Motor vehicles – Special driving device – Stepper
Patent
1993-02-16
1994-10-11
Hill, Mitchell J.
Motor vehicles
Special driving device
Stepper
901 22, B62D 5702
Patent
active
053538862
DESCRIPTION:
BRIEF SUMMARY
FIELD OF THE INVENTION
The present invention relates to a load-bearing swinging arm which causes an advance movement of a mobile device by means of its pivoting movement and is pivotally connected to another construction in a pivotal relationship thereto about an axis of rotation, and where an actuator for effecting the pivoting movement is provided between the arm and the construction at the pivot.
BACKGROUND OF THE INVENTION
The swinging arm of the above type forms a leg or a part thereof in a machine that moves supported by arms. In these types of mobile devices, in which wheels are replaced with legs that are by turns lifted up and set against a support for advancement, the problem has been to control the very large force or moment present between the supporting structure and the arm in such a manner that the supporting structure will not be subjected to excess loads which are in the practice quite large and shorten the life of the bearings, keeping further in mind that the structure should not be too complicated. On the other hand there are situations where high speed and small force are needed. The present disposals of actuators can not satisfy these two opposite needs.
SUMMARY OF THE INVENTION
The present purpose of the invention is to overcome the above-mentioned drawbacks. For achieving this purpose the points of action acting on the construction through the actuator are provided on both sides of the axis of rotation. It is now possible to utilize the so-called force couple principle at the pivot. In the situations requiring large turning moment in the pivot both actuators are provided for effecting a moment in the same direction about the axis of rotation simultaneously. Because the actuators are situated on both sides of the axis of rotation, the senses of action of their forces are opposite, thus at least partly mutually compensating the effects of their forces.
By taking into account the size of the actuators, the amount of supplied energy and the position of the points of action it is possible to accomplish a so-called ideal force couple. Consequently, only turning moment will be present in the pivot, and without the radial loads caused by the actuators. This has considerable importance as far as the moving sensitivity and service life of the pivot is concerned.
The placing of the actuators in accordance with the invention makes the control possibilities of the arm more versatile. In a non-critical load situation it is possible to provide only one of the actuators with the supply of energy. It is thereby possible to reach a great speed of movement by means of a small energy supply. The actuators can thus serve as a sort of gearing.
According to one advantageous embodiment the points of action are situated on the same line that intersects the axis of rotation. If the aim is an ideal force couple in several arm positions by means of a simple system, it can be .achieved by placing the points of action at equal distances from the axis of rotation and provide the actuators for causing equal forces at the points of action.
According to one advantageous embodiment the swinging arm is also at its other end pivotally connected to another supporting structure in a pivotal relationship thereto about an axis of rotation. At this location all above-mentioned alternatives can be applied. Furthermore, the actuators acting on the supporting structure and on the other construction can be fixed on the same swinging arm, in which case the control of the whole leg will be facilitated because the actuators are in the same area.
According to one advantageous embodiment the actuators are placed inside the swinging arm in a housing-like construction where they are well protected but perform an optimal function. The housing-like construction makes the arm lighter, and the arm will be at the same time strong.
The present invention will be described in the following more closely by reference to the accompanying drawings, wherein
BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 shows the principle of the swinging arm
REFERENCES:
patent: 3160290 (1964-12-01), Wilson
patent: 3792782 (1974-02-01), Melton
patent: 4202423 (1980-05-01), Soto
patent: 4558758 (1985-12-01), Littman et al.
patent: 5161631 (1992-11-01), Urakami
Hill Mitchell J.
Plustech Oy
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