WO2015142323A1

WO2015142323A1 - Continuous variable transmission with uniform input-to-output ratio that is non-dependent on friction

Info

Publication number: WO2015142323A1
Application number: PCT/US2014/031136
Authority: WO
Inventors: Raja Ramanujam RAJENDRAN; Prashanth PRASHANTH R. RAJENDRAN
Original assignee: Rajendran Raja Ramanujam; Prashanth R Rajendran Prashanth
Priority date: 2014-03-18
Filing date: 2014-03-18
Publication date: 2015-09-24
Also published as: JP6454456B2; CN106662230A; EP3120046A1; US20150267794A1; CA2962854A1; EP3120046A4; US9970520B2; CN106662230B; JP2017508939A; CA2962854C

Abstract

The main object of this invention is to provide a uniform and steady output, when the input is uniform and steady, with the ability to transmit high torque without depending on friction or friction factor. Many of the continuous variable transmissions that is in the market today are friction dependent therefor lacks the ability to transmit high torque. Those continuous variable transmissions, which are non-friction dependent does not have a uniform and steady output when the input is uniform and steady. This design aids reduction in the overall size and economically mass produced. This design can be easily integrated into any system. This design is very versatile and can be used ranging from light duty to heavy duty. This design allows replacement of existing regular transmission, requiring very little modification. This design offers the option of stationary co-axial input and output.

Description

TITLE OF INVENTION:

CONTINUOUS VARIABLE TRANSMISSION WITH UNIFORM INPUT-TO-OUTPUT RATIO THAT IS NON- DEPENDENT ON FRICTION

CROSS REFERENCE TO RELATED APPLICATIONS

Provisional Application

Application Number: 61788563

Title: Continuous Variable Transmission

BACKGROUND OF THE INVENTION:

The patents US 5603240 and US 20100199805 use some of the features used in this design. The advantages in this invention include:

The patent US 5603240 does not have a co-axial input to output and therefore cannot be used for applications requiring this configuration. The output travels as the ratio is changed. Therefore, this design cannot be used when stationary output is required. The new invention offers a stationary and co-axial input and output shaft. The envelope used in this prior art is comparably larger. US 20100199805 offers a sinusoidal output and uses several modules just to minimize the "ripple" when a steady and uniform input is provided. Therefore, this design cannot be used when a steady and uniform output is desired. The new invention offers a steady and uniform output when the input is steady and uniform. This can be achieved with as low as three modules.

BRIEF SUMMARY OF THE INVENTION:

BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS:

Fig 1 -CVT general assembly perspective view.

Fig 2- CVT general assembly perspective view with frames made transparent showing general arrangements of internal sub-assembly of components.

Fig 3-Frame - Main Housing - Two identical parts are bolted together to form one main housing:

A. Perspective view showing details on one side of the main housing.

B. Perspective view showing details on the other side of the main housing.

Fig 4- Frame -Telescopic Sleeve Guide perspective view.

Fig 5- Frame-Cross-Rack Guide perspective view.

Fig 6-Input Shaft perspective view.

Fig 7 -Intermediate Gear Shaft perspective view.

Fig 8 -Power Link Shaft perspective view. arrier Shaft perspective view. Cross Rack Assembly showing two perspective views and orthographic views showing details of the input shaft slot and the crank pin slot, orientation of the racks and details of the prongs:

A- Top view

B- Perspective view 1

C- Perspective view 2

D- Front view

E- Side view

F- Rear view

G-Enlarged view showing details of the prong. Pinion:

A-Front view

B-Side view

C-Top view

D-Perspective view Pinion Shaft:

A-Front view

B-Side view

C-Perspective view rame-Cross-Rack Guide perspective view. put Shaft perspective view. termediate Gear Shaft perspective view. ower Link Shaft perspective view. arrier Shaft perspective view. Cross Rack Assembly showing two perspective views and orthographic views showing details of the input shaft slot and the crank pin slot, orientation of the racks and details of the prongs:

A- Top view

B- Perspective view 1

C- Perspective view 2

D- Front view

E- Side view

F- Rear view

G-Enlarged view showing details of the prong. Pinion:

A-Front view

B-Side view

C-Top view

D-Perspective view Pinion Shaft:

A-Front view

B-Side view

C-Perspective view Ratio Cam:

A- Front view

B- Top view

C- Perspective view Non-circular Gear (Driven): A- Top view

B- Front view

C- Perspective view

Non-circular Gear (Driving):

A-Top view

B -Front view

C-Perspective view Dummy Crank Pin:

A-Top view

B -Front view

C-Perspective view

Crank Pin:

A-Top view

B -Front view

C-Side view

D-Perspective view Intermediate Circular Gear C2-C3:

A-Front view

B-Side view

C-Perspective view

Carrier Gear C4a-C5b:

A-Front view

B-Side view C-Perspective view

lntermediate Circular Gear C4-C5:

A-Front view

B-Side view

C-Perspective view.

Intermediate Circular Gear CI :

A-Front view

B-Side view

C-Perspective view Spacer:

A-Front view

B-Top view

C-Perspective view Gear Changing Lever for Spiral flute mechanism:

A-Front view

B-Side view

C-Top view

D-Perspective view

Spiral Flute:

A-Front view

B-Side view

C-Perspective view Stationary differential Collar:

A-Front view

B-Side view

C-Section view

D-Perspective view Dynamic differential Collar:

A-Front view

B-Side view

C-Section view

D-Perspective view Sleeve - Input-Bevel perspective view: hru 43 - Views showing the movement / position on rack assembly, crank pin as input disk rotates: shown at various stages:

Fig 35- Crankpin closer to the axis and input disk at 0

Fig 36- Crankpin closer to the axis and input disk at 45^°

Fig 37- Crankpin closer to the axis and input disk at 90^°

Fig 38- Crankpin at midpoint and input disk at 0

Fig 39- Crankpin at midpoint and input disk at 45^°

Fig 40- Crankpin at midpoint and input disk at 90

Fig 41 -Crankpin farthest from the gear and input disk at 0^°

Fig 42-Crankpin farthest from the gear and input disk at 45^°

Fig 43-Crankpin farthest from the gear and input disk at 90^° Exploded view describing Input Modification - perspective view. Details showing arrangements and gear train of non-circular gear and intermediate gears to input disk. 46-Perspective view of ratio cam, input disk and crankpin showing operation behind how the cam alters the pin location 45 - input disk side (for clarity the ratio cam and input disk are shown transparent). 46- Ratio cam side. 50 Views showing working of planetary gear changing mechanism:

Fig 47- Planetary Gear Changing Mechanism perspective view. The main frame is made partially transparent for clarity.

Fig 48- Perspective view showing planetary gear changing mechanism view and detail of the circular slot in the main frame. The main frame is made partially transparent for clarity, (close up)

Fig 49- Front view showing planetary gear changing mechanism. The main frame is made transparent for clarity.

Fig 50-Sideview showing planetary gear changing mechanism. The main frame is made transparent for clarity. loded view showing Differential Mechanism, showing component arrangements and working (perspective view). 57 - Views describing the ratio changing operation of the differential mechanism at various stages- shown partially sectioned to explain the function and interior details:

Fig 52-Differential Mechanism (partially sectioned) view 1.

Fig 53 -Differential Mechanism (partially sectioned) view 2.

Fig 54-Differential Mechanism (partially sectioned) view 3.

Fig 55 -Differential Mechanism (partially sectioned) view 4.

Fig 56-Differential Mechanism (partially sectioned) view 5.

Fig 57-Differential Mechanism (partially sectioned) view 6. sembly showing working of gear changing mechanism - Spiral Flute Mechanism (exploded). Top view explaining working of the telescopic guide. Details of telescopic mechanism. The primary and sectonday on one side made transparent to show details. hru 62- Assembly of input disk, cross rack assembly, crank pin and crank pin retainer to show the concept behind function of crankpin retainer.

Fig 61 Crank pin and the crank pin retainer when they are in the middle of input slot.

Fig 62- Crank pin and the crank pin retainer as it exits the input slot. Exploded view of one-way bearing assembly (pinion partially sectioned showing interior details). One-way bearing assembly. Power link Assembly. Assembly showing concept of vibration cancelation. Vibration Cancelation Mechanism: sub-assembly. Complete CVT Assembly showing the orientation of modules and orientation of racks: explaining how the 4 modules are placed. hru 72 - Options of placement of non-circular gears, when a common non-circular driving gear is used with two non-circular driven gears.

Fig 69 non-circular gear placed at 135^°

Fig 70 non-circular gear placed at 45^°

Fig 71 non-circular gear placed at (-)45^°

Fig 72 non-circular gear placed at (-)135^° hru 75 - Details showing how constant and uniform output is achieved:

Fig 73 - Assembly orientation of individual modules.

Fig 74 - Graph showing individual output at each rack and combined total output showing constant and uniform output with overlaps. Fig 75- Graphical representation of output with overlaps and sequence of engagement for a complete cycle.

Fig 76 thru 79 - Miter gear assembly describing forward, reverse, neutral and park gears:

Fig 76- Engagement of clutches for a Forward gear.

Fig 77- Engagement of clutches for a Reverse gear..

Fig 78- Engagement of clutches for a Neutral gear..

Fig 79- Engagement of clutches for "Park".

Fig 80- Concept of using of intermediate gear to eliminate multiple contacts between non- circular gears:

A- top view

B- front view

Fig 81- Co-axial output element with internal gears:

A-Front view

B-Section side view

C-Perspective view

Fig 82- Detail showing arrangement of co-axial output member in the assembly.

Fig 83-Formula used to calculated the radius of the non-functional portion of the driving gear

Fig 84-Mathematical derivation of the shape of the non-circular gears such that the linear velocity of the rack 64 is constant

DETAILED DESCRIPTION OF THE INVENTION:

SUMMARY OF THE INVENTION

To briefly describe this invention is a Continuously Variable Transmission (CVT). Unlike existing CVT designs, this particular design does NOT depend on friction to transmit power. Most of the CVTs that exist today depend on friction to transmit power and thereby cannot be used where there is a need to transmit high power at low speed. Due to this advantage, it is possible to use this invention where high torque transmission is required. Co-axial input and output can be achieved with this layout.

The working of this CVT can be described by the following simple sequential operations. a) A crank pin (Fig. 23), revolves around the axis of an input disk (Fig. 14) at an offset distance, and this offset distance can be altered. [The concept described in this operation exists in another patent US 20100199805. However, here an entirely different approach is adapted on how this concept is used, how the offset is altered etc. in a much simpler, and compact envelop.] b) This offset crank pin 42 is caged in a slot of a rack assembly (Fig. 10), and the rack assembly is restricted such that the rack can move only in the direction parallel to the rack 64. By orienting another slot normal to the direction of movement, the rotational movement of the crank pin 42 is translated to pure linear back and forth movement of the rack 64. This mechanism is commonly known as "scotch yoke mechanism" in the industry. The distance of this linear back and forth movement (stroke) is directly proportional to the radial distance of the crank pin 42 from the axis of the input disk 16. c) The rack 64 is linked to a pinion (Fig. 11) converting this linear movement of the rack 64 to rocking oscillation of the pinion 47. d) This rocking oscillation movement is converted to a unidirectional rotation, using a ratchet mechanism / one-way bearing / computer controlled clutch.

One main purpose of this invention is to achieve a CONSTANT AND UNIFORM output angular velocity when the input angular velocity is constant and uniform. However, using the steps described above, this is NOT achieved, as the output is sinusoidal. By modifying the rate of change of angular displacement of the input disk 16, uniform steady output can be achieved. By using a set of non-circular gears, the driving (Fig. 22) and the driven (Fig. 21), the rate of change in angular displacement at the input disk 16 can be altered. The output from the driven non- circular gear 9 is then transferred to the input disk 16 via some intermediate circular gears. The profile of the driving non-circular gear 8 is given by the equation, when radius "r" expressed as a function of Θ is r(0) = R*K*CTR/[R*K+ f(0)], where "K" is a constant depends on radii of all constant gears and, "R" is the desired ratio between rate of change in angular displacement of the input at the driving non-circular gear 8 and the output at the input disk 16,

The ideal value for "R" is generally 1. "K" is derived from the radii of the intermediate gears and it is equal to the product of the radii of the driven gears divided by the product of the radii of the driving gears. The ideal value for "K" is generally 1. "CTR" is the center-to-center distance of the two non-circular gears 8&9. This is chosen based on the available envelop for the assembly. f (Θ) can be either sin Θ or cos Θ. Both the formulae will yield identical and interchangeable profile, except they are rotated 90°.

The profile of the driven non-circular gear 9 is given by the formula r(0)=CTR- {R*K*CTR/[R*K+ f(Q)j } ₎ The derivation of these profile shapes and the parameters used are explained in detail in subsequent topics.

To aid in comprehending the invention a CAD model is designed, created, and explained below. The features used here are: The chosen value for "R" is 1. The chosen value for "K" is 1.

A common input shaft (Fig. 6) and a driving non-circular gear 8 are used for all four modules.

A common cross-rack assembly 44, input disk 16, driven non-circular gear 9, intermediate circular gears, crank pin 42, ratio cam (Fig. 20), and ratio changing mechanism is used for two modules.

Two racks 64 are placed on the cross-rack assembly 44 with a phase shift of 180°

Another identical assembly of modules is placed such that the second assembly of module is a lateral inversion of the first assembly of module and rotated by 90° List of Components:

1) Frame - Main housing

2) Frame - Cross-rack guide

3) Frame- Telescopic guide

4) Input shaft

5) Input shaft bearing

6) Intermediate gear shaft

7) Intermediate gear shaft bearing

8) Non-circular gear (driving)

9) Non-circular gear (driven)

10) Intermediate circular gear CI

11) Intermediate circular gears C2-C3

12) Intermediate circular gears C4-C5

13) Bearing - collar (stationary and dynamic)

14) Bearing - circular gear C2-C3

15) Bearing - circular gear C4-C5

16) Input disk

17) Bearing - input disk

18) Ratio cam

19) Bearing - ratio cam

20) Intermediate carrier circular gears C4a-C5a

21) Carrier shaft

22) Bearing - carrier shaft

23) Ratio changing lever - planetary mechanism

24) Sleeve - Input disk - bevel

25) Stationary differential collar

26) Stationary differential collar spur shaft bearing

27) Stationary differential collar spur gear shaft

28) a) Stationary differential collar small bevel gear b) Stationary differential collar large bevel gear

29) Stationary differential collar spur gear

30) Spacer

31) Dynamic differential collar

32) Dynamic differential collar spur shaft bearing ) Dynamic differential collar spur gear shaft

) a) Dynamic differential collar small bevel gear b) Dynamic differential collar large bevel gear) Dynamic differential collar spur gear

) Universal joint

) Spiral flute

) Slotted disk - input disk

) Compression spring

) Thrust bearing

) Ratio changing lever - spiral flute mechanism) Crank pin

) Dummy crank pin

) Cross-Rack assembly

) Primary telescopic sleeve

) Secondary telescopic sleeve

) Pinion

) Pinion shaft

) Pinion bearing

) One-way bearing

) Output Sprocket / gear

) Power link shaft

) Power link shaft bearing

) Power link Sprocket / gear

) Dummy rack

) Wheel - vibration cancellation

) Collar - wheel- vibration cancellation

) Input shaft for miter bevel gears

) Miter bevel gear

) Clutch - park/neutral/reverse

) Output shaft

) Intermediate gear - non-circular gear connector) Guide - intermediate gear-non-circular gear connector) Rack

) Co-axial output element with internal gear Description of Assembly, Sub-assembly of components and their functions:

Description of the general construction:

The input shaft (Fig. 6) is mounted on two input shaft bearings 5 and placed in the center of the frame-main housing(s) (Fig. 3). The input disk 16 is mounted on the input shaft 4 and sandwiched between the rack assembly (Fig. 10) and the ratio cam (Fig. 20) and the crank pin 42 is caged in the slot, The crank pin 42 has a body shaped like rectangular prism with circular prism extended on both sides. One of them functions as a cam-follower, made to engage with the ratio cam and other functions as a crank pin 42, and made to engage with the rack 64 on the cross rack assembly 44. Parallel to the input disk 16 the driving non-circular gear 8 is mounted on the input shaft 4.

The intermediate gear shaft (Fig. 7) is mounted on two constant gear shaft bearings 7, with one in each of main housing 1. The intermediate gear shaft 6 is placed parallel to the input shaft 4 at a distance "CTR" that is used to derive the shape of the non-circular gears. The powertrain flow from the input shaft 4 to the input disk 16 is as per the table provided below.

The driven non-circular gear 9 and the intermediate gear C2-C3 (Fig. 25) are mounted on the input shaft 4 and the intermediate gear-l(Fig. 28) and intermediate gear C4-C5 (Fig. 27) are mounted on the constant gear shaft 6. The driving non-circular gear 8 is directly mounted on the input shaft 4 , and the driven non-circular gear 9 along with the intermediate gear-Cl 10 are mounted directly on the intermediate gear shaft 6. The others are placed in a bearing and mounted on their respective shafts.

The rack assembly 44 is free to move only along the direction of the rack 64 and its movement is restricted by the frame-rack guide 2. A set of telescopic-sleeves, primary and secondary are placed on either side of the rack assembly 44. This will decrease the overall size needed for the rack assembly 44 and the frame main housing 1. A prong placed on either side of the rack assembly 44 and another on the secondary sleeve 46, to pull and extend the telescopic sleeves and the telescopic sleeves are collapsed by the body of the rack assembly 44. These telescopic- sleeves are caged-in by the frame telescopic-guide (Fig. 4).

The rack 64 is coupled with a one-way bearing assembly (Fig. 64) that consists of a pinion 47 that is placed on a pinion shaft (Fig. 12). This pinion shaft 48 is mounted on the frame telescopic-guide 3 with a pinion bearing 49. A gear or a sprocket is mounted on this pinion shaft 48 through a one-way-bearing 50 and is placed parallel to the pinion 47. A power link shaft assembly (Fig. 65) is placed parallel to the one-way bearing assembly (Fig. 64). The power link assembly consists of a power link shaft (Fig. 8) that is mounted on two bearings that are placed on the frame -telescopic-guide 3. A gear or sprocket is placed on the power link shaft's each ends. The power from the pinion shaft 48 is transmitted to the power link through this gear or sprocket.

The working and the concept of the main CVT:

When the input disk 16 rotates, by the 'scotch yoke' mechanism the crank pin 42 moves the cross rack assembly in the direction parallel to the rack 64. The distance travel by such movement is directly proportional to the distance of the axis of the crank pin 42 from the axis of the input disk 16. By altering this distance, the distance travelled by the rack assembly, this is termed as "stroke" can be altered. Since the work done is constant, which is a product of force applied multiplied by the distance traveled (F*stroke). For a smaller stroke, the force applied is greater and for a longer stroke, the force applied is smaller. However, the motion is back and forth oscillation. This force from the linear back and forth motion of the rack 64 is later transferred to a pinion 47 as a rocking motion. The torque generated by this rocking motion is directly proportional to the force applied from the rack 64. This is transferred to an output sprocket/gear via a one-way bearing 50 or a computer controlled clutch or a ratchet mechanism to a unidirectional rotation. This unidirectional rotation is further delivered to the wheels.

Arrangement of transmission of power from engine / power source to input disk 16:

By using a set of non-circular gears, the driving (Fig. 8) and the driven (Fig. 9), the rate of change in angular displacement at the input disk 16 is altered. The output from the input shaft 4 is transferred through a set of non-circular gears and then transferred to the input disk 16 via five intermediate circular gears. The non-circular driving gear 8 is mounted directly on the input shaft 4. The driven non-circular gear 9 is mounted on the intermediate gear shaft (Fig. 7), which is mounted on two bearings 7 and placed on the two main housings 1.

The intermediate circular gear- CI 10 is mounted on the intermediate gear shaft 6, with a direct connection to the driven non-circular gear 9. The intermediate gear C2-C3 (Fig. 25) is mounted on the input shaft 4, free to spin with a bearing 14. The intermediate gear C4-C5 (Fig. 26) is mounted on the intermediate gear shaft 6 that is free to spin with a bearing 15 and intermediate gear C5 drives the input disk 16. The radius of these intermediate gears are chosen such that the input disk 16 completes one revolution when the driving non-circular gear (Fig.22) completes one revolution. It should satisfy the conditions - rC2/rCl = nl, rC4/rC3= n2, and rdisc/rC5= nl¾2 and the K value will be 1.

Reason behind the need for a circular gear between the non-circular gears when the profile interferes/ multiple contacts at the same instant:

Depending on the values chosen for the variables "R"," " and "CTR" the shape of the non-circular gears could have multiple contact points at any given point of time. From the equations for the non-circular gear profiles, it can be seen that the radius of the driven non- circular gear 9 is lower than the input shaft 4 it is mounted on over a wide region and reaches zero at two locations. In addition, there is a potential that, due to the shape of the profile, the driven non-circular gear 9 and the driving non-circular gear 8 may have multiple contact points at a given time. This can be eliminated by inserting an intermittent circular gear 62 between the two non-circular gears. This increases the distance between the two non-circular gears and eliminates the issue of multiple contact point at any given time. Concept behind using ratio-changing cam:

In order to change the input to output ratio, the location of the crank pin 42 must be changed. This can be achieved by rotating the ratio cam plate 18 which has a slot with a certain profile. When the ratio cam plate 18 is rotated with respect to the input disk 16 this profile forces the crank pin 42 to move in radial direction of the disk axis. This is because the axis of the crank pin 42 intersects the slot input disk 16 and the slot in the ratio cam plate 18 . When the crank pin 42 is closer to the axis of the input disk 16 the stroke is shorter and since the work done is constant, the force is increased. Similarly with the crank pin 42 is farther from the axis of the input disk 16, the stroke is longer and since the work done is constant, the force is decreased. The challenge here is to have the ratio cam plate 18 and the input disk 16 spinning synchronized during normal operation however, and when the ratio change is desired, the input disk 16 and the ratio cam plate 18 should have a relative angular velocity. By using one of the three mechanisms described below, a relative angular velocity between the input disk 16 and the ratio cam plate 18 can be achieved, when desired.

The methods to change ratio:

1. Planetary mechanism:

A set of intermediate carrier circular gears, C4a, and C5a (Fig. 26) are axially connected and mounted on a common carrier shaft (Fig.9). C4a is identical to the circular gear C4 and C5a is identical to the circular gear C5. The movement of this common axis is restricted to a circular slot/path, which is at a constant distance from the rotation axes of the input disk 16 and the ratio cam plate. The gear 4a is radially connected to gear C3 and the gear C5a is radially connected to the ratio cam plate 18 . A ratio-changing lever - planetary mechanism (Fig. 37), pivoted on the frame enables the location of the carrier shaft 21 to move along the slot. While the location is being displaced, there is a relative angular displacement between the input disk 16 and the ratio cam plate 18.

2. Spiral flute mechanism:

A spiral fluted input disk collar (Fig.38) with twisted profile is axially attached to the input disk 16. Slots matching the twisted profile of the spiral flute is broached on the ratio cam plate 18 and placed co-axial to the input disk 16. When the distance between the ratio cam plate 18 and the input disk 16 remain unchanged, the input disk 16 and the ratio cam plate 18 spin synchronized. While the distance between the input disk 16 and the ratio cam plate 18 is being altered, the relative angular velocity between the input disk 16 and the ratio cam plate 18 changes as the ratio cam plate 18 is forced to rotate with respect to the input disk 16. This axial translation is achieved with a ratio-changing lever- spiral flute mechanism (Fig.40) that pushes a thrust bearing 40 attached to the ratio cam plate 18 towards the input disk 16. This is sprung back with a compression spring (Fig.39) placed between the input disk 16 and the ratio cam plate 18.

3. Differential mechanism:

A stationary collar large bevel gear 28b is axially attached to the input disk 16 via a sleeve - input disk to bevel (Fig.32). A stationary differential collar (Fig. 32), which is co-axially spaced to the large bevel gear 28b, by a thrust bearing 40 is free to spin independently with respect to the large bevel gear 28b. The stationary differential collar 25 is restricted to move axially with respect to the large bevel gear 28b. A, free to spin stationary collar shaft 27 is placed normal to the axis of the stationary differential collar 25 in a bearing 26 placed in the stationary differential collar 25. A stationary collar small bevel gear- 128a and a stationary differential collar spur gear 29 is axially and rigidly attached to the stationary differential collar shaft 27 and the stationary collar small bevel gear 28a is paired with the stationary collar large bevel gear 28b.

Similarly,

A dynamic large bevel gear (Fig. 17) is co-axially placed parallel to the ratio cam plate such that they spin synchronized but allowing displacement between them along the axis. A dynamic differential collar (Fig. 33) which is co-axially placed to the dynamic collar large bevel gear 28a spaced by a thrust bearing 40 is free to spin independently with respect to the dynamic collar large bevel gear 34b. The dynamic differential collar 31 is restricted to move axially with respect to the dynamic collar large bevel gear 34a . A, free to spin dynamic collar shaft 33 with a universal joint 36 placed in its axis is placed normal to the axis of the dynamic differential collar in a bearing 32 placed in the dynamic differential collar 31. A dynamic collar small bevel gear 34a and a dynamic collar spur gear 35 is axially and rigidly attached to the dynamic collar spur gear shaft 33 and the dynamic collar small bevel gear 34a is paired with the dynamic collar large bevel gear 34b . The universal joint 36 is common to the dynamic collar spur gear shaft 33 and the small bevel gear shaft, allowing a small mismatch.

A spacer keeps the two spur gears in contact. The spacer (Fig. 29) is free to move axially with respect to dynamic collar spur gear shaft 33. Here the stationary differential collar 25 and the dynamic differential collar 31 are identical and interchangeable.

By this arrangement the dynamic flow train is as described below a. The stationary collar large bevel gear 28a spins stationary collar small bevel gear 28b. b. The stationary collar small bevel gear 28 spins the stationary collar shaft 27. c. The stationary collar shaft 27 spins the stationary collar spur gear 29 d. The stationary collar spur gear 29 spins dynamic collar spur gear 35. e. The dynamic collar spur gear 35 spins dynamic collar shaft 33. f. The dynamic collar shaft 33 thru the universal joint 36 spins the dynamic collar small bevel gear 34a. g. The dynamic collar small bevel gear 34a spins the dynamic collar large bevel gear 34b. h. The dynamic collar large bevel gear 34b spins the ratio cam plate 18.

Since the two large bevel gears, the two small bevel gears, and the spur gears are identical and same size respectively, when the dynamic differential collar 31 is stationary, the angular velocity of the ratio cam plate 18 is synchronized with the input disk 16. While the dynamic differential collar 31 is being rotated with respect to the stationary differential collar 25, there will be a relative angular displacement between the input disk 16 and the ratio cam plate 18.

Concept behind using telescopic-sleeve to enable a compact design:

For this design to work the length of the input slot of the rack assembly has to be a value equal to 2 * stroke + input-shaft diameter + 2* minimum material thickness + 2* the distance to reach the rack guide. This entire length has to be guided by the rack guide. Since the rack guide also has to accommodate the travel of the rack 64, the opening portion of the rack guide should have a width at least as the diameter of the input disk 16 or it will be out of reach when the rack 64 travels to one side to the extreme. The telescopic-guide extends the support and as a result, the overall length of the rack assembly can be reduced by the "distance to reach the rack guide." This also makes it possible for the main housing 1 to be shorter by that distance. Prongs are provided in the design of the rack assembly and in the secondary sleeves to extend the telescopic-sleeves. The body of the rack assembly collapses the telescopic- sleeves. Concept behind use / working function of slider guide:

The crank pin is much smaller than the input-shaft 4. Since both the slot cross each other, there is a potential that the crank pin can slip in to the input-shaft slot. This is eliminated by using a slider guide (Fig. 13) that is larger than the input-shaft slot. This is made to float in the crank pin slot enclosing the crank pin 42.

Overlap of power transmission, design in implementing the concept:

To ensure smooth transition from one module to the next, for a brief period both the modules are active and engage when the output from both of them reach a constant and uniform value. The first module disengages while it is still in the functional region and the second module is well in the functional region.

Modules and their assembly layout and constraints:

All the four modules share one common input-shaft and one common non-circular driving gear. Two of the modules share a common input disk 16 and gear changing mechanism. The Racks are placed at 90° phase shift to the next. To accommodate this, the driven non-circular gear 9 is oriented at 45° with the driven non-circular gear 9 phased at 45° relative to the other non-circular driven gear. Also due to the fact the non-circular gears are symmetric it can be also oriented at 135°. This adds up to a 90° phase shift between racks.

Concept of power transfer / link between modules:

When the modules operate in sequence, they must be linked before the power is transferred to the wheels. This is achieved by using a power link shaft 52 that has gears or sprocket to link the output from each module such that it has a continuous power to the wheels. The power is also transferred in sequence.

Reverse gear mechanism:

The output from the power link shaft 52 is coupled with input-shaft 4 of a miter bevel gear differential mechanism, The output of these miter gears will therefore revolve in opposite direction. The output shaft 61 if this differential mechanism is placed co-axial to the output miter bevel gears with clearance so that free to spin independently with respect to the output miter bevel gears. Two collars with a clutch are placed on the output shaft 61 allowing them to move axially. These can be made to link with either of the output miter bevel gears, which revolve in opposite direction. When one of the collars is made to link, by means of clutch, with a particular output miter bevel gear and the output shaft 61 will revolve is a particular direction. It will reverse its direction if the link is swapped to the other output miter gear.

Neutral gear mechanism:

When the collars are not in link with any of the output miter bevel gears, the collar and the output shaft 61 are not restricted and, thus, they ares free to spin in any direction and function as a "neutral" gear.

Park mechanism:

When the collars are in link with both the output miter bevel gears, the collar is restricted from spinning and functions as a "parking" gear.

Feature and mechanism to compensate vibration:

1. Dummy crank pin: The crank pin is placed off-center when the input disk 16 revolves. This imbalance will result in vibration. To compensate this, a dummy crank pin is placed at same distance 180° apart. This is moved by the same ratio cam that moves the crank pin. This movement is identical to the movement of the crank pin. The cam slots are made identical at 180° apart.

2. Dead weight for counter oscillation: As the input disk 16 rotates the cross rack assembly has a oscillator}' motion which will result in vibration. It is cancelled by having an appropriate mass oscillating in the opposite direction. This is achieved by attaching a wheel in contact with the rack 64, which will spin back and forth. Bringing an appropriate mass in contact with the wheel at 180° apart will compensate for this vibration.

Co-axial input and output option feature:

When co- axial input and output is desired, this can be achived by adding a output member 65 which has an internal gear which is paired with the power link gear. A bearing is placed between input shaft 4 and the co-axial output member 65, allowing them to spin independantly. Constraints:

When K=l and R=l, the conditions that apply are:

The number of teeth on driving non-circular gear (Fig. 22) should be same as number of teeth on driven non-circular gear (Fig. 21), which means their perimeters are the same. i.e. they complete 1 revolution at the same time even though the instantaneous speeds may not be the same. Alternatively, the portion that does not follow the desired shape, i.e. the portion where minimum radius 'r' is used, 2nd set of non-circular gears can be used optionally in parallel to achieve the goal.

rc2/rcl = nl, rc4/rc3= n2, and rdisc/rc5= nl*n2 apply.

Desired but not mandatory (rvl+rv2) = (rc3+rc4) = (rc5+rdisc) = (rcl+rv2) = ctr. This will allow placing of all the driving and driven gears on two common shafts, of which one of them being the input-shaft 4.

Mathematical derivations:

The main aim is to determine a mathematical formula for the shape of the non-circular gears such that v_rack (linear velocity of the rack 64) is constant.

ωΐΝΡυτ - ^ίύν₁ r_Vl * ω_νι = r_Vz * ω_νζ

r_Cl * ω_0ι - r_¾ * ω_¾ ωο₂ = ω_θ3

¾ * ω_θ3 = r_c+ * ω_¾ ω_θ4 = ω_θ5 ^rc_s * "c₅ = r_disk * G)_disk

Vrack = "disk * r_gear * f(9) ^rack _

- - ω_ουτρυτ rgear

"OUTPUT - "DISK * ^rgear * f(⁹) ω_Ε5 * r_C5 * f(9)

"OUTPUT

rdisk «c₄ * r_Cs * f(0)

"OUTPUT — ^"

rdisk

"c₃ * ^rc₃ * ^rc₅ * f(8)

"OUTPUT - rc₄ * ^rdisk

"c₂ * r_¾ * r_Cs * f(9)

"OUTPUT

rc₄ * Tdisk ω i * ^r _{C l} * ^rc₃ * r_Cs * f(9)

"OUTPUT

r_C2 * i^"c₄ * r_disk r_Cl * ¾ * r_Cs * f(9)

"OUTPUT —

rc₂ * ^rc₄ * ^rdisk

"_Vl * ^r _Vl * r_Cl * ^rc₃ * r_Cs * f(9)

"OUTPUT

rv₂ * r_c_ * r_C4 * r_disk

"INPUT * r_Vl * r_Ci * r_C;i * r_Cg * f(9)

"OUTPUT

rv₂ * r_c_ * r_C4 * r_disk

"OUTPUT _

— K

"INPUT r_Vl * r_Cl * ^rc₃ * r_Cs * f(9)

I , * r_c. * r_c+ * r_disk rc₂ * r_c+ * r_disk

f(6) ^" r_V2 I + r_w. = CTR

R * K * CTR

^Vl (R * K) + f(9)

R * K * CTR

r CTR

^V2 (R * K *) + f(9)

Where, ωΐΝΡυτ - Input angular velocity o)_Vl— Angular velocity of Non— circular gear— driving o)_V2 - Angular velocity of Non - circular gear driven u)_Cl - Angular velocity of constant gear 1

OJ_C2 — Angular velocity of constant gear 2

ω_¾ - Angular velocity of constant gear 3

w_Ct - Angular velocity of constant gear 4

o)_Cs - Angular velocity of constant gear 5

"^disk^— Angular velocity of disk

ωουτρυτ ^_ Output Angular Velocity at output r_Vi— radius of Non— circular gear— driving r_V2— radius of Non— circular gear driven

r_c - radius of constant gear 1

r_C2— radius of constant gear 2

r_C3 - radius of constant gear 3

r_C4— radius of constant gear 4

r_Cs— radius of constant gear 5

rdisk ^_ radius of disk

roffset ^_ radial position of the crankpin

R - input to output angular velocity ratio

K - (ratio of the product of radii of driven gears to driving gears)

CTR— center to center distance between the 2 non— circular gears ί(θ)^— sin Θ or cos Θ

Claims

CLAIMS:

1. A continuous variable transmission comprising: at least one module that includes: an input shaft that rotates relative to a reference frame, an input disk, with gear profile on its perimeter, defines a slot in a radial direction is connected to the input shaft via a set of non-circular gears and through at least one substantially circular gear such that the input disk completes "R" revolution, and "R" is an integer or a reciprocal of an integer, for every revolution of the driving non-circular gear about a rotational axis relative to the reference frame, and when the input disk rotates, a crank pin that is caged in the slot, moves a cross rack assembly which comprises of at least one rack, one slot for the input shaft substantially parallel to the rack, and a second slot for the crank pin, substantially orthogonal to the first slot, and a pinion that is mounted on a pinion shaft and coupled with the rack, rotates a gear or a sprocket, via a computer controlled clutch or a one-way bearing, or a ratchet mechanism.

2. The continuous variable transmission of claim 1 , wherein a shape of a functional portion of a non-circular driving gear, when expressed in terms of a radius as a function of an angle, is rf(0) =

f(9)] and shape of a non-circular driven gear, when in contact with the driving gear, is rf(9) = CTR-{R*K*CTR/[R*K+ f(6)] }, CTR is a center-to-center distance between the non-circular gears, "R" is the desired ratio of rate of angular displacement between input-disk and driving non-circular gear, " " is derived from parameters such as respective radii of the input disk and gears and equal to a product of a radius of the driven gear divided by a product of a radius of the driving gear, and f(9) is either cos Θ or sin Θ.

3. The continuous variable transmission of claim 1, wherein a shape of a non-functional

" i CTR j^e=⁹f^R*^K*^CTR , _d0

portion of the driving gear is given by a radius r_nf = -<^ R«K^+f(9)— and B_f is a real number such that r_n is larger than a radius of the input shaft 4 and the functional portion of the driving gear is > (360/N)°, where N is the number of modules used.

4. The continuous variable transmission of claim 2, wherein the non-circular gears are stacked in at least one layer and the sum of all the active functional portion of the all non-circular gears pairs in each module is > 360° and is placed such that the functional portion of each module active in sequence with an overlap.

5. The continuous variable transmission of claim 1, wherein a circular intermediate gear is placed between the driving and driven non-circular gears, with its axis restricted to move only along the line connecting the centers of the non-circular gears, to eliminate potential issue due to multiple contact points at any given time.

6. The continuous variable transmission of claim 1 , wherein a ratio cam, with gear profile substantially identical to the input disk, on its perimeter, is placed adjacent to the input disk that, when revolving substantially synchronously, maintains a substantially constant distance between the crankpin and the axis of the input disk and otherwise will alter the distance.

7. The continuous variable transmission of claim 6, wherein, by use of a mechanism, a distance between the axis of the input disk and crankpin is altered and as a result, a linear displacement of the rack is altered.

8. The continuous variable transmission of claim 7, wherein the mechanism includes a pair of bevel gears one of which is co-axially connected to the input disk and the other spins a driving spur gear, which, in turn, spins a substantially identical driven spur gear which is spaced at a set distance by use of a spacer, and the driven spur gear in turn spins a second pair of bevel gears that is substantially identical to the first set of bevel gears, and finally is co-axially connected to the ratio cam.

9. The continuous variable transmission of claim 8, wherein a universal joint is placed at the intersection of axes of the shafts of either the driving spur gear and driving bevel gear or the driven spur gear and driven bevel gear, or both.

10. The continuous variable transmission of claim 8, wherein the input disk and ratio cam rotate substantially synchronously when there is no relative movement between respective axes of the spur gears and otherwise do not so rotate.

11. The continuous variable transmission of claim 7, wherein the input disk is axially attached to a spiral-fluted collar and the ratio cam defines a hole with a profile matching the collar and is substantially co-axially placed such that the ratio cam and input disk are separated by a distance.

12. The continuous variable transmission of claim 11, wherein the ratio cam and input disk spin substantially synchronized when the distance separating the ratio cam and input disk is kept substantially constant and unsynchronized during while the distance is being altered.

13. The continuous variable transmission of claim 7, wherein the last two circular gears are duplicated and paired with the ratio cam, parallel to the input disk, the axis of which is movable along a slot that is at a substantially constant distance from the axis of the input disk.

14. The continuous variable transmission of claim 13, wherein the input disk and ratio cam rotate substantially synchronously when the axis of the duplicated circular gears remains substantially stationary and otherwise do not so rotate.

15. The continuous variable transmission of claim 1, wherein a pinion that is mounted on a pinion shaft, is coupled with the rack and transfers power to the pinion shaft, which in turn transfers power to either a gear or a sprocket via a computer controlled clutch, one-way bearing, or a ratchet mechanism.

16. The continuous variable transmission of claim 15, wherein the computer-controlled clutch links the pinion shaft to the sprocket or gear, only when the pinion rotates in a specific direction and when the respective non-circular gears are in the functional region.

17. The continuous variable transmission of claim 15, wherein the modules are oriented such that their non-circular gears are in functional region in sequence with overlap when the input disk completes about one revolution, ensuring that at least one module is in the functional region at any given time, thus completing about one cycle.

18. The continuous variable transmission of claim 17, wherein the overlap between each pair of adjacent ones of the modules is substantially identical.

19. The continuous variable transmission of claim 15; wherein, the transmission further comprises a plurality of power link shafts to connect the output from each output gear or output sprocket to the next.

20. The continuous variable transmission of claim 1, wherein the cross-rack assembly further includes at least one telescopic guide sleeve guiding the cross-rack assembly to travel in only a single dimension in a frame of a slot, thus allowing reduction in a size of the frame.

21. The continuous variable transmission of claim 1, wherein a slider guide with a substantially rectangular slot, which is longer than a width of the slot of the input shaft, is placed in the slot of the crankpin of the cross-rack assembly to eliminate slipping of the crankpin into the slot of the input shaft.

22. The continuous variable transmission of claim 1, wherein the cross-rack assembly defines further dead weight of appropriate mass, and a wheel that transfers motion from the rack to the deadweight and the dead weight moves in a substantially opposite direction of the cross-rack assembly to compensate for vibration due to oscillatory motion of the rack.

23. The continuous variable transmission of claim 1, wherein a dead weight defines a mass substantially identical to a mass of the crankpin and slides in an opposite direction of the movement of the crankpin to compensate for vibration due to off-center rotation.

24. The continuous variable transmission of claim 1 , wherein the power-transfer pinion shaft is further coupled with an assembly comprising an input miter gear, a plurality of substantially co-axial output miter bevel gears with a through-bore substantially in the center placed substantially opposite to each other such that they revolve substantially in opposite directions to each other, and a through- shaft placed substantially co- axial with the output miter bevel gears and a plurality of substantially co-axial collars are configured to engage with one of the output miter bevel gears and move independently.

25. The continuous variable transmission of claim 24, wherein one of the collars revolves in a particular direction when the collar is linked with one of the output miter bevel gears and changes direction when the collar switches the link to another of the output miter bevel gears.

26. The continuous variable transmission of claim 24, wherein, when the collar is not in link with any of the output miter bevel gears, the collar is not restricted and, thus, is free to spin in any direction and function as a "neutral" gear.

27. The continuous variable transmission of claim 24, wherein, when the collar is in link with both the output miter bevel gears, the collar is restricted from spinning and functions as a "parking" gear.

28. The continuous variable transmission of claim 19, wherein the power from the power link is transferred to an output member thru gear or sprocket, that is co-axially placed with the input shaft.