a separate independently rotating element of the clip. 15. A transmitting unit with a swinging washer, containing two bodies of revolution covering each other, one of which is a swinging washer, and the other - a clip, with lateral mating surfaces in the form of a spherical belt with the center of the sphere at the center of the precession of the swinging washer, in the equatorial region of the spherical belt azimuth-periodic raceways are made on the cage and the swash plate, at least one of which is closed and wave-wise axially curved, the tracks engage with each other by means of a chain of balls located at the intersection of the raceways, characterized in that the tracks at the point of contact with the balls have an inclination to each other less than or equal to the angle of self-jamming of the balls. 16. The transmitting node according to p. 15, characterized in that the angle α of the slope of the front of the periodic raceway to the equator on the swash plate and the corresponding angle β on the cage are connected with the angle γ of the swash plate ratio α-β-γ≤10 ° with α≥ β; β-α + γ≤10 ° for α <β. 17. The transmitting node according to clause 15, wherein the number of periods N ₁ and N ₂ of the raceways and the number of balls n are connected by the relations N ₁ = kn ± 1; N ₂ = qn ± 1, where k and q are integers or numbers of the form 1 / m, where m is the number by which the number of balls is divisible without a remainder. 18. The transmitting node according to clause 15, wherein the raceway on one of the bodies of revolution is made open in the form of a system of grooves spaced around the circumference, elongated along the meridians of the sphere. 19. The transmitting node according to clause 15, characterized in that both tracks are closed and wave-like curved in the axial direction. 20. The transmitting node according to clause 15, wherein the closed raceway is made on a cage, the latter is cut along the midline of a curved raceway, forming two independently rotating cage elements, the raceway on each of which is a half-wave system made with different the number of periods. 21. A differential speed transducer comprising at least three shafts, as well as a transmitting unit, according to any one of claims 1 to 20, in which the swing washer is connected to one of the shafts by a mechanism for independently converting its swinging motion into rotational, and on the contrary, with the second of the shafts, the mechanism for transmitting its rotation relative to the inclined axis, regardless of the swinging movement, and the second body of rotation is directly connected with the third shaft. 22. The differential speed converter according to claim 21, characterized in that the transmitting unit is made according to claim 4, the mechanism for converting the oscillating motion into rotational, and vice versa, is made in the form of a mechanical cam interacting with the oscillating disk through the bearing, and the second shaft is the transmission housing and is connected to the swinging washer by a device for preventing its rotation while maintaining the swinging movement. 23. The differential speed converter according to claim 21, characterized in that the transmitting assembly is made according to any one of claims 7 to 20 and all the shafts are coaxial and hollow, forming a coaxial design of the cages in the form of a bearing assembly. 24. The differential speed converter according to item 23, wherein the transmitting unit is made according to 14 or 20 and additional shafts are introduced, directly connected with individual elements of the cage. 25. The differential speed converter according to claim 23, characterized in that the mechanism for converting the swinging motion of the washer into rotation of the shaft, and vice versa, is made in the form of an oblique crank on which the swinging washer is seated through an angular contact four-point bearing. 26. The differential speed converter according to item 23, wherein the mechanism for converting the swaying motion of the washer into rotational, and vice versa, is made in the form of a transmitting unit according to any one of claims 7-13, implemented on the same swash plate from the side opposite to the main transmitting node, and the cage of which is directly connected to the first shaft. 27. The differential speed converter according to item 23, wherein the mechanism for the independent transmission of rotation of the swinging washer is made in the form of a cross. 28. The differential speed converter according to item 23, wherein the mechanism for the independent transmission of rotation of the swinging washer is made in the form of a system of flexible rods or hinges. 29. The differential speed converter according to item 23, wherein the mechanism for independent transmission of rotation of the swash plate was made in the form of a bevel gear. 30. The differential speed converter according to item 23, wherein the mechanism for the independent transmission of rotation of the swinging washer is made in the form of a universal joint. 31. The differential speed converter according to item 23, wherein the second stage coaxial transmitting unit is additionally introduced, made according to any one of claims 7-19 and implemented on the same swash plate from the side opposite to the first transmitting unit, any of the transmitting nodes performs the function of the transmission mechanism of the rotational motion of the swash plate to the shaft directly connected to the holder of the transmitting assembly. 32. The differential speed converter according to p. 31, characterized in that the mechanism for converting the swaying motion of the washer into rotational, and vice versa, is made in the form of two hollow shafts with the same oblique cranks inserted on bearings between the inner and outer cages of the converter from opposite ends, and the swinging washer is mounted on the crank shafts using bearings. 33. The differential speed converter according to claim 31, characterized in that the mechanism for converting the swaying motion of the washer into rotational is made in the form of two hollow shafts inserted between the inner and outer clips of the converter from opposite ends, the shafts are equipped with end cams interacting with the ends of the swash plate through bearings. 34. The differential speed converter according to item 23, wherein the second stage transmitting unit is additionally introduced coaxially with the first one, made according to any one of paragraphs 7-19 and located relative to the first so that the swinging washers of both nodes are facing each other, mechanism transforming the oscillating movement of each of the washers into a rotational one is made in the form of a hollow shaft inserted between the oscillating washers of both stages and having elements on the inner and outer side surfaces that cause the precession of the washers and washers of both the stages are connected to each other in a rotational motion, so that the transmitting unit of the second stage simultaneously performs the function of a mechanism for transmitting the rotational movement of the swinging washer to the shaft directly connected to the holder of the transmitting unit of the second stage. 35. The differential speed converter according to claim 34, characterized in that the elements causing the precession of the washers are oblique cranks with the same or opposite inclination, on which the washers are seated through bearings. 36. The differential speed converter according to claim 34, characterized in that the elements causing the precession of the washers are made on the side facing each other surfaces of the hollow shaft and each swinging washer in the form of an annular groove and an annular protrusion, mating with each other by two diametrically opposite balls located between the walls of the groove and the protrusion on opposite sides of the latter. 37. The differential speed converter according to claim 23, characterized in that the second stage transmitting unit is additionally introduced sequentially with the first one, made according to any one of claims 7-19, the swash plates of both steps are connected by a rotation transmission mechanism between the parallel shafts, and the swivel conversion mechanism motion provides synchronous washer precession. 38. The differential speed converter according to clause 37, wherein the rotation transmission unit between the parallel shafts is made in the form of a mechanism with parallel cranks. 39. The differential speed converter according to clause 37, wherein the rotation transmission unit between the parallel shafts is made in the form of a mechanism with parallel ball cranks. 40. The differential speed converter according to clause 37, wherein the rotation transmission unit between the parallel shafts is made in the form of a shaft and two crosses connecting each of the swinging washers to this shaft. 41. The differential speed converter according to claim 40, characterized in that the mechanism for converting the swaying movement of the washers into rotational movement, and vice versa, is made in the form of a cage located axially between the steps of the converter and provided with an outer annular protrusion, the cage is made with two oblique parallel cranks, on which swing washers are mounted with bearings, and the outer rim of the annular protrusion is made as an element of a worm, bevel gear or friction gear. 42. The differential speed converter according to claim 23, characterized in that the second stage transmitting unit, made according to any one of claims 7-19, is sequentially introduced with the first one, the swinging washers of both stages are connected by a rotation transmission mechanism between the inclined shafts, and the conversion mechanism is swinging movement in the rotational, and vice versa, provides antiphase precession of the washers. 43. The transmitting node with a swinging washer according to any one of paragraphs.15-19, characterized in that both clips are installed with the possibility of precession and are swinging washers. 44. A differential speed transducer comprising at least three coaxial hollow shafts forming a coaxial construction of a cage in the form of a bearing assembly, as well as a transmitting assembly made according to claim 43, in which the swinging washers are connected to the two shafts by rotation transmission units between inclined shafts, and with other shafts of the converter - mechanisms for the independent conversion of the oscillating motion into rotational, and vice versa. 45. The differential speed converter according to claim 44, wherein the mechanism for converting the swaying motion of the washers into rotation is made in the form of two coaxial hollow shafts connected to each other, one of which is located outside the outer swash plate, and the second inside the inner swash plate, in each pair, the hollow shaft is a swinging washer, on their lateral surfaces facing each other, a raceway and an annular protrusion are made, mating with each other by means of two diametrically opposite balls, ra position between the groove and the protrusion walls at opposite sides of the latter, and the balls of each pair are arranged so that the washers are of opposite slope. 46. The differential speed converter according to claim 44, wherein the mechanism for converting the swaying motion of the washers into rotation is made in the form of two coaxial and interconnected hollow shafts, one of which is located outside the outer swash plate and the second inside the inner swash plate , on the surfaces of the hollow shafts facing the swinging washers, oblique cranks with an opposite slope are made, interacting with the swinging washers through bearings. 47. The differential speed converter according to item 44, wherein the mechanism for converting the swaying movement of the washers into rotation is made of two separate elements independent from each other, each of which is connected to a separate shaft of the converter.

Images