WO2013104437A1 - Dispositif et procédé de commande de forces fictives dans des ensembles dynamiques non linéaires - Google Patents

Dispositif et procédé de commande de forces fictives dans des ensembles dynamiques non linéaires Download PDF

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Publication number
WO2013104437A1
WO2013104437A1 PCT/EP2012/069300 EP2012069300W WO2013104437A1 WO 2013104437 A1 WO2013104437 A1 WO 2013104437A1 EP 2012069300 W EP2012069300 W EP 2012069300W WO 2013104437 A1 WO2013104437 A1 WO 2013104437A1
Authority
WO
WIPO (PCT)
Prior art keywords
rotatable element
terminal
rotatable
movable
coupled
Prior art date
Application number
PCT/EP2012/069300
Other languages
English (en)
Inventor
Przemyslaw Lagiewka
Original Assignee
Centrum Badawczo-Rozwojowe "Epar" Sp. Z O.O.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Centrum Badawczo-Rozwojowe "Epar" Sp. Z O.O. filed Critical Centrum Badawczo-Rozwojowe "Epar" Sp. Z O.O.
Publication of WO2013104437A1 publication Critical patent/WO2013104437A1/fr

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F7/00—Vibration-dampers; Shock-absorbers
    • F16F7/10—Vibration-dampers; Shock-absorbers using inertia effect
    • F16F7/1022—Vibration-dampers; Shock-absorbers using inertia effect the linear oscillation movement being converted into a rotational movement of the inertia member, e.g. using a pivoted mass
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F2232/00—Nature of movement
    • F16F2232/06—Translation-to-rotary conversion

Definitions

  • the present invention relates to a mechanical transmission, in particular a transmission for controlling mechanic forces input to the terminals thereof.
  • a US patent application US20070007780 describes a kinetic energy absorber for connecting to a bumper of a car and comprising a rotatable energy absorber with a rotor connected with the bumper via a toothed bar and a toothed gear.
  • a rotatable energy absorber with a rotor connected with the bumper via a toothed bar and a toothed gear.
  • the translational motion of the bumper induces translational motion of the toothed bar, which induces rotation of the rotor.
  • the aim of the present invention is to improve the mechanism of controlling mechanical forces input to the terminals of the transmission in order to more effectively absorb energy in the rotatable element installed in the transmission.
  • the object of the present invention is a transmission comprising a rotatable energy absorber comprising a rotatable element for absorbing energy in its rotational movement, a first movable terminal movable with respect to the rotatable energy absorber along a first path and coupled with the energy absorber such that the movement of the first movable terminal in a first direction induces rotation of the rotatable element in a first rotational direction, wherein the transmission further comprises a second movable terminal movable with respect to the rotatable energy absorber along a second path and coupled with the energy absorber such that the movement of the second movable terminal in a second direction induces rotation of the rotatable element in the first rotational direction, the energy accumulator being coupled with both movable terminals such that the rotatable element induced into rotatable motion in the first rotational direction by one of the terminals induces movement of the second of the terminals.
  • the transmission ratio of the coupling between the first terminal and the rotatable element is equal to the transmission ratio of the coupling between the second terminal and the rotatable element.
  • the transmission ratio of the coupling between the first terminal and the rotatable element is different from the transmission ratio of the coupling between the second terminal and the rotatable element.
  • the coupling between at least one of the terminals and the rotatable element comprises a damping element to attenuate the movement of the terminal in the initial part of the path.
  • the coupling between at least one of the terminals and the rotatable element comprises a damping element to attenuate the movement of the terminal in the initial part of the path.
  • At least one movable terminal is coupled with the rotatable element via a rack-and-pinion arrangement comprising a toothed bar translationaly movable by the terminal and coupled with a smaller toothed wheel mounted on a shaft with a larger toothed wheel coupled with a driving toothed wheel mounted on the same shaft as the rotatable element.
  • a rack-and-pinion arrangement comprising a toothed bar translationaly movable by the terminal and coupled with a smaller toothed wheel mounted on a shaft with a larger toothed wheel coupled with a driving toothed wheel mounted on the same shaft as the rotatable element.
  • the rotatable element comprises two toothed wheels fixed still with respect to each other on a common shaft, wherein the first movable terminal is coupled with the first toothed wheel of the rotatable element, and the second movable terminal is coupled with the second toothed wheel of the rotatable element.
  • the toothed wheels of the rotatable element have different diameters.
  • Fig. 1 shows schematically the first embodiment of the transmission in an extended state
  • Fig. 2 shows schematically the first embodiment of the transmission on a compressed state
  • Fig. 3 schematically the second embodiment of the transmission in an extended state
  • Fig. 4 shows schematically the second embodiment of the transmission on a compressed state.
  • the transmission according to the invention comprises a comprises a rotatable energy absorber 130 mounted in a housing 101 comprising a rotatable element 131 , such as a freewheel having a particular mass m and radius r, configured to absorb energy in its rotational movement.
  • the rotatable element 131 rotates around a central shaft 132 and is driven by a driving toothed wheel 133.
  • a first movable terminal 1 1 1 is movable with respect to the rotatable energy absorber 130 along a first path 1 12.
  • the first terminal 1 1 1 is coupled with the rotatable energy absorber 130 such that the movement of the first movable terminal 1 1 1 in a first direction along the first path 1 12 induces rotation of the rotatable element 131 in a first rotational direction 134.
  • the coupling may be realized via a rack-and-pinion mechanism comprising a toothed bar 1 13 coupled with a first smaller toothed wheel 1 14 mounted on a shaft 1 15, on which a first larger toothed wheel 1 16 is also mounted, the first larger toothed wheel 1 16 coupled with the driving toothed wheel 133 of the rotatable energy absorber 130.
  • the movement of the first terminal 1 1 1 may be limited by a spring 1 17 for damping the movement of the terminal 1 1 1 in the initial phase of the path 1 12, such as to absorb the initial phase of the impact imparted to that terminal.
  • the movement of the first terminal 1 1 1 may be also limited by a damper 1 18 for dampening the movement of the terminal 1 1 1 in the final part of the path 1 12, such as to absorb the final phase of the movement of the terminal 1 1 1 and to protect the transmission from damage caused by sudden impact.
  • the toothed bar 1 13 is fixed still to the end of the spring 1 17 and the damper 1 18 is fixed still to the end of the spring 127, wherein the toothed bar 1 13 during compression is input inside the damper 1 17.
  • the toothed bar 123 is fixed still to the end of the spring 127
  • the damper 128 is fixed still to the end of the spring 1 17, wherein the toothed bar 123 during compression is input inside the damper 128.
  • a second movable terminal 121 is movable with respect to the rotatable energy absorber 130 along a second path 122.
  • the second terminal 121 is coupled with the rotatable energy absorber 130 such that the movement of the second movable terminal 121 in a second direction along the second path 122 induces rotation of the rotatable element 131 in a first rotational direction 134.
  • the second path 122 is parallel to the first path 1 12 and the second direction is opposite to the first direction.
  • the coupling may be realized via a rack- and-pinion mechanism comprising a toothed bar 123 coupled with a second smaller toothed wheel 124 mounted on a shaft 125, on which a second larger toothed wheel 126 is also mounted, the second larger toothed wheel 126 coupled with the driving toothed wheel 133 of the rotatable energy absorber 130.
  • the movement of the second terminal 121 may be limited by a spring 127 for dampening the movement of the terminal 121 in the initial portion of the path 122, such as to absorb the initial phase of impact imparted to that terminal.
  • the motion of the second terminal 121 can be also limited by the damper 12 for dampening the movement of the terminal 121 in the final part of the path 122, such as to absorb the final phase of motion of the terminal 121 and to protect the transmission from damage resulting from sudden impact.
  • the rotatable element 131 is coupled with both movable terminals 1 1 1 , 121 such that when it is induced into rotation by one of the terminals 1 1 1 , 121 , it induces movement of the other terminal 1 1 1 , 121 .
  • the amount of energy accumulated in the rotatable element 131 depends on the moment of inertia of the rotatable element, the mass m of the element and its diameter r.
  • the speed of rotation depends on the transmission ratio of the coupling between the movable terminals 1 1 1 , 121 and the rotatable element 131 , i.e. the radii of the smaller toothed wheels 1 14, 124, the larger toothed wheels 1 16, 126 and the driving toothed wheel 133.
  • the energy accumulated in the rotatable element 131 can be transmitted to an energy accumulator (for example, a converter of mechanical to electric energy), or simply dissipated by friction of internal components or external brake used to stop the rotatable element 131 after it is no longer induced into rotation.
  • an energy accumulator for example, a converter of mechanical to electric energy
  • the transmission ratio between the first movable terminal 1 1 1 and the rotatable element 131 is the same as the transmission ratio between the second movable terminal 121 and the rotatable element 131 .
  • This can be achieved e.g. by using first toothed wheels 1 14, 1 16 having dimensions equal to the second toothed wheels 124, 126.
  • the energy absorber has the same absorption properties at both terminals.
  • the transmission ratio between the first movable terminal 1 1 1 and the rotatable element 131 can be different from the transmission ratio between the second movable terminal 121 and the rotatable element 131 .
  • This can be achieved e.g. by using first toothed wheels 1 14, 1 16 having dimensions different than the dimensions of the second toothed wheels 124, 126.
  • the energy absorber has different absorption properties at one terminal than at the other.
  • the rotatable element 131 such as a strand having one end connected to the movable terminal 1 1 1 , 121 and the other end would around the shaft of the rotatable element 131 .
  • the moment of inertia of the rotatable element 131 and transmission ratio between the terminals 1 1 1 , 121 and the rotatable element 131 should be adjusted to the expected range of energy amount to be absorbed.
  • the parameters of the transmission can be adjusted e.g. by varying the mass of the rotatable element 131 or its effective radius by using exchangeable rotatable discs or discs of adjustable parameters.
  • the second embodiment of the transmission as shown schematically in Figs. 3-4, comprises an energy accumulator 230 mounted in a housing 201 and having a rotatable element 231 comprising two toothed wheels 231 A, 231 B fixed still with respect to each other on a common shaft 232.
  • the first movable terminal 21 1 movable along the first path 212, is coupled with a first toothed wheel 231 A by a toothed bar 213.
  • the second movable terminal 221 movable along a second path 222, is coupled with a second toothed wheel 231 B by a toothed bar 223.
  • the toothed wheels 231 A, 231 B of the rotatable element 231 have different diameters, thereby the transmission ratio between the first terminal 21 1 and the rotatable element 231 is different than the transmission ratio between the second terminal 221 and the rotatable element 231 .
  • the rotatable element 231 is coupled with the movable terminals 21 1 , 221 such that when it is induced into rotational motion by one of terminals 21 1 , 221 , it induces movement of the second terminal 21 1 , 221 .
  • the transmission according to the second embodiment may also comprise damping elements 217, 218, 227, 228 having a function equivalent to the function of the damping elements 1 17, 1 18, 127, 128.
  • the amount of energy accumulated in the rotatable element 231 depends on its moment of inertia, depending on the mass of the toothed wheels 231 A, 231 B and their radii. Moreover, on the shaft 231 there can be fixed still with respect to the toothed wheels 231 A, 231 B an additional rotatable element having a considerably larger mass and/or dimensions from that of the toothed wheels 231 A, 231 B, such that the inertia of that additional rotatable element has the main impact on the amount of energy accumulated in the rotatable element.
  • the transmission can be used at any applications when effective energy absorption is necessary between two terminals movable with respect to each other.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transmission Devices (AREA)

Abstract

La présente invention concerne une transmission comprenant : un absorbeur d'énergie mobile en rotation (130, 230) comprenant un élément rotatif (131, 231) destiné à absorber de l'énergie pendant son mouvement de rotation, une première terminaison mobile (111, 211) mobile par rapport à l'absorbeur d'énergie mobile en rotation (130, 230) suivant un premier trajet (112, 212) et couplée à l'absorbeur d'énergie (130, 230), de sorte que le mouvement de la première terminaison mobile (111, 211) dans un premier sens induit une rotation de l'élément rotatif (131, 231) dans un premier sens de rotation (134, 234), caractérisée en ce qu'elle comprend en outre : une seconde terminaison mobile (121, 221) mobile par rapport à l'absorbeur d'énergie mobile en rotation (130, 230) suivant un second trajet (122, 222) et couplée à l'absorbeur d'énergie (130, 230), de sorte que le mouvement de la seconde terminaison mobile (121, 221) dans un second sens induit une rotation de l'élément rotatif (131, 231) dans le premier sens de rotation (134, 234), l'accumulateur d'énergie (130, 230) étant couplé aux deux terminaisons mobiles (111, 121 ; 211, 221) de sorte que l'élément rotatif (131, 231) induit suivant un mouvement rotatif dans le premier sens de rotation (134, 234) par l'une des terminaisons (111, 121 ; 211, 221) induit un mouvement de la seconde des terminaisons (111, 121 ; 211, 221).
PCT/EP2012/069300 2012-01-09 2012-09-30 Dispositif et procédé de commande de forces fictives dans des ensembles dynamiques non linéaires WO2013104437A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
PL397745A PL397745A1 (pl) 2012-01-09 2012-01-09 Przekladnia
PL397745 2012-01-09

Publications (1)

Publication Number Publication Date
WO2013104437A1 true WO2013104437A1 (fr) 2013-07-18

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PL (1) PL397745A1 (fr)
WO (1) WO2013104437A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107313526A (zh) * 2017-07-03 2017-11-03 同济大学 变摩擦型齿轮惯性减震装置
WO2019139654A1 (fr) * 2018-01-11 2019-07-18 The Boeing Company Système d'inertie en rotation à double pignon-crémaillère et procédé d'amortissement de mouvement d'une surface de commande de vol d'un aéronef
US11353084B2 (en) * 2013-03-15 2022-06-07 Clearmotion Acquisition I Llc Rotary actuator driven vibration isolation

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2004053352A1 (fr) * 2002-12-09 2004-06-24 Macrodynamix S.A. Absorbeurs d'energie cinetique en particulier de gros objets mobiles
EP2060417A1 (fr) * 2006-10-11 2009-05-20 Kayaba Industry Co., Ltd. Dispositif de suspension
US20110220443A1 (en) * 2010-03-11 2011-09-15 United States of America as represented by the Administrator of the National Aeronautics and Compact Vibration Damper

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2004053352A1 (fr) * 2002-12-09 2004-06-24 Macrodynamix S.A. Absorbeurs d'energie cinetique en particulier de gros objets mobiles
US20070007780A1 (en) 2002-12-09 2007-01-11 Lucjan Lagiewka Kinetic energy absorber, particularly for large mobile objects
EP2060417A1 (fr) * 2006-10-11 2009-05-20 Kayaba Industry Co., Ltd. Dispositif de suspension
US20110220443A1 (en) * 2010-03-11 2011-09-15 United States of America as represented by the Administrator of the National Aeronautics and Compact Vibration Damper

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11353084B2 (en) * 2013-03-15 2022-06-07 Clearmotion Acquisition I Llc Rotary actuator driven vibration isolation
CN107313526A (zh) * 2017-07-03 2017-11-03 同济大学 变摩擦型齿轮惯性减震装置
WO2019139654A1 (fr) * 2018-01-11 2019-07-18 The Boeing Company Système d'inertie en rotation à double pignon-crémaillère et procédé d'amortissement de mouvement d'une surface de commande de vol d'un aéronef

Also Published As

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