WO2011090063A1 - 回転駆動装置 - Google Patents
回転駆動装置 Download PDFInfo
- Publication number
- WO2011090063A1 WO2011090063A1 PCT/JP2011/050842 JP2011050842W WO2011090063A1 WO 2011090063 A1 WO2011090063 A1 WO 2011090063A1 JP 2011050842 W JP2011050842 W JP 2011050842W WO 2011090063 A1 WO2011090063 A1 WO 2011090063A1
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- WIPO (PCT)
- Prior art keywords
- weight
- rotation
- fluid cylinder
- rotating
- arm
- Prior art date
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/02—Mechanical layout characterised by the means for converting the movement of the fluid-actuated element into movement of the finally-operated member
- F15B15/06—Mechanical layout characterised by the means for converting the movement of the fluid-actuated element into movement of the finally-operated member for mechanically converting rectilinear movement into non- rectilinear movement
- F15B15/061—Mechanical layout characterised by the means for converting the movement of the fluid-actuated element into movement of the finally-operated member for mechanically converting rectilinear movement into non- rectilinear movement by unidirectional means
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03G—SPRING, WEIGHT, INERTIA OR LIKE MOTORS; MECHANICAL-POWER PRODUCING DEVICES OR MECHANISMS, NOT OTHERWISE PROVIDED FOR OR USING ENERGY SOURCES NOT OTHERWISE PROVIDED FOR
- F03G3/00—Other motors, e.g. gravity or inertia motors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
- F01B—MACHINES OR ENGINES, IN GENERAL OR OF POSITIVE-DISPLACEMENT TYPE, e.g. STEAM ENGINES
- F01B13/00—Reciprocating-piston machines or engines with rotating cylinders in order to obtain the reciprocating-piston motion
- F01B13/04—Reciprocating-piston machines or engines with rotating cylinders in order to obtain the reciprocating-piston motion with more than one cylinder
- F01B13/06—Reciprocating-piston machines or engines with rotating cylinders in order to obtain the reciprocating-piston motion with more than one cylinder in star arrangement
- F01B13/061—Reciprocating-piston machines or engines with rotating cylinders in order to obtain the reciprocating-piston motion with more than one cylinder in star arrangement the connection of the pistons with the actuated or actuating element being at the outer ends of the cylinders
- F01B13/063—Reciprocating-piston machines or engines with rotating cylinders in order to obtain the reciprocating-piston motion with more than one cylinder in star arrangement the connection of the pistons with the actuated or actuating element being at the outer ends of the cylinders with two or more series radial piston-cylinder units
- F01B13/065—Reciprocating-piston machines or engines with rotating cylinders in order to obtain the reciprocating-piston motion with more than one cylinder in star arrangement the connection of the pistons with the actuated or actuating element being at the outer ends of the cylinders with two or more series radial piston-cylinder units directly located side by side
- F01B13/066—Reciprocating-piston machines or engines with rotating cylinders in order to obtain the reciprocating-piston motion with more than one cylinder in star arrangement the connection of the pistons with the actuated or actuating element being at the outer ends of the cylinders with two or more series radial piston-cylinder units directly located side by side cylinder block and actuating or actuated cam both rotating
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03G—SPRING, WEIGHT, INERTIA OR LIKE MOTORS; MECHANICAL-POWER PRODUCING DEVICES OR MECHANISMS, NOT OTHERWISE PROVIDED FOR OR USING ENERGY SOURCES NOT OTHERWISE PROVIDED FOR
- F03G3/00—Other motors, e.g. gravity or inertia motors
- F03G3/097—Motors specially adapted for creating a reciprocating movement, e.g. by rotating eccentric masses
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/08—Characterised by the construction of the motor unit
- F15B15/14—Characterised by the construction of the motor unit of the straight-cylinder type
- F15B15/1423—Component parts; Constructional details
- F15B15/1428—Cylinders
Definitions
- the present invention relates to a rotation driving device that uses a fluid pressure such as compressed air and gravity to rotate a rotating shaft, and thus enables a driven object to be driven.
- Patent Document 1 Conventionally, there is a device described in Patent Document 1 as a rotational drive device for obtaining a rotational force without using an engine or a motor.
- the rotation drive device described in Patent Document 1 includes a rotation shaft that is pivotally supported by a gantry, a rotation table that is fixed on the rotation shaft, and a plurality of rotation drive devices that are provided at a plurality of positions that are separated along the rotation direction on the rotation table.
- Each rotating unit includes a weight provided on the turntable so as to be linearly reciprocable in a direction orthogonal to the rotation axis, and a fluid cylinder for linearly reciprocating the weight in a direction orthogonal to the rotation axis.
- the fluid from the fluid supply source is sequentially supplied to the fluid cylinder of each rotary unit by a rotary switching valve provided on the rotary shaft, thereby changing the radial position of the weight of each rotary unit with respect to the rotary shaft,
- the rotating table and the rotating shaft are rotated by the fluctuation of the rotating moment exerted by the acting gravity around the rotating shaft.
- the rotational drive device described in Patent Document 1 has the following problems. (1) Each rotary unit linearly moves a weight in a direction perpendicular to the rotation axis by a fluid cylinder. Accordingly, the stroke of the fluid cylinder directly changes the radial position of the weight. In order to increase the rotational moment that the weight exerts on the rotation axis and obtain a large rotational force, it is necessary to increase the change in the radial position of the weight, and at the same time, it is necessary to increase the stroke of the fluid cylinder. Fluid cylinder is required.
- Each rotating unit moves the weight linearly against gravity by a fluid cylinder.
- a fluid cylinder To increase the rotational moment that the weight exerts on the rotating shaft and obtain a large rotational force, the weight is made heavy. Sometimes a high output fluid cylinder is required.
- An object of the present invention is to provide a rotary drive device having a plurality of rotary units that obtain a rotational force by changing a radial position of a weight relative to a rotary shaft by a fluid cylinder, while reducing the stroke and output of the fluid cylinder.
- the purpose is to increase the rotational moment exerted by the weight of each rotating unit on the rotating shaft and to obtain a large rotational force.
- the invention according to claim 1 is a rotating shaft pivotally supported by the gantry, a rotating table fixed on the rotating shaft, and a plurality of rotating units provided at a plurality of positions spaced along the rotation direction on the rotating table.
- Each rotating unit has a supporting table supported by the rotating table, a weight supported by the supporting table, and a fluid cylinder attached to the supporting table and capable of controlling the radial position of the weight with respect to the rotation axis. And rotating the weights acting on the weights around the rotation axis by changing the radial positions of the weights of the rotation units by sequentially supplying the fluid from the fluid supply source to the fluid cylinders of the rotation units.
- a rotary drive device that rotates a rotating table and a rotating shaft by a variation in moment, each rotating unit having a swivel arm that is supported so as to be able to swivel around a swivel center axis provided on a support table.
- a weight is provided at a position where the length of the swivel arm from the swivel center axis is long, and a connecting point on the fluid cylinder side is provided at a position where the length from the swivel center axis is short.
- the support base provided with the pivot center axis is a swing support shaft provided on a base attached to the turntable, and is swingably supported around a swing support shaft orthogonal to the rotation axis.
- the turning center axis of the provided swivel arm can be swung by a certain angle to the side where gravity acting on the weight reaches, out of both sides of the neutral position located on the plane orthogonal to the rotation axis. is there
- the timing A at which the turning arm starts to turn in a direction in which the weight protrudes from the minimum radial direction position to the maximum radial direction position with respect to the rotation axis Fluid supply so that the swivel arm and weight of the rotating unit are close to the horizontal plane including the rotation axis, and the vertical position of the weight begins to become lower in the subsequent swiveling process of the swivel arm in that direction.
- the weight drawing start timing for starting the turning in the direction in which the turning arm is drawn from the maximum radial direction position to the minimum radial direction position in each rotation unit, controlled to supply fluid from the source to the fluid cylinder of each rotation unit B is near the horizontal plane where the swivel arm and weight of the rotating unit include the axis of rotation.
- the fluid from the fluid supply source is controlled to be supplied to the fluid cylinder of each rotary unit so that the vertical position of the weight begins to become lower in the subsequent swinging process of the swing arm in that direction. It was made to do.
- the base for supporting the swivel arm and the support base is a tilting support shaft provided on the turntable, and the tilt support shaft around the rotation shaft is provided. Further, it is attached so as to be tiltable from a reference position where the swivel arm is swivelable along a plane including the rotation shaft to a forward tilt position which advances by a certain angle in the rotation direction.
- Each rotary unit turns the tip weight of the swivel arm by a fluid cylinder attached to a support on the turntable, and controls the radial position of the weight with respect to the rotation axis.
- a weight is provided at a position where the length R from the turning center axis of the turning arm is long, and a connecting point on the fluid cylinder side is provided at a position where the length r from the turning center axis is short. .
- the stroke of the fluid cylinder is enlarged, resulting in a change in the radial position of the weight. While the stroke of the fluid cylinder is made small, the change in the radial position of the weight is increased, and consequently the rotational moment exerted on the rotating shaft by the weight is increased, and a large rotational force can be obtained.
- Each rotary unit is a fluid cylinder that causes a weight to pivot around the pivot center axis of the pivot arm, and the weight obtains centrifugal force in the course of the pivot movement. For this reason, the above-mentioned centrifugal force is added to the thrust caused by the fluid pressure of the fluid cylinder as a weight moving force source. By adding this centrifugal force, it is possible to move a heavy weight while using a small output fluid cylinder. As a result, the rotational moment exerted on the rotating shaft by the weight can be increased and a large rotational force can be obtained.
- the turning center axis of the turning arm provided on the support base is at an angle ⁇ 0 from the neutral position on the plane perpendicular to the rotation axis to the side where the gravity acting on the weight extends Swing.
- the rotation unit approaches the above-described weight protrusion start timing A in the swinging state of the turning center axis, before the weight protrusion start timing A is reached (the rotation angle ⁇ is before the weight protrusion start timing A).
- the weight receives a turning assisting force due to gravity, and starts to naturally fall along a turning surface that forms a downward gradient (drop Ha) with respect to the horizontal plane around the turning center axis.
- the biasing angle range La can be expanded, and the gravity utilization rate of the rotary drive device can be improved.
- each rotating unit when the weight is on the side of the antigravity action region where the weight is lifted from the vertical bottom to the vertical top with respect to the vertical plane including the rotating shaft,
- the pivot center axis of the pivot arm provided on the support base swings by an angle ⁇ 0 from the neutral position on the plane orthogonal to the rotation axis to the side where gravity acting on the weight reaches.
- the rotating unit approaches the above-described weight pull-in start timing B in the swinging state of the turning center axis, the rotation unit comes before the weight pull-in start timing B (a rotation angle ⁇ before the weight pull-in start timing B).
- the weight receives a turning assist force due to gravity, and starts to naturally fall along a turning surface that forms a downward slope (drop Hb) with respect to the horizontal plane around the turning center axis.
- a turning assist force due to gravity
- the rotational resistance of the rotating shaft exerts a rotational resistance force on the rotating shaft while the weight is projected at the maximum radial direction position in the antigravity action region as a result of advancing the weight drawing start timing B regardless of the thrust of the fluid cylinder.
- the angle range Lb can be reduced, and the gravity utilization rate of the rotary drive device can be improved.
- the weight pull-in start timing B at which the turning arm starts to turn in the direction in which the turning arm is drawn from the maximum radial direction position toward the minimum radial direction position by the minimum thrust of the fluid cylinder is the turning arm of the rotation unit.
- the timing at which the swivel assisting force due to the weight gravity can be received Is good.
- the base supporting the swivel arm and the support base is a tilting support shaft provided on the turntable, and the swivel arm can be swiveled around a tilting support shaft along the rotation axis in a plane including the rotation shaft. It is attached so that it can be tilted from the reference position thus formed to a forward tilt position that advances by a certain angle in the rotation direction. Therefore, in each rotary unit, when the weight is on the above-described gravity action region side, the base supporting the swing arm and the support base tilts from the reference position to the forward tilt position.
- the swivel arm moves in the subsequent weight protrusion direction.
- the vertical position of the weight starts to become lower, and the turning assisting force due to the gravity of the weight is received, so that the natural fall can be started. Therefore, at this time, if an appropriate protruding fluid pressure is applied to the fluid cylinder, the weight of the rotation unit and the weight from the weight protruding start timing A ⁇ before the weight protruding start timing A ⁇ before the weight protruding start timing A ⁇ is reached.
- the rotation bias angle range La can be further expanded, and the gravity utilization rate of the rotary drive device can be further improved.
- FIG. 1 is an overall front view showing a rotary drive device.
- FIG. 2 is an overall side view of FIG.
- FIG. 3 is a front view showing the rotating unit.
- FIG. 4 is a schematic view showing a weight displacement state of the rotary drive device.
- FIG. 5 is a perspective view showing the rotation unit located at the uppermost vertical position around the rotation axis.
- FIG. 6 is a perspective view showing the rotating unit in the weight protruding process.
- FIG. 7 is an arrow view along the VII direction of FIG.
- FIG. 8 is a perspective view showing the rotating unit in the weight drawing process.
- FIG. 9 is a view taken in the direction of the arrow IX in FIG.
- FIG. 10 is an overall perspective view showing the tilting structure of the base.
- FIG. 11 is a cross-sectional view showing the tilting structure of the base.
- the rotary drive device 10 has a rotary shaft 13 that is pivotally supported by left and right bearings 12 (only one of the left and right is shown) provided on the gantry 11.
- the rotating shaft 13 includes left and right small-diameter hollow shafts 13A supported by the left and right bearings 12, and a large-diameter hollow shaft 13B coaxially attached and fixed to the left and right small-diameter hollow shafts 13A and supported at both ends.
- a plate-like, hexagonal plate-like turntable 14 is fixed to the outer peripheral portion of the large-diameter hollow shaft 13B of the rotation shaft 13, and a plurality of pieces are separated on the turntable 14 along the rotation direction.
- six rotation units 20 (20A to 20F) are provided at each of six positions at intervals of 60 degrees.
- each rotary unit 20 is supported by a base 21 fixedly attached to the turntable 14 as described later, and supported by the support 22 as described later.
- a weight 24 provided on the swivel arm 23 and a fluid cylinder 25 such as an air cylinder which is attached to the support base 22 as will be described later and turns the swivel arm 23 so that the radial position of the weight 24 relative to the rotary shaft 13 can be controlled.
- each rotating unit 20 supports the turning arm 23 so as to be turnable around the turning center axis 23A provided on the support base 22, and the length R of the turning arm 23 from the turning center axis 23A is long.
- a weight 24 is fixedly provided on the shaft 24, and a connecting arm 26 fixedly provided on the piston rod 25 of the fluid cylinder 25 is pivotally attached to the piston rod 25 of the fluid cylinder 25 at a position where the length r from the turning center shaft 23A is short.
- the fluid cylinder 25 is trunnion supported on the support base 22 by support pins 25A.
- the fluid cylinder 25 turns the swivel arm 23 around the swivel center axis 23A from the retracting side to the projecting side, and minimizes the radial position (length) of the weight 24 relative to the rotating shaft 13 on the retracting side.
- the radial position (length) of the weight 24 with respect to the rotating shaft 13 is maximized on the protruding side.
- the rotation drive device 10 includes a fluid supply device 30 that sequentially supplies a fluid such as air from a fluid supply source such as an air compressor to the fluid cylinder 25 of each rotation unit 20.
- a fluid supply source such as an air compressor
- the fluid supply device 30 communicates a fluid supply pipe 31 connected to a fluid supply source to a small-diameter hollow shaft 13A and a large-diameter hollow shaft 13B of a rotary shaft 13 by a rotary joint 32, and each rotary unit 20 of the large-diameter hollow shaft 13B.
- Fluid supply ports 33 are provided at six positions in the circumferential direction corresponding to the above.
- the fluid supply device 30 includes six mechanical valves 34 fixed to six positions around the large-diameter hollow shaft 13B of the rotation shaft 13 at six positions corresponding to the respective rotation units 20 on the turntable 14. And a dog 35 that is attached to the gantry 11 via a mounting bracket 35A and is arranged around the large-diameter hollow shaft 13B of the rotary shaft 13 to turn on and off each mechanical valve 34 in turn.
- the mechanical valve 34 of each rotary unit 20 is connected to a corresponding fluid supply port 33 of the large-diameter hollow shaft 13B by a supply hose 33A, and two chambers, a rod-side chamber and a piston-side chamber, which are partitioned by the piston of the corresponding fluid cylinder 25. These are connected by hoses 34A and 34B, and turned on / off by a dog 35 as shown in FIG. In the process in which each rotary unit 20 rotates with the rotary shaft 13, the mechanical valve 34 is turned off by the dog 35 in the 180 ° rotation angle range on the protruding side around the rotary shaft 13 (protruding side range P 1 in FIG. 4).
- the fluid supplied from the device 33A is supplied from the hose 34A to the rod side chamber of the fluid cylinder 25 to contract the fluid cylinder 25, and the swivel arm 23 is swung from the retract side to the projecting side around the swivel center axis 23A.
- the radial position of the weight 24 relative to the shaft 13 is maximized (the fluid in the piston side chamber of the fluid cylinder 25 is exhausted from the hose 34B through the mechanical valve 34).
- the mechanical valve 34 is a dog in a 180-degree rotation angle range (pull-side range P2 following P1 in FIG. 4) around the rotary shaft 13.
- the fluid supplied from the supply hose 33A is supplied from the hose 34B to the piston side chamber of the fluid cylinder 25 to extend the fluid cylinder 25, and the swivel arm 23 protrudes around the swivel center axis 23A and is retracted from the side. And the radial position of the weight 24 relative to the rotating shaft 13 is minimized (the fluid in the rod side chamber of the fluid cylinder 25 is exhausted from the hose 34A via the mechanical valve 34).
- Two rotating units 20 that are spaced apart by 180 degrees around the rotating shaft 13 have one rotating unit 20A in the projecting side range P1, and the other rotating unit 20D is on the opposite side. Therefore, the piston side chambers (or the rod side chambers) of the fluid cylinders 25 of both the rotating units 20A and 20D are connected to each other by a hose, and the fluid cylinder 25 and the mechanical valve 34 of each of the rotating units 20A and 20D are connected to the fluid. It is good also as what connects only with supply hose 34A.
- the rotation drive device 10 basically supplies the fluid from the fluid supply source to the fluid cylinders 25 of the respective rotation units 20 in order, thereby setting the radial position of the weight 24 of each fluid cylinder 20 as described above.
- the rotation shaft 13 and the turntable 14 are rotated by the variation of the rotation moment that the gravity acting on the weight 24 exerts around the rotation shaft 13 by changing from the drawing side to the protrusion side. That is, it is as follows.
- each rotary unit 20 On the rotation trajectory of each rotary unit 20 along the planned rotation direction N of the rotary shaft 13 (around the rotary shaft 13, the clockwise direction in FIG. 2 and the counterclockwise direction in FIG. 4), the protruding side range P1.
- the projection start timing A of each rotary unit 20 that is the base point of the rotary unit 20 is vertically higher than the horizontal plane X including the rotary shaft 13, and the pull-in start timing B of each rotary unit 20 that is the base point of the pull-in range P2 includes the rotary shaft 13.
- the supply order of the fluid to the rod side chamber or the piston side chamber of the fluid cylinder 25 of each rotary unit 20 is set so as to be vertically lower than the horizontal plane X (basic condition for fluid supply to the fluid cylinder 25 of each rotary unit 20).
- the total rotational moment applied around the rotary shaft 13 by the gravity acting on the weight 24 of each rotary unit 20 acts in the N direction around the rotary shaft 13, and as a result, the rotary shaft 13 is moved to the above-described state. It is to be rotated in the rotation direction N.
- the rotating units 20A to 20C are in the protruding side range P1
- the rotating units 20D to 20F are in the drawing side range P2
- the gravity acting on the weights 24 rotates the rotating shaft 13 in the rotation direction N. Show.
- Each rotary unit 20 pivots the tip weight 24 of the swivel arm 23 by the fluid cylinder 25 attached to the support base 22 on the turntable 14, and controls the radial position of the weight 24 relative to the rotary shaft 13.
- a weight 24 is provided at a position where the length R from the turning center axis 23A of the turning arm 23 is long, and a connection on the fluid cylinder 25 side is provided at a position where the length r from the turning center axis 23A is short. Dots are provided. Therefore, the stroke of the fluid cylinder 25 is expanded, and the radial position of the weight 24 is changed.
- Each rotating unit 20 causes the weight 24 to pivot about the pivot center axis 23A of the pivot arm 23 by the fluid cylinder 25, and the weight 24 obtains centrifugal force in the course of the pivot movement. For this reason, the above-mentioned centrifugal force is added to the thrust caused by the fluid pressure of the fluid cylinder 25 as the moving force source of the weight 24.
- the heavy weight 24 can be moved while using the fluid cylinder 25 with a small output, and the rotational moment exerted on the rotary shaft 13 by the weight 24 can be increased, thereby obtaining a large rotational force.
- the support base 22 provided with the turning center shaft 23 ⁇ / b> A of the turning arm 23 is a swing support shaft provided on the base 21 attached to the turntable 14. 22A, and is supported so as to be swingable about a swing support shaft 22A orthogonal to the rotation shaft 13.
- the swing support shaft 22 ⁇ / b> A of the support base 22 may be arranged not only on the radial line of the rotary shaft 13 and orthogonal to the rotary shaft 13 but also in parallel with the radial line of the rotary shaft 13.
- the swivel arm 23 and the swivel center shaft 23A provided on the support base 22 are located on the plane orthogonal to the rotation shaft 13, and the side on which the gravity acting on the weight 24 reaches is located on both sides of the neutral position K as shown in FIG.
- the support base 22 can be swung by a certain angle ( ⁇ 0 or ⁇ 0 ) (FIGS. 6 to 9).
- ⁇ 0 or ⁇ 0 a certain angle
- each rotation unit 20 of the rotation drive device 10 in order for each rotation unit 20 of the rotation drive device 10 to rotate the rotation shaft 13 in the rotation direction N, as described above, the protrusion start timing A of the swivel arm 23 by the fluid cylinder 25 of each rotation unit 20 is the rotation axis.
- Each rotary unit 20 is located on the upper vertical side with respect to the horizontal plane X including 13 and the retraction start timing B of the swivel arm 23 by the fluid cylinder 25 of each rotary unit 20 is on the lower vertical side with respect to the horizontal plane X including the rotary shaft 13. It is necessary to set the supply sequence of the fluid to the rod side chamber or the piston side chamber of the fluid cylinder 25 (basic condition for fluid supply to the fluid cylinder 25).
- the protrusion start timing A by the fluid cylinder 25 that can minimize the thrust of the fluid cylinder 25 while complying with the above-described basic fluid supply conditions to the fluid cylinder 25 is the swivel arm of the rotary unit 20.
- 23 and the weight 24 are close to the horizontal plane including the rotation shaft 13, and the timing at which the vertical position of the weight 24 starts to become lower in the subsequent turning process of the turning arm 23 in the direction (turning assist due to gravity of the weight 24).
- the timing when power can be received is good.
- the pull-in start timing B by the fluid cylinder 25 that can minimize the thrust of the fluid cylinder 25 while complying with the basic fluid supply conditions to the fluid cylinder 25 is the same as that of the rotary unit 20.
- the timing at which the turning assist force can be received is good.
- the weight 24 of the swing arm 23 rotates the rotation unit 20 with respect to a vertical plane in which the swing support shaft 23 ⁇ / b> A of the support base 22 includes the rotation shaft 13.
- the swing arm 23 provided on the support base 22 turns.
- the central axis 23A swings by an angle ⁇ 0 from the neutral position K on the plane orthogonal to the rotation axis 13 to the side where the gravity acting on the weight 24 reaches.
- the rotation unit 20 comes before the weight protrusion start timing A (by the rotation angle ⁇ before the weight protrusion start timing A).
- the weight 24 receives a turning assisting force due to gravity at a weight protrusion start timing A ⁇ ), and starts to naturally fall along a turning surface that forms a downward gradient (drop Ha) with respect to the horizontal plane around the turning center axis.
- an appropriate protruding fluid pressure is applied to the fluid cylinder, the swivel arm 23 and the weight 24 of the rotating unit 20 from the weight protrusion start timing A ⁇ before the weight protrusion start timing A is reached. As shown in FIG.
- the above-described natural fall of the weight 24 starts, and the above-described weight protrusion start timing A is advanced.
- the weight 24 is protruded to the maximum radial direction position in the gravitational action region, and rotational force is obtained by the rotational moment exerted on the rotary shaft 13.
- the rotation bias angle range La of the shaft 13 can be expanded, and the gravity utilization rate of the rotary drive device 10 can be improved.
- the swing support shaft 23 ⁇ / b> A of the support base 22 is on the side of the antigravity action region where the weight 24 is lifted from the vertical bottom to the vertical top with respect to the vertical plane including the rotary shaft 13.
- the turning center axis of the turning arm provided on the support base 22 is angled from the neutral position on the plane orthogonal to the rotation axis 13 to the side where the gravity acting on the weight 24 extends. Swings by ⁇ 0 .
- the weight 24 receives a turning assist force due to gravity, and starts to naturally fall along a turning surface that forms a downward gradient (drop Hb) with respect to the horizontal plane around the turning center axis.
- the weight 24 starts from the weight retraction start timing B ⁇ before the swivel arm and the weight 24 of the rotating unit 20 reach the weight retraction start timing B.
- the above-mentioned natural fall starts and the above-described weight pull-in start timing B is advanced.
- the rotating shaft exerts a rotational resistance force on the rotating shaft 13 while the weight 24 is projected in the maximum radial direction position in the antigravity action region.
- the rotational resistance angle range Lb of 13 can be reduced, and the gravity utilization rate of the rotary drive device 10 can be improved.
- Tilt structure of the base 21 with respect to the turntable 14 (FIGS. 10 and 11) 10 and 11 is obtained by adding a tilting structure of a base 21 to each rotary unit 20 of the rotary drive device 10 shown in FIGS. 1 to 9. That is, in each rotation unit 20, the base 21 that supports the support base 22 and the turning arm 23 is a tilting support shaft 21 ⁇ / b> A provided on the rotation base 14, and rotates around the tilting support shaft 21 ⁇ / b> A along the rotation shaft 13.
- the pivot arm 23 is attached so as to be tiltable from a reference position R0 along which the swivel arm 23 can pivot along a plane including the shaft 13 to a forward tilt position R ⁇ that advances by a certain angle ⁇ in the rotation direction N of the rotary shaft 13.
- the tilting support shaft 21A is fixed in a penetrating manner on the inner diameter side of the two discs that constitute the rotary table 14, and on the outer diameter side of these discs.
- the engaging pin 21B is fixed in a penetrating manner.
- one end of the plate-like portion of the base 21 inserted between the two disks of the turntable 14 is pivotally supported on the tilting support shaft 21A, and the tilting support shaft 21A is provided on the side where the support base 22 of the base 21 is provided.
- the engagement pin 21B is inserted through a long hole 21P provided on an arc centered at.
- the base 21 can tilt within a range of an angle ⁇ in which one end to the other end along the arc of the long hole 21P abut on the engaging pin 21B with the tilting support shaft 21A as a tilting center.
- the base 21 of each rotary unit 20 has the weight 24 of the swivel arm 23 in the above-described antigravity action region (the right half of the vertical line passing through the rotary shaft 13 in FIG. 10) on the rotation trajectory of the rotary unit 20.
- the one end side of the long hole 21P is positioned at the reference position R0 that abuts the engagement pin 21B.
- the base 21 has a long hole when the weight 24 of the turning arm 23 is in the above-described gravity action region (the left half of the vertical line passing through the rotation shaft 13 in FIG. 10) on the rotation locus of the rotation unit 20.
- the other end side of 21P is positioned at the aforementioned forward tilt position R ⁇ that abuts with the engagement pin 21B.
- each rotating unit may be provided with a connecting point on the fluid cylinder side via a connecting link mechanism at a position where the length of the turning arm from the turning center axis is short.
- a rotary drive device having a plurality of rotary units that obtain a rotational force by changing a radial position of a weight relative to a rotary shaft by a fluid cylinder, while reducing the stroke and output of the fluid cylinder.
- the rotation moment exerted on the rotation axis by the weight of each rotation unit can be increased, and a large rotation force can be obtained.
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Abstract
Description
(1)各回転ユニットが流体シリンダによってウエイトを回転軸と直交する方向に直線移動させるものである。従って、流体シリンダのストロークがそのままウエイトの半径方向位置の変化になる。ウエイトが回転軸に及ぼす回転モーメントを大きくし、大きな回転力を得るためには、ウエイトの半径方向位置の変化を大きくする必要があり、同時に流体シリンダのストロークを大きくする必要があるから、大ストロークの流体シリンダが必要になる。
(a)各回転ユニットが回転台上の支持台に取付けた流体シリンダによって旋回アームの先端ウエイトを旋回移動させ、ウエイトの回転軸に対する半径方向位置を制御する。そして、旋回アームの旋回中心軸からのうでの長さRが長い位置にウエイトを設け、その旋回中心軸からのうでの長さrが短い位置に流体シリンダ側の連結点を設けている。従って、流体シリンダのストロークが拡大されてウエイトの半径方向位置の変化になる。流体シリンダのストロークを小型にしながら、ウエイトの半径方向位置の変化を大きくし、ひいてはウエイトが回転軸に及ぼす回転モーメントを大きくし、大きな回転力を得ることができる。
(d)各回転ユニットにおいて、流体シリンダの推力を最小にしながら、旋回アームがウエイトを回転軸に対する最小半径方向位置から最大半径方向位置に向けて突き出す方向に旋回開始するタイミングAが、当該回転ユニットの旋回アーム及びウエイトが回転軸を含む水平面近くにあり、旋回アームのその後のその方向への旋回過程でウエイトの鉛直方向位置がより低位になり始めるタイミング(ウエイトの重力起因の旋回補助力を受け得るタイミング)が良い。
(f)旋回アーム及び支持台を支持する基台が、回転台に設けた傾動支軸であって、回転軸に沿う傾動支軸まわりに、回転軸を含む面に旋回アームを旋回可能に沿わせてなる基準位置から、回転方向に一定角度だけ進む前傾位置にまで傾動可能に取付けられる。従って、各回転ユニットにおいて、ウエイトが前述の重力作用領域の側にあるときに、旋回アーム及び支持台を支持する基台が基準位置から前傾位置に傾動する。これにより、当該回転ユニットが前述のウエイト突出し開始タイミングAαに至るよりも前(ウエイト突出し開始タイミングAαより回転角θだけ前)のウエイト突出し開始タイミングAθにおいて、旋回アームのその後のウエイト突出し方向への旋回過程でウエイトの鉛直方向位置がより低位になり始めるものになり、ウエイトの重力起因の旋回補助力を受け、自然落下を開始し得るものになる。従って、このとき、流体シリンダに適度な突出し流体圧が印加されていれば、当該回転ユニットの旋回アーム及びウエイトがウエイト突出し開始タイミングAαに至るよりも前のウエイト突出し開始タイミングAθから、ウエイトの上述の自然落下を開始し、前述のウエイト突出し開始タイミングAを一層早めるに至る。流体シリンダの推力によらずに、ウエイトの突出し開始タイミングAを一層早める結果、ウエイトが重力作用領域で最大半径方向位置に突き出されて回転軸に及ぼす回転モーメントにより回転力を得る、当該回転軸の回転付勢角度範囲Laを一層拡大でき、回転駆動装置の重力利用率を一層向上できる。
(a)各回転ユニット20が回転台14上の支持台22に取付けた流体シリンダ25によって旋回アーム23の先端ウエイト24を旋回移動させ、ウエイト24の回転軸13に対する半径方向位置を制御する。そして、旋回アーム23の旋回中心軸23Aからのうでの長さRが長い位置にウエイト24を設け、その旋回中心軸23Aからのうでの長さrが短い位置に流体シリンダ25側の連結点を設けている。従って、流体シリンダ25のストロークが拡大されてウエイト24の半径方向位置の変化になる。流体シリンダ25のストロークを小型にしながら、ウエイト24の半径方向位置の変化を大きくし、ひいてはウエイト24が回転軸13に及ぼす回転モーメントを大きくし、大きな回転力を得ることができる。
回転駆動装置10にあっては、図1~図4に示す如く、旋回アーム23の旋回中心軸23Aを設けた支持台22が、回転台14に取付けた基台21に設けた揺動支軸22Aであって、回転軸13に直交する揺動支軸22Aまわりに揺動自在に支持される。支持台22の揺動支軸22Aは回転軸13の半径線上に配置されて回転軸13に直交配置されるだけでなく、回転軸13の半径線に平行配置されるものであっても良い。
図10、図11の回転駆動装置10は、図1~図9に示した回転駆動装置10の各回転ユニット20に基台21の傾動構造を付加したものである。即ち、各回転ユニット20において、支持台22及び旋回アーム23を支持する基台21が、回転台14に設けた傾動支軸21Aであって、回転軸13に沿う傾動支軸21Aまわりに、回転軸13を含む面に旋回アーム23を旋回可能に沿わせてなる基準位置R0から、回転軸13の回転方向Nに一定角度θだけ進む前傾位置Rθにまで傾動可能に取付けられる。本実施例では、各回転ユニット20において、回転台14を構成する2枚の相離隔する円板の内径側に傾動支軸21Aを貫通状に固定するとともに、それらの円板の外径側に係合ピン21Bを貫通状に固定する。そして、回転台14の2枚の円板の間に差し入れた基台21の平板状部分の一端を傾動支軸21Aに枢支するとともに、基台21の支持台22が設けられる側において傾動支軸21Aを中心とする円弧上に設けた長孔21Pに係合ピン21Bを挿通したものである。基台21は傾動支軸21Aを傾動中心とし、その長孔21Pの円弧に沿う一端~他端が係合ピン21Bに衝合する角度θの範囲を傾動できる。
11 架台
13 回転軸
14 回転台
20 回転ユニット
21 基台
21A 傾動支軸
22 支持台
22A 揺動支軸
23 旋回アーム
23A 旋回中心軸
24 ウエイト
25 流体シリンダ
30 流体供給装置
A、Aα、Aθ 突出し開始タイミング
B、Bβ 引込み開始タイミング
N 回転方向
P1 突出し側範囲
P2 引込み側範囲
La 回転付勢角度範囲
Lb 回転抵抗角度範囲
K 中立位置
R0 基準位置
Rθ 前傾位置
Claims (3)
- 架台に枢支される回転軸と、回転軸上に固定される回転台と、回転台上で回転方向に沿って離隔する複数位置に設けられる複数個の回転ユニットとを有し、
各回転ユニットが、回転台に支持される支持台と、支持台に支持されるウエイトと、支持台に取付けられてウエイトの回転軸に対する半径方向位置を制御可能にする流体シリンダとを備え、
流体供給源からの流体を各回転ユニットの流体シリンダに順に供給することにより、各回転ユニットのウエイトの上記半径方向位置を変化させ、そのウエイトに作用する重力が回転軸まわりに及ぼす回転モーメントの変動で回転台及び回転軸を回転させる回転駆動装置であって、
各回転ユニットが、支持台に設けた旋回中心軸まわりに旋回可能に支持される旋回アームを有し、旋回アームの旋回中心軸からのうでの長さが長い位置にウエイトを設け、その旋回中心軸からのうでの長さが短い位置に流体シリンダ側の連結点を設けてなるとともに、
旋回アームの旋回中心軸を設けた支持台が、回転台に取付けた基台に設けた揺動支軸であって、回転軸に直交する揺動支軸まわりに揺動自在に支持され、支持台に設けた旋回アームの旋回中心軸が、回転軸に直交する面上に位置する中立位置に対する両側のうち、ウエイトに作用する重力が及ぶ側に一定角度だけ揺動可能にされる回転駆動装置。 - 前記各回転ユニットにおいて、旋回アームがウエイトを回転軸に対する最小半径方向位置から最大半径方向位置に向けて突き出す方向に旋回開始するタイミングAが、当該回転ユニットの旋回アーム及びウエイトが回転軸を含む水平面近くにあり、旋回アームのその後のその方向への旋回過程でウエイトの鉛直方向位置がより低位になり始めるタイミングとなるように、流体供給源からの流体を各回転ユニットの流体シリンダに供給するように制御され、
各回転ユニットにおいて、旋回アームを上記最大半径方向位置から最小半径方向位置に向けて引込む方向に旋回開始するウエイト引込み開始タイミングBが、当該回転ユニットの旋回アーム及びウエイトが回転軸を含む水平面近くにあり、旋回アームのその後のその方向への旋回過程でウエイトの鉛直方向位置がより低位になり始めるタイミングとなるように、流体供給源からの流体を各回転ユニットの流体シリンダに供給するように制御される請求項1に記載の回転駆動装置。 - 前記旋回アーム及び支持台を支持する基台が、回転台に設けた傾動支軸であって、回転軸に沿う傾動支軸まわりに、回転軸を含む面に旋回アームを旋回可能に沿わせてなる基準位置から、回転方向に一定角度だけ進む前傾位置にまで傾動可能に取付けられてなる請求項1又は2に記載の回転駆動装置。
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JPWO2011111760A1 (ja) * | 2010-03-08 | 2013-06-27 | 圭亮 岡田 | 動力発生装置 |
JP5724660B2 (ja) * | 2011-06-15 | 2015-05-27 | 株式会社オートネットワーク技術研究所 | 電流検出装置 |
KR101582633B1 (ko) * | 2015-08-24 | 2016-01-05 | 주식회사 올비트앤 | 중력에 의한 하강 운동을 회전력으로 전환하는 음료 교반 장치 |
US9670910B1 (en) * | 2016-05-25 | 2017-06-06 | Kavan Novin Energy Paydar Group | Gravity-driven power generation (GPG) system |
CN106050532A (zh) * | 2016-06-27 | 2016-10-26 | 毛永波 | 轮向流力伸缩板水轮或风轮与发电系统 |
MA39539B1 (fr) * | 2016-12-19 | 2019-10-31 | Univ Int Rabat | Générateur d'énergie par capture solaire thermique et moment |
CN108571490B (zh) * | 2017-03-09 | 2020-02-14 | 苏州汉扬精密电子有限公司 | 隐藏式油管结构 |
US20210276737A1 (en) * | 2017-04-07 | 2021-09-09 | Aaron Allen Opalek | Rotary Propulsion Engine System |
US20180290770A1 (en) * | 2017-04-07 | 2018-10-11 | Aaron Allen Opalek | Rotary Propulsion Engine System |
TW201917285A (zh) * | 2017-10-17 | 2019-05-01 | 彭顗榕 | 智慧型潔淨能源生成機 |
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CN102713314B (zh) | 2015-04-29 |
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