Improvements in the positional servo system of or related to such systems

 

(57) Abstract:

The invention relates to a positional servo system, in which the definition of the error between the desired relative positions resulting in the action, i.e. the leading and trailing elements causes the application efforts, leading to the reduction of such errors. Positional servo system is considered on the example of a steering system with an intermediate amplifier, in which the transmission with stepless gear ratio (PBCO) epicycle type with adjustable gear ratio and, in particular, related to the type with toroidal grooves and passed through a rolling force of the clutch. PBCO is located coaxially with the steering wheel or other rotary actuator element (3) and steering or clutch mechanism and delivers the output signal to increase the steering effort in response to misalignment between the provisions of the Executive member and the steering mechanism. Described means (51, 52) to prevent interference with normal manual connection between the actuating element and the steering mechanism, if PBCA should stop rotating, and the cases when the normal course of operations reveton PBCO refers to the type with toroidal grooves, to ensure equality between the effort applied to the steering mechanism of all its connections with PBCO. The technical result consists in the involvement of additional power source exceeding a certain value of the deviation of the shaft to increase the torque on the steering wheel and reducing the considerable efforts that occur in the steering. 17 C.p. f-crystals, 4 Il.

The invention relates to a positional servo system, in which the definition of the error between the desired relative positions leading into effect (i.e., leading and trailing elements causes the application efforts, leading to the reduction of such errors. The invention is applicable particularly, but not exclusively, in the steering systems of known General type with auxiliary amplifier, in which the steering mechanism - for example, a rack and pinion or worm type is driven by a toothed wheel or gear, usually located at one end of the shaft, the other end of which is equipped with the steering wheel or other control element. Means are provided for measuring the angular deflection of the shaft. When the deviation exceeds a predetermined value, indicating prio to the worm or gear wheel, to increase the torque of the steering wheel and therefore, to reduce the deviation of the shaft.

In Japanese patent publication A prompted to enter the "transmission with stepless gear ratio (PBCO) "epicycle" type "with adjustable gear ratio in the steering system with auxiliary amplifier. Conventional components such PBCO are epicycle gear changing speed integral part or "variable", the latter contains an input element, an intermediate opposing element and the output element. Under the "epicycle" type "with adjustable gear ratio" PBBO refers to the type of transmission, in which the axes of rotation of all three elements of the variator concentric, so that the overall configuration of the variator has some similarities with conventional epicycle gear or planetary gear. The present invention is fundamentally different from the specific variant in JP-A-63291770 the fact that in the system described in this publication, PBCO does not generate and does not transmit any torque to assist the steering effort control applied by the operator. Instead, the function PBCO is to modify p is int, so absolutely different means for generating auxiliary power take relatively strong signals at low speeds of the vehicle and weak signals at high speeds.

The present invention also differs from many well-known automotive PBCO concentric layout (one example of which is shown in US-A-4922788) the fact that these PBCO only source driving the input signal is the primary engine of the vehicle. In the positional servo system to which the present invention relates, must be two separate source of such input signals. For example, in the steering system steering first hand input signal is applied through the steering wheel, and PBCO actuates the second source of motive power to make the required auxiliary power.

Further, the invention disclosed with reference to the accompanying drawings, in which:

Fig. 1 - diagram of the steering system with auxiliary amplifier

Fig. 2 - section in the plane of the shaft 3,

Fig. 3 - communication and movement of the variator rollers, for example, one of the videos,

Fig. 4 is an alternative arrangement, predstavlenie with the "input" element 7 variator epicycle type with adjustable gear ratio and (point 11) with one part of customary epicycle gear 6 from three parts. The other two parts of the gear 6 is connected to the "output" element 9 of the variator and the limiting torque device 21, respectively. Third, the intermediate element 8 of the variator produces an output signal 13, which represents one input signal for gears 2 that operate rail 4 of the steering mechanism, and the other input is supplied from the steering wheel 1 by means of shaft 3. Parts that make up PBCO represented within the dotted lines 5 and contain the gearbox 6 and the variator (7, 8 and 9), these parts are mounted for rotation as a single node with a pipe 20, which is coaxial with the shaft 3 and through which they are connected with the gear 2. The shaft 3 and the tube 20 thus constitute a pair of concentric, input elements, rotationally acting on the gear 2. Because limiting torque device 21 itself does not need in the rotation, it may, for example, be made in a simple and reliable form of stationary brake.

In Fig. 2 shows some additional details of the variant shown in Fig. 1, the variable refers to the type with toroidal grooves and passed through a rolling force of the clutch shown in casti element 25 is coupled through a limiting torque device 21 type brakes with sleeve 26, carrier ring gear 27 of the gearbox 6. The engine 10 is coupled through gears 28 and 29 with end discs, for example the input disk 7 variator with toroidal grooves, and with the planet carrier of the planetary gear 30 6. Weekend drives 9 of the variator installed together with the Central toothed wheel 31 epicycle gear. Dual planetary gear supported by a planet carrier 30 to reverse the direction of rotation of the discs 7, 9, as required in the toroidal CVT with grooves, and the gear ratio of the gearbox is preferably selected to give the disks equal speed in opposite directions. "Intermediate element 8 of the variator in this particular embodiment, contains two sets of transmitting traction rollers and the associated bearing units, with one such set is located between one pair of disks 7, 9, and the second set is between another pair. One of such rollers of each set is specified using the extension line position 35. Typically, each set uses three such roller arranged at equal angular intervals around the axis of the shaft 3.

Item 34 in Fig. 2 shows how the control is e 20 with the gear 2. In Fig. 2 shows the flanges 36 and 37 respectively of the shaft 3 and the tube 20, and Fig. 3 kinematically presents the principles of connection of the flange 36 with the roller 35, which causes changes in the gear ratio of the rollers, when the deviation of the shaft 3 exceeds the angular deviation (i.e. when the angular position of the shaft 3 and the tube 20 differ by more than a specified amount), and the subsequent application of the impact torque experienced by the rollers, the gear 2 through the tube 20, providing increased steering effect by increasing the effort applied by the driver to the steering wheel 1, and leading to the reduction of the error to zero.

It should also be noted three additional characteristic shown in Fig. 2. First, a centrifugal clutch or equivalent protective device 50 located between the Central toothed wheel 31 and output disks 9 and sagastume to ensure that the Central gear wheel is detached from the disk and thus breaks the circuit gain of the steering control in the event of a termination of the rotation of the Central gear 30 when, for example, the engine failure. If this happens, the operator continues the steering wheel 1, and otluchennogo damping movement is located between the gear 2 and the flange 37 of the jet plate 41. This ensures that the mechanism of the steering amplifier to increase the effort of steering control when the operator turns the steering wheel 1 with the intention of moving the rail 4, and the rotation of the gear 2 of the steering wheel 1, when an acceptable application of the management efforts in the reverse direction. The reverse effect occurs, for example, from the wheel tire, at the exit of the vehicle from turning when no unilateral exposure device 51 mechanism of the steering amplifier could resist the restoration of the steering wheel 1 in the position for driving straight. Thus, the effect of device 51 is that when releasing the driver of the steering wheel 1 that is going to take the steering wheel will be determined by the wheels. The third additional feature is the presence of ring 52 located adjacent to one of the sets of rollers 35 and nominally coaxial with the shaft 3, but having a Central hole 53, is large enough to allow the ring slightly offset from the center without interference rollers. The function of this ring will be explained on the example of a specific variant of the implementation shown in Fig. 4.

In Fig. 3 presents one of the rollers 35 mounted with who slidable in the arcuate groove 40, made in the jet plate 41. As is known in the art, the center 35A of the roller 35 should be based on a fixed "Central circle" Torah, which correspond to the disks 7, 9. The arc of the groove 40 has the same center 35A. Ball end 39 pivotally attached to the link 42, which, in turn, pivotally attached at point 43 to one end of a link 44, the other end of which is pivotally attached to the flange 36 and should be considered as rotating in the plane perpendicular to the plane of the drawing in Fig. 2, but parallel to the plane of the drawing in Fig. 3, given that the point 45 coincides with the axis of the shaft 3. Jet plate 41 attached to the front surface of the flange 37 and is parallel to it, so that the plate and the flange are mixed up together. When the roller 35 is in the position in which it is shown in Fig.3, the axis 32 will coincide with the common axis of the shaft 3 and the tube 20. This corresponds to the equilibrium position of the system in which the shaft 3 has a negligible angular deviation and in which the ratio of PBCO chosen so that it is in the so-called "neutral gear" condition, in which the ball ends 39 are in their middle position within the groove 40. Thus, the rollers 35 no load krutwig indicated by the arrow 47. Therefore, the engine 10 does not apply torque to the gear 2 through the flange 37 and the tube 20. If there is angular misalignment of the shaft 3, causing a corresponding angular misalignment between the shaft 3 and the tube 20, the links 42, 44 are shifted to the positions shown at points 42' and 44', respectively, and the roller 35 is tilted so that it is aligned with the ball in a different position in the groove 40. In Fig. 3 this is shown at point 39', on one end of the range of positions of the ball inside the groove. The axis 32' of the offset roller now does not intersect the axis of the shaft 3, which is also the axis of the variator. Therefore, the roller 35 is experiencing a counter-torque, which creates a counteracting force (acting in the direction of the arrow 47) on the plate 41 (i.e., the flange 37 and torque on the gear 2 by means of a tube 20, which complements the torque applied thereto by the shaft 3 of the steering wheel 1. This additional torque then decreases to zero with decreasing to zero angle , and the ball end 39 is returned to its middle position in the groove.

When developing a specific variant of the implementation shown in Fig. 4, was taken into account that the efforts of the counter-roller - see stateliest management if isolation input effort steering (attached to the flange 36, as shown in Fig. 2) from the efforts of the counter-roller, which constitute the output signal of the steering system with amplifier and applied to the flange 37. Another sign of the claimed design is the simplicity of the mechanism used to align the output of the effort applied by three rollers (35) in each set, as shown in Fig. 2. This alignment occurs naturally in a modern controlled torque motor PBCO (as described, for example, in the description of the patent specification EP-B-0444086), where the rollers are positioned hydraulically. However, you can expect the absence of precise alignment and possibly create problems in a simpler PBCO, which would be economical for steering or other auxiliary drive amplifier and in which the orientation of each roller is regulated by a direct mechanical connection between this roller and the steering wheel 1.

The first difference that exists between specific variants of the implementation shown in Fig. 3 and 4, is that on the last drawing link(38, 39, 42, 43, 44), connecting a support roller 33 with a flange 36 (and sledovatel plate 41, and no groove 40.

Another main difference relating now to the "output" side of the system, is that the bearing roller consists essentially of two parts. The first portion 54 a similar position 33 in Fig. 3, but contains in its center a "rose" or other adjustable connection 55, the Central ball 56 which has a rod 57 connected to the frame 58, which is the second part of the support. The rod 59 is out of the frame 58 in the same way as the rod 38 protrudes from the frame 33. The rod 59 pivotally connected at point 60 with one shoulder 61 a bent lever 62, the top of which is pivotally mounted at point 63 on the jet plate 41. The other shoulder crank lever 62 has a finger 64 which slides in the groove 66, made in a "floating" leveling plate 52 already described with reference to Fig. 2. As already mentioned, the roller 35, shown in Fig. 3 and 4, is one of three videos, transmitting traction through the toroidal cavity between the input toroidal disc 7 and the corresponding output disc 9, and these three roller placed at equal angular intervals around the axis of the shaft 3. Therefore nominally fingers 64 will also be located at equal angular intervals on an imaginary district the R and rods 59 three rollers) axial forces are not quite equal, the effect of inequality will appear in a small offset of the fingers 64, and therefore, the plate 52 from the axis to achieve equilibrium in which the relative angular setting of the three crank levers is such that equal force of rotation will be applied to the jet plate 41 of each of the crank arms 62 in the corresponding pivot connection 63. By forming arcs of the slots 66 nominally concentric with the shaft 3 (i.e., point 45) the efforts that the fingers 64 is applied to the plate 52 to move it, are essentially only radial and have no circumferential component, which tends to rotate the plate.

It is necessary, in particular, to note the following potential benefits of specific embodiments presented in all figures of the drawings. First, the rotation of PBCO occurs together with the elements from which it receives its input signal, which it transmits its output signal so that it does not cause problems is the fact that although the shaft 3 can be rotated in three turns, the enhancement effect of steering occurs when there is only a small angular misalignment, for example, 2obetween the shaft 3 and the tube 20. Secondly, when VA is of 1:1, eliminating thus any tendency of the steering wheel.

Although the invention has been illustrated in the drawings is only applied to the steering system with auxiliary amplifier, the specialist in the art it is obvious that its application is possible in the positional servo system in General, in which the auxiliary enhancement may be useful in order to ensure the reproduction of the manual or other low-power movement of the rotating input element concentric, but more massive rotating the output element. Such applications include winch steering, in which the drum trigger amplifier, reproducing the movement sagastume manually handle; swivel faucet and the processing head, in which (which) high power amps make, respectively, cabin or revolving caliper to follow the movements of the rotating bodies, which operate either directly by hand or with very little gain.

1. Positional servo system containing a driven mechanism, the first rotary control element, whereby the eating of gear ratio, characterized in that it is provided with means responsive to a mismatch between the provisions of the slave engine and the first rotating element by changing the position of the roller, and thereby producing an amplified output signal transmission, ensuring the application of torque to reduce the error.

2. The system under item 1, characterized in that the means responsive to the mismatch between the provisions of the slave engine and the first rotating element, contains the first mechanical connection between the node of the transmission rollers with stepless gear ratio and the first rotary actuator element and a second mechanical connection between the transmission rollers with stepless gear ratio and clutch mechanism.

3. The system under item 1, characterized in that the clutch mechanism is a steering mechanism, and the system contains the positional servo system type steering system with an auxiliary amplifier.

4. The system under item 1, characterized in that the output signal transmission with stepless gear ratio is applied to the slave fur is p. 4, wherein the first and second rotary actuators contain a Central shaft and surrounding the tube, respectively.

6. The system under item 1, characterized in that the clutch mechanism is in the form of slats or worm, and the first and second rotary actuators both result in the movement of interacting with the known mechanism of the gear or toothed wheel.

7. The system under item 1, characterized in that the change gear ratio integral part of the transmission with stepless gear ratio refers to the type with toroidal grooves and passed through a rolling force clutch.

8. The system under item 7, characterized in that the transmission with a steplessly variable transmission ratio contains epicycle gear box, which contains a dual planetary gears for reversing the direction of rotation between the Central gear and the planet carrier.

9. The system under item 2, wherein the first mechanical connection between the first rotary actuator element and the transmission with a steplessly variable transmission ratio with toroidal grooves contains about the orientation of the rollers, and hence the gear ratio, through the activation of the slave mechanism.

10. The system under item 2, characterized in that the second mechanical connection between the transmission with a steplessly variable transmission ratio and clutch mechanism is realized by means of an element that is sensitive to counteract the torque experienced by the rollers.

11. The system under item 1, characterized in that it contains a torque limiter for limiting the torque transmitted by the transmission with a steplessly variable transmission ratio to the slave mechanism.

12. The system under item 8, characterized in that the first component part of the epicycle gear connected to one side of the drive transmission with stepless gear ratio with toroidal grooves, a second part attached to the other side of the disk, and the drive motor, and the third part is attached to a stationary element, sensitive to the counter-torque by limiting the torque of the device.

13. The system under item 12, characterized in that the first, second and third component parts apiolaza.

14. The system under item 1, characterized in that it contains a unidirectional device to enable application of the management efforts in the direction reverse to respond to the first rotating element to the position of the driven mechanism, if referred to the Executive member is not subjected to normal operational regulation.

15. The system under item 7, characterized in that the set of rollers transmit traction through a common cavity, separating the toroidal input and output disks, the second mechanical connection includes transmitting communication efforts, which connects the support of each such roller with clutch mechanism, and these contain links each pivotally connecting a movable alignment efforts element adapted for finding the equilibrium position, in which equal force applied to the follower mechanism all the rollers.

16. The system under item 15, wherein the alignment efforts of the element is concentric with the first rotary actuator element to achieve the specified equilibrium position.

17. The system under item 2, wherein the first mechanical connection with the Executive elemets adjustment of gear ratio, these supports include first and second parts of the articulated connection between them, and the first and second mechanical connections associated with the first and second part of each foot, respectively.

18. The system under item 1, characterized in that the clutch mechanism is a winch drum, the cab rotary crane, revolving caliper rotating the processing head or any other input element driven manually or with minor effort.

 

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