Technical Field

[0001] The invention pertains to a mechanism. More specifically the mechanism is used to transfer motion and to hold, move, lift and position.

Background

[0002] The current invention pertains to a multiplicity of applications as the operations of holding, moving and positioning are integral to machine operation. The following paragraphs provide a brief description of certain current machines or mechanisms to which embodiments of the invention can apply.

[0003] Scissor jacks are related to the current invention in that they are used to lift, move and position and are essentially hexagonal mechanisms with a base and top plate and four pivoting arms. Usually the bottom arms are connected close together with interconnecting gear teeth that cause the arms to move in opposite directions and lock the arms in equal angles and provide stability to the lifting device. The geometry of the interconnecting gears and construction techniques limits the distance the base arms can be placed apart and the stability at the jacks.

[0004] Scissor lifts are used to lift people and equipment often to a considerable height. They are fitted with a base and work platform and have crossed lifting arms in a scissor pattern. As with cutting scissors, scissor lift arms move in and out and cross at a single point. This movement necessitates the inclusion of slides and rollers at the base and platform to allow for the lateral movement. As a scissor lift increases in height the base width decreases. The lateral movement decreasing support width and the scissor mechanism crossing at a single point creates strength and stability issues.

[0005] Cranes come in various forms both fixed and mobile. Tower cranes have ridged columns and booms built up in sections and mobile cranes have various forms of telescoping booms. Tower cranes can be expensive to assemble and require a high skill level in construction and mobile cranes can be very heavy relative to lifting ability.

[0006] A wide range of machines ranging from printers to docking saws and larger incorporate linear slides or bearings that run on circular or other shaped rails. Many of these systems require significant support structure and are susceptible to dirt and dust ingress and are generally high precision and relatively expensive.

[0007] Certain electrical switches particularly those carrying high load and high current voltages can suffer from arcing across the air gap just prior to closing and after opening. This effect of the arcing can lead to contact face burning and deterioration. The situation is made worse by slow contact and break away speeds and the angled approach and retreat of contacts causing uneven burning. Some switches are made as vacuum switches to overcome the arcing problem, but this type of switch is expensive. [0008] Internal combustion engines have a relatively high inefficiency level with many engines have an efficiency rate below 40% conversion of the fuel energy to useful energy. Certain marine engines have additional components such as crossheads that enable an increase of stroke length and operate relatively slowly which allows for more controlled fuel burning and higher fuel energy conversion rates. In conventional engines the piston speed is controlled by crankshaft geometry which results in pistons moving more quickly around top dead centre and during ignition and the main fuel burning phase and slowest around bottom dead centre. This extra speed and the associated rushing during the ignition and burn stage is not conducive to efficient burning and use of the fuel.

[0009] Mechanical energy accumulators and energy absorbers and dispensers are limited in use and application as suitable mechanisms are not readily or widely available.

[0010] Robotics components for control of movement and enabling movement are often complex and expensive.

Summary of Invention

[0011] The basic embodiment of the invention is a mechanism called a reverse arm mechanism which comprises a base or base arm with means to mount at least two pivoting arms. The pivoting arms are connected to the base and configured with attachments in such a way so that when one arm is moved the other arm moves in an opposite direction, and when one arm is held, the other arm is held in the same relative position. The basic embodiment attachments which cause and allow the pivoting arms' opposite direction movement and relative position holding are circular sprockets, pulleys or wheels or the like fixed relative to each of the two pivoting arms and concentric with the pivots of the pivoting arms and the further attachment of pulling and holding chains, belts, straps, cables or the like in a crossed arrangement so that when one arm moves in any direction one pulling means pulls the other arm in the other direction or allows the other arm to move in the other direction and so that when one arm is held in a position the pulling means stops the movement of the other arm so it is held in the same relative position.

[0012] Reverse arm mechanisms can be used as single mechanisms or can be connected in multiples and in various ways and with further attachments to carry out different functions related to moving, positioning and holding.

[0013] Reverse arm mechanisms can be used to produced controlled curved and straight line motion and can combined to produce polygonal armed straight line mechanisms and parallel plane mechanisms. Reverse arm mechanisms control the angle of the pivot arms and the relative positions of the members. Mechanisms can be built up into what can be called controlled pivot hexagons and octagons or polygons and the invention provides for means to transfer motion and control to connected mechanisms and interconnected mechanisms. Technical Problem

[0014] All mechanisms and machines involvement movement and positioning. Current moving and positioning mechanisms may not be suitable for a required action or may be inefficient energy wise or difficult to control or expensive to construct and maintain.

Solution to Problem

[0015] The current invention provides for a movement mechanism that is versatile in its application and can be used provide curved or straight line and parallel motion. It is suitable for rudimentary and sophisticated applications. The current invention provides for a variety of control and motion applications and can be varied for strength and adjusted for longevity and accuracy.

Brief Description of Drawings

[0016] The following diagram provide both detailed and indicative drawings of the invention and certain embodiments and are not intended to limit aspects and applications of the invention.

[0017] Figures 1 (a-e) are a side view of a reverse arm mechanism with solid arrows indicating direction of rotation and dotted arrows indicating length of free travel for the pictured mechanism and other mechanical aspects of the mechanism.

[0018] Figures 2 (a-f) are side views of a reverse arm mechanism with certain control attachments with straight arrows showing applied movement and dotted arrows showing curved generated movement and how the mechanisms can be used in robotics and humanoid robotics

[0019] Figure 3 shows a reverse arm mechanism in a controlled pentagonal form with an arrow representing straight line motion of two connected pivot arms.

[0020] Figures 4 (a-d) shows combined reverse arm mechanisms in a controlled octagonal form with an arrow representing straight line and parallel motion of a free arm and the different shapes and forms the mechanism makes.

[0021] Figures 5 (a-c) shows (without the controlling means being shown) a controlled hexagon mechanism in contracted and extended positions.

[0022] Figures 6 (a-e) show the effect of various controls and holding means on a hexagon body with a reverse arm mechanism held in particular positions.

[0023] Figures 7 (a-c) show two connected controlled hexagons in contracted and extended position along with a control mechanism.

[0024] Figures 8 (a-e) show various joined controlled octagons in expanded and contracted positions.

[0025] Figure 9 (a-g) show various embodiments of lifting and moving devices.

[0026] Figures 10 (a-b) show a parallel plane work head positioning mechanism. [0027] Figure 11 shows a fully adjustable mechanism for presenting a work head at different angles and in which controlled polygons are used to create expandable and bendable columns or arms which can be used as a robotics mechanism.

[0028] Figures 12 (a-b) shows the characteristics of a controlled polygon is absorbing shock and loads.

[0029] Figures 13 (a-c) shows controlled pivot polygons movement and control methods and mechanisms.

[0030] Figures 14 (a-b) show single line reverse arm mechanisms connected by common arms.

[0031] Figures 15 (a-e) show how a reverse arm mechanism can be connected by way of its base arm to further reverse arm mechanisms to make what could be a flexible fabric of interconnected and interacting reverse arm mechanisms and how the fabrics can be connected on more than one plane to make a movable body like a muscle.

[0032] Figures 16 (a-c) indicatively show how controlled polygons can be used as shock and crash absorbing apparatuses.

[0033] Figures 17 (a-m) show variations on how controlled pivot polygons can be used as spring mechanical energy accumulators and batteries and launchers and accelerators and energy conversion mechanisms and an embodiment where a reverse arm mechanism is connected with pivot arms and springing means to form a flexible foot or foot support.

[0034] Figures 18 (a-j) indicatively show how reverse are mechanisms can be incorporated into variously configured mechanisms to replace mechanisms such as crossheads and rhombic drives in engines and motors and other mechanisms that incorporate cylinders and pistons and electrical components such as magnets, wire coils and solenoids.

[0035] Figures 19 (a and b) show embodiments where reverse arm mechanisms can be incorporated into tools and machines where reciprocating motion is required such as in sawing machines.

[0036] Figures 20 (a-c) shows various embodiments of reverse arm mechanisms

incorporated into electrical switches for use in a variety of embodiments suitable for high voltage and current switches to low energy modular switches suitable for such uses as mechanical computers.

Description of Invention, Drawings and Embodiments

[0037] The invention creates a mechanism that can be used in further mechanisms and machines. The mechanisms and machines enable economic, practical and efficient lifting, carrying, shifting, positioning, supporting and holding.

[0038] The basic mechanism of the invention and what can be called a reverse arm mechanism is depicted as a side view in Figure 1 (a) with (i) being a base or mount arm with two attached pivot means (ii) and two connected pivotable arms (iii). Connected with each

Rectified Sheet

Rule 91 (ISA/AU) arm is a circular wheel or sprocket or pulley or the like (iv) with the connection being so that when the circular means moves the pivot arm moves.

[0039] In the general embodiment the mechanism is fitted with two crossed pulling and holding means such as belts or chains or bands (v) so that the pulling means pull on opposite sides of each circular means. The pulling means either hold the opposing and connected pivot arm in the same relative position or move it in an opposite direction. The relative directions of pivot arm movement are shown by arrows (vi) and the general ranges of movement, which may be restricted by arm contact depending on length and placement, shown by dotted arrows (vii). In the general embodiment the angles formed by the arms relative to the base arms are the same or effectively the same but in certain embodiments and for certain applications these angles could be made to be different.

[0040] The crossed pulling means that allow and enable the reversing of pivot arm movement are depicted from a top view in 1(b) with a circular means (i) with two pulling means (ii) in two different positions or levels on the circular means (iii) indicatively shows where the pulling means may be connected to the circular means. Such an arrangement is suitable for pulling and holding means such as chains or ropes with the arrangement stopping interference and contact at the crossing and also allowing for mounting of moving and control means. While one circular means is shown in the diagram the pulling means could sit and be mounted on their own circular means such as two individual sprockets could be mounted next to each other or spaced apart and while only one set of pulling means is shown any number of pulling means could be arranged on the circular means for strength and stability and an uneven numbers of pulling means could be used if

advantageous for the application.

[0041] An alternative means of crossed connection is shown in 1(c) where the crossed pulling means are mounted at the same position or level and the crossed pulling means are allowed to rub or contact and where the crossed pulling means are flat belts or bands (i), they are twisted so that they present a flat face to each other at the crossing point (ii).

[0042] Crossed pulling means can be connected, tensioned and moved in a variety of ways to facilitate the required movement of the reverse arm mechanisms with some of these discussed later in this description.

[0043] Figure 1(d) shows the range of moment of the arms if the base arm is held and the pivot arms allowed to move. Figure 1(d) shows, by way of dotted lines, the movement range of a free pivot arm if the other pivot arm is held at point (i) and with the dotted lines indicating the extended range and the ability to move or send the free pivot arm end to any point in a wide arc or circle if the reverse arm mechanism could move and pivot as at indicated by the arm in example position (ii).

[0044] Figure 1(e) indicatively shows example pivot or base arm connections with (i) showing bush or bearing arrangements that would accept shafts or axles or the like. While the drawings show a rigid connection at the pivots that will hold the arms and allow movement along and in the one plane, from time to time flexibility may be introduced into the connections. The arrangement as shown allows for a free-floating axle and the connection of the circular pulling and holding means to the pivot arms where required. In an alternative embodiment the pulling and holding circular means can be connected to the axle which is connected to the arm required to be moved or held. Separate pivot points that allowed the axle to rotate relative to the base arm would then be used.

[0045] In addition, various pulling and holding means, such as is discussed relative to ropes later in this description, can be used via circular means in crossed and uncrossed ways so as to transfer motion, movement and force directly between reverse arm mechanism circular means in the required way so that when one reverse arm circular means rotates it acts to rotate a further reverse arm mechanism circular means in another reverse arm mechanism in the same apparatus.

[0046] A reverse arm mechanism as previously described relative to Figure 1 can be made from a wide range of materials and in a wide range of materials and strengths and with a wide range of accuracy of movement and across a wide range of incorporations and applications.

[0047] The main elements of reverse arm can be summarised as being a mechanism or device consisting of two arms that can pivot and a base or base arm. The base or base arm has means to enable the connecting of the pivot arms. Each pivotable arm is mounted on the base or base arm in such a way that when one arm is moved or pivoted, the motion is transferred, and the other arm moves or pivots in an opposite direction, and so that when one arm is held in a position, the other arm is held in the same relative position. Each pivotable arm has an associated circular means that is concentric with the pivot arm's pivot point. The circular means is connected in such a way that it moves with the pivot arm. The circular means are fitted with flexible crossed pulling and holding means. The crossed pulling and holding means cause the holding of each of the pivotable arms in the same relative position or cause the movement of each of the pivotable arms in an opposite direction or allow each of the pivotable arms to move in the opposite direction.

[0048] Figure 2 (a-e) relates to certain reverse arm mechanism movement applications and attachments and embodiments that can be applied in robotics and humanoid type robotics as well as other embodiments as later described.

[0049] A reverse arm mechanism can incorporate what can be called a parallel arm mechanism. Figure 2(a) shows a reverse arm mechanism with its base arm pivot points (i) and with its two pivot arms (ii) and with further pivots (iii) at the ends of each of its pivot arms, and, further circular means (iv) and (v) mounted on the pivots (iii) and with further pivot arms (vi) and (vii) connected to the further circular means (iv) and (v) respectively. Further circular means (viii) and (ix) are also applied concentrically to the reverse arm mechanism pivot points (i). In this case the applied circular means (viii) and (ix) are freewheeling, and any movement of the circular means does not move or impact on adjacent arms. Further pulling and holding means (x), which do not cross, are connected between circular means (iv) and freewheeling circular means (viii) and between

freewheeling circular means (vii) and (ix) and between freewheeling circular means (ix) and circular means (v). [0050] This embodiment can be summarised as being the incorporating of further circular means and connections between certain pivot arms and certain circular means with further pulling and holding means added so that certain arms are held parallel with certain other arms, or held at the same relative angle to certain other arms, or are allowed or caused to be moved to be parallel with certain other arms, or are allowed or caused to be moved to be at the same relative angle certain to other arms.

[0051] In the mechanism and embodiment described and pictured, pivot arm (vi), by way of acting on connected circular means acting on the pulling means and the freewheeling circular means, is always held and moved parallel to further arm (vii). In accordance with the description and relative to Figure 2(a), Figure 2(b) shows pivot arm (vi) moved and pivot arm (vii) held parallel with the parallel moving and holding always independent of the movement of reverse arm mechanism pivot arms (ii). In other embodiments a pivot arm such as (vi) could be connected to a further arm in a similar way and held or moved so that it was not parallel but also moved relative to a connected arm.

[0052] Figure 2(c) shows an embodiment that generally accords with the previous description relative to Figure 2(a) and 2(b) but in which the further circular means (i) is connected to the reverse arm mechanism pivot arm (ii) so that when the reverse arm mechanism arm (ii) moves it causes the pulling means to pull on the freewheeling circular means (iii) and (iv) and circular means (v) so as to move or hold the further arm (vi) parallel to pivot arm (ii) as is shown in Figure2(c).

[0053] Figure 2(d) shows an embodiment that generally accords with the previous description relative to Figure 2(c) and 2(d) but in which the further circular means (i) is connected and held relative to the base arm pivot (ii) and so that when the reverse arm mechanism arm (iii) moves it causes the pulling means (iv) to pull on freewheeling circular means ((v) and so that the further arm (vi) that is connected to the freewheeling circular means (v) is held parallel to the reverse arm mechanism base arm (ii).

[0054] Figure 2(e) shows an indicative mechanism that may be used as a walking leg with the mechanism described relative to Figures 2(a-d) above with (i) being the "lower leg", (ii) the knee, (iii) the upper leg and (iv) a pivot point for one end of the reverse arm mechanism base arm (viii) with the pivot being the equivalent of the hip. Arrow (v) shows the ability of the reverse arm mechanism base arm to be pivoted independently relative to the pivot (iv) and as required by a suitable actuator means so as to provide movement of the upper part of the leg and the complete leg independent of the position and angle of the opposite reverse arm mechanism pivot arm (vii). Arrow (vi) shows movement of the reverse arm by independent actuator which can control the angle of the upper and lower leg and the position of the knee and the lifting of the leg by the bending of the knee independent of the motion of the leg provided by the pivoting reverse arm mechanism base arm (viii). Such a mechanism will provide for a relatively strong and lightweight leg with simple functioning and the controls and power provided from the body of the robot. The shown functions and movements are bi-directional with walking motions and positions shown being able to be created for walking in the opposite direction by simply extending the input movements shown. With a suitable foot and ankle mechanism the robot could walk equally proficiently in the opposite direction without turning around. A suitable foot mechanism is described later.

[0055] Figure 2(g) shows an indicative finger mechanism related to the leg mechanism and in which the pivot point (i) is shifted to the other end of the reverse arm mechanism base arm so as to provide for an extra joint in accordance with a human finger and in which a bent extension (ii) is added to the arm so that an actuator as indicated by (iii) can act within the confines of the body of the hand and provide movement of the first finger section (iv) while movement to the second section of the finger (v) and the tip section (vi) is provided by way of the reverse arm mechanism and parallel arm mechanism by way of movement of actuator (vii) and actuator (viii). In this instance, and as earlier referred to, the tip section (vi) as part of a parallel arm mechanism is not set or fixed parallel to the arm connected to the actuator but at a suitable angle for a finger mechanism with the parallel arm mechanism then holding the fingertip arm (v) at the same relative angle to the arm (ix) throughout the movement of the actuator arm.

[0056] In any of the embodiments previously described pivot and base arms can be made any length required or desired. In addition to making pure industrial and humanoid robots the mechanism can be incorporated into competition and recreational robots and robots that mimic and replicate insects and animals.

[0057] One or more reverse arm mechanisms can be connected with additional pivot arms or with other reverse arm mechanisms to form closed polygonal mechanisms with multiple uses and applications.

[0058] Figure 3 shows a reverse arm mechanism with further pivot points (i) at the end of its pivot arms (ii) with two additional pivot arms (iii) connected and joined at a single pivot point (iv) creating a controlled pentagonal form with an arrow (v) representing straight line motion of two connected pivot arms at pivot point (iv). This form and embodiment can be described as a controlled pivot pentagon as pressure and movement applied at any movable point of the mechanism results in the straight-line movement as shown by arrow (V). The mechanism can be incorporated in devices that move and position and has unique or important attributes in that it has components that move along or through parallel planes and points on those planes that move in a straight line. Another parallel plane mechanism, a parallelogram based mechanism, is not a straight line mechanism.

[0059] Figure 4(a) shows two reverse arm mechanisms with further pivot points at the end of their pivot arms (i) connected and joined at the pivot points (ii) and creating a controlled hexagonal form with a hatched arrow (iii) representing straight line motion of a particular point on a moving base arm and double hatched lines (iv) representing the consistently parallel planes produced relative to the base arm component through its travel. Base arms consistently move and stop parallel to a parallel plane formed or created at another moving or stopping position. This form and embodiment can be described as a controlled pivot hexagon as pressure and movement applied at any point of the mechanism results in the straight-line and parallel-line movement as shown by the arrow and line. Figure 4(b) shows a controlled pivot hexagon in a contracted position and Figure 4(c) shows it in a fully extended position and Figure 4(d) shows the controlled pivot hexagon with pivot arms in an inverse position. The mechanism can be incorporated in devices that move and position.

[0060] Figure 5(a) shows four reverse arm mechanisms with common pivot arms connected and joined creating a controlled octagonal form with a hatched arrow representing straight line motion of a particular point on the moving base arm opposite a fixed base arm and double hatched lines representing parallel motions of moving base arms. This form and embodiment can be described as a controlled pivot octagon as pressure and movement applied at any point of the mechanism results in the straight-line and parallel-line movement as shown by the arrow and lines. Figure 5(b) shows a controlled pivot octagon in what is both a contracted position and a fully extended position and Figure 5(c) shows the controlled pivot octagon with pivot arms in an inverse or concave position. The mechanism can be incorporated in devices that move and position.

[0061] The hexagonal and octagonal configurations and embodiments of the controlled pivot polygons as provided do not limit the embodiments that may arise or the methods of control of the polygons. For example, the number of reverse arm mechanisms can be reduced, and parallel arm mechanism introduced to effect the same control, and pivot arms and base arms can be made different lengths for different purposes and different performance characteristics.

[0062] Figure 6 (a) represents a reverse arm mechanism positioned and fixed with pivot arms (i) locked in position hanging down from the base arm (ii) with a further three pivot arms (iii) that form a hexagon hanging in the position that they take when held by gravity. When a force greater than gravity is applied in the direction of arrow (iv) the three pivot arms are still free to move at their free ends and move generally in directions indicated by the other arrows. A pivot hexagon with only a single equal angle arm mechanism locked in position is not a rigid or controlled hexagon and is only partially controlled.

[0063] Figure 6(b) represents a single reverse arm mechanism positioned and fixed with its base arm (i) fixed vertically and pivot arms (ii) locked and held in position and with the further three pivot arms (iii) that form the hexagon hanging in the position that they would be moved to and held by gravity.

[0064] Figure 6(c) shows the same vertically positioned reverse arm mechanism as shown in Figure 6(b) with two threaded rods or other adjusting and holding means added so as to hold the pivot arm (i) opposite the base arm parallel to the base arm (ii). With the opposing arm held parallel the pivot mechanism becomes a controlled pivot hexagon mechanism with the incorporated strength and stability created by the reverse arm mechanism. If all pivot arms are the same length the threaded rods or holding means can adjust the opposite parallel arm to a position where the equal angle arm mechanism hold the opposite angles at 120 degrees and the mechanism is locked in the form of a regular hexagon.

[0065] By adjusting the threaded rods an equal amount, the type of mechanism described relative to Figure 6(c) and in the position described can be used to move the parallel face sideways and in the same central position relative position to the centre of the base arm. In certain applications threaded rods or holding means can be adjusted an unequal and required amount to cause the pivot arm (i) to not be parallel to the base plate (ii) as shown in Figure 6(d). This has useful attributes for industrial and mechanical applications and complex movements and alignments.

[0066] Figure 6(e) shows a further method of position adjustment and controlled pivot hexagon creation where a screw mechanism (i) is applied to a reverse arm mechanism arm and an attached and adjacent free floating hexagon arm so that the connection by the screw locks the hexagon as a locked hexagon and the turning of the screw moves the arm (ii) in and out and keeps the arm locked in position and locked parallel to the base arm (iii).

[0067] Figure 7(a) shows two controlled pivot hexagons connected with and based on a common base arm (i) and with pivot arms (ii) and (iii) controlled by their associated reverse arm mechanisms. The connected controlled pivot hexagons are created and controlled by reason of the parallel arm mechanism as is described relative to figure 2(a) in that black pivot arm (iv) is help parallel to black pivot arm (v) by reason of the pulling and freewheeling means earlier described. The inclusion of the parallel arm mechanism transfers motion between the adjoining controlled pivot hexagons so that when any movable point on the mechanism is moved the mechanism expands and contracts evenly. Further parallel arm mechanisms could be added for stability and strength at the external base arms (vi). Other embodiments of the parallel arm mechanism as described relative to Figures 2 can be applied as desired or practical and further controlled pivot hexagons can be added. Figure 7(b) shows a pair of connected controlled pivot hexagons in a contracted position and Figure 7(c) shows them in an expanded position.

[0068] Controlled pivot octagons in configurations that include parallel arm mechanism can be constructed and applied similarly to as is described relative to Figures 7, Figures 5 and Figures 2.

[0069] Figure 8(a) shows two controlled pivot octagons as described relative to Figures 5 joined by further bridging reverse arm mechanisms so that the bases of four reverse arm mechanisms form a square and so that motion is transferred by reverse arm mechanisms to adjoining controlled pivot hexagons without the use of parallel arm mechanisms. In this embodiment there are no common base arms but common pivot arms (i) control and move adjoining controlled pivot octagons. Figure 8(b) shows a mechanism in a contracted position and Figure 8(c) shows the mechanisms in an expanded position. The mechanism can be built up in octagonal multiples as required. Figure 8(d) shows four controlled pivot octagons connected together so that the base arms form a square and so that the reverse arm mechanisms that form the square have common pivot arms and so that the moving of any pivot arm or non-fixed base arm causes all other arms to move. Figure 8(e) shows the connected mechanism moved and contracted with it being a similar shape only rotated 90 degree when moved and contracted the other way. The mechanisms can be further contracted to form concave or inverse sided mechanisms. The connection and motion transfer method may be applied to other controlled pivot polygons as is appropriate and practical. [0070] Figures 7 and 8 show reverse arm mechanism polygons connected together with common arms and describe various ways that motion and movement is transferred along the connected mechanism. Similar structures of connected controlled pivot polygons can be made without motion and movement being transferred to adjacent polygons and so that adjacent polygons can be moved and controlled independently.

[0071] Figures 9(a-f) provide indicative example drawings of how connected reverse arm mechanisms as described relative to Figures 7 and Figures 8 can be used for such things as lifts, columns, booms, cranes and gantries and work head positioners.

[0072] Controlled pivot hexagon mechanisms stacked and connected vertically allows for a high stability and strong lifting system suited for uses such as work platforms and crane columns and horizontally as booms as indicated in Figure 9(a). Reverse arm mechanism and parallel arm mechanisms as required can control the angle and lift and expansion and contraction of the arms throughout the entire mechanism. Thrust or lift can be provided by such means as hydraulic rams or actuators or screw mechanisms and or by pulling on chains or cables (i) as indicatively configured relative to rollers or sprockets as shown as shown in Figure 9(b).

[0073] When used as lifts and columns, reverse arm mechanisms provides opportunity to make cost effective wide base and stable mechanisms. Figure 9(c) shows the column in Figure 9(b) expanded to a wider base. This can be done relativity economically with the main cost being reasonably cheep additional materials such as longer pieces of steel and connecting means such as chains.

[0074] As indicatively indicated in Figure 9(d), two independently acting hexagonal arm mechanisms (comprising one or more individual hexagonal arm mechanisms) connected horizontally to a working head (i) can be used as a working and positioning beam. The figure shows a horizontally connected hexagonal arm mechanism in a retracted position (ii) connected to the work head (i) and an expanded hexagonal arm mechanisms (iii). By contracting and expanding the individual hexagonal arm mechanisms the work head can be shifted to any position along the arrow line (iv). The working and positioning beam can be mounted on rollers and rails or further working and positioning beams to allow the positioning of the working head anywhere within an area.

[0075] Figure 9(e) indicatively shows an expandable and contractible mechanism with inverted pivot arms and an alternative embodiment. While the Figure 9 diagrams show controlled pivot hexagons, controlled pivot octagons can be applied in ways indicated and other controlled polygonal mechanisms may be appropriate or desirable in certain cases. Such an example can be viewed relative to Figures 8(b) and 8(c) which depicts connected controlled pivot octagons in contracted and expanded positions.

[0076] Figures 9 show indicative side views of columns and booms and depict a single layer of controlled pivot polygons the columns and booms can use multiple connected layers if and as required to form the required shaped and widths of the structures, and where for example one set of circular and pulling means could be viewed or imagined there may be multiple circular and pulling means in a practical embodiment or there may be further mechanisms added at different angles to that shown in the indicative embodiment.

[0077] Indicative embodiment shown would generally be open centre structures in a square or rectangular form. This form allows for the easy delivery of materials up and along the hollow centre. This can facilitate the boom and column structures being used as 3D type printers or delivering materials such as concrete and bricks for placement and laying.

[0078] By way of example Figure 9(f) shows an alternative embodiment involving the crossing of pivot arms as indicatively shown from the top to make a crossed pivot arm mechanism with certain pivot arms shown. Where arms cross, which may often be on reverse arm mechanisms or parallel arm mechanisms, pulling and holding means can be routed around intersecting arms as necessary. Figure 9(g) shows an indicative top view of an embodiment of the controlled pivot octagon embodiment with common pivot arms connecting reverse arm mechanisms with four opposed mechanisms arranged to form a boom mechanism. Dotted lines represent a box frame that may form the outer frame and structure of the mechanism. The reverse arm mechanisms shown in the diagram show double set of circular means with a set of crossed pulling and holding means on each circular means.

[0079] A single controlled pivot polygon mechanism can be used as a single support linear position actuator. Figure 10(a) shows a top view of a hexagonal arm mechanism fixed on a horizontal plane to a support (i) with the arm being able to move in the direction as shown by the arrow with a work head (ii) fixed to the parallel travelling movable face. Hatched rectangles (iii) represent threaded rods or other adjusting means that either hold the work head parallel to the support (or direction of travel if the unit travels) or that can be independently operated to angle the work head a required amount and (iv) show the controlled pivot hexagon pivot points. The dotted line extension of arm (iv) indicates how pivot hexagons can also be controlled from eternal extension of arms by suitable means.

[0080] Figure 10(b) shows a side view of the single hexagonal arm mechanism shown in top view in Figure 10(a) with (i) showing pivot pivots numbered (iv) in the plan view and an indicative representation of the pivot hexagon frame and working head. Bearing representations at pivot points as shown are indicative only with the hexagonal arm mechanisms being fitted with control mechanisms as earlier described and as is required. The work head can be a further hexagonal arm mechanism mounted in a vertical aspect so as to hold the work head in alignment and raise and lower the work head. An example of an application in which adjusting the work head out of parallel alignment would be required would be when the apparatus was used in a sawmill to cut logs with the mounted sawblade being able to be angled as the saw cuts through the logs so as to accommodate the curved cutting of a curved log.

[0081] Figure 11 indicatively shows an embodiment in which controlled polygons are used to create expandable and bendable columns or arms which can be used as a work mechanism or robotics mechanism. Pivot means (i) are added to base arms (ii) and parallel support arms (iii). A set of two controlled pivot hexagons carry a further set of two controlled pivot hexagons arranged at right angles to the base set. The second set of pivot arm hexagons can carry a work or mount face plate (iv). Such a mechanism (which could have more than two sets of controlled pivot arm hexagons) offers very high flexibility and can provide a very wide range of angles of presentation of the work or mount face.

[0082] Figure 12(a) shows a controlled pivot hexagon in a horizontal position with a load applied as represented by arrow (i). When a load is applied in this direction the free moving base arm (ii) does not tend to move and the apparatus remains balanced as indicated by additional arrows (iii).

[0083] Figure 12(b) shows a controlled pivot hexagon with two reverse arm mechanisms in a vertical position with a control and holding means indicated by line (i). Arrows show how the apparatus can absorb and handle shock and load from different directions.

[0084] Attributes such as previously described demonstrate how mechanisms according to the current invention can be used to transfer load and absorb shock while protecting and enabling an actuator to do its work. For example, an actuator may not be able to take side load and described apparatuses can protect the apparatus from side load forces and shock.

[0085] In a further embodiment not pictured, controlled pivot polygons could be used to form the arms of a controlled pivot arm polygon so that there is an expanding and expandable polygon and controlled pivot polygon.

[0086] In various embodiments and descriptions described in this specification circular means are referred to relative to the described reverse arm mechanisms. The circular means provide a support for the pulling and holding means and serve to control the rotation and angle of the pivot arms. The circular means can be sprockets, pulleys, plain surfaced disks or wheels, or grooved or ribbed wheels or disks. Pulling and holding means can be chains, bands, straps, belts, cables or ropes fixed at appropriate points to the circular means in a way to enable or cause and allow the required movement of consecutive circular means and so as to stop unwanted relative movement or slippage of the pulling and holding means. Connections and fastenings can be made at required points on the circular means so as to allow the full amount of movement to allow the required amount of rotation and movement of the pivot arms. Fixing of the belts, straps, chains or cables or ropes could be by such means of bolting, screwing clamping or welding as required or appropriate.

[0087] All types of bands or belts or straps could be used including flexible steel or metal straps such as bands that are used in bandsaws. In highly precise applications where precise positioning is applied temperature control could be applied to control the expansion and contraction of the straps and other components, or independent tensioning could be applied. Tensioning and independent tensioning and controlled and calculated tensioning can be applied to the pulling and holding means so as to facilitate the alignment of pivot and base arms and attachments for the purpose of accuracy and consistency.

[0088] In certain circumstances drums or wheels could be used as the circular means and wire or other rope could be used as the pulling means. A number of wraps of rope could be wound around the circular means so as to impart grip on the circular means such as in a capstan winch and ropes used in multiples, or, the one rope could be used to create a number o wrapped and then crossed to the other circular pulling means in a reverse arm mechanism and continued until the require number of pulling and holding means is created. The ropes can be clamped and connected to the circular means as necessary. By

configuration of the ropes and wraps around the circular means and the use of intermediate guide and support wheels and pulleys is and as necessary, a single rope or multiple ropes as appropriate could be used wrapped around circular means in a reverse arm mechanism and then continue on to be wrapped around and act on and to transfer motion and force to additional reverse arm mechanism circular means in the same apparatus. In this way pulling on one or multiple ropes could pull on all, or all the required, circular means in the reverse arm mechanisms incorporated in an apparatus.

[0089] As previously stated and indicated reverse arm mechanisms can be controlled by or caused or allowed to be controlled or shifted by means such as actuators, brakes or clutches applied to arms or chains or straps or to the connections between arms and sprockets or position wheels. In addition, and in certain situations, suitable springs or dampers or elastic material could form part of the pulling and holding means so as to provide tension or shock absorbency or additional flexibility. From time to time and as appropriate flexible means or spring materials could be used as, or incorporated into, pivot arms.

[0090] Examples of shifting and positioning means are sprockets or wheels applied or installed between sprockets to enable and facilitate the movement of the arms as required (and or provide tension and tightening as required) with an example configuration shown as in Figure 13(a) where the rotation of the drive sprocket (i) will cause the movement of arms as required. The drive sprocket or means can be of the required diameter and type and can be rotated by any suitable means. These means could include a hand crank or lever or stepper motors or hydraulic motors either directly driving or driving through gearboxes such as a worm drive box. Sprockets or wheels or pulleys can also be used to route the chain, belts, straps or ropes around obstructions.

[0091] Worm drive gear drives and spur gears can also be applied directly at the connection between the circular means and the pivot arms and or shafts so as to provide for movement and control and positioning of pivot arms. At time further adjusting means can be applied between circular means and pivot arms providing for additional movement being able to be applied independent of and additional to the movement and control caused and created by chains and straps.

[0092] Controls can vary relative to circular means mounts as sometimes the circular means will be connected directly to pivot arm with both being able to rotate and pivot on the shaft or axle or the pivot arm may be connected to the support axle or shaft with the circular means also fixed to the axle or shaft so that the turning of the circular means turns the axle or shaft and the arm.

[0093] As indicated in Figure 13 (b) pulling and holding means and pivot arm movement can also be caused by screw mechanisms connected between pulling means and say the axle (i) or a point on the base arm as indicated by the block (ii) so that the chain is moved backwards and forwards by the rotation of the screw. Additional methods of control and movement are described relative to described embodiments.

[0094] Figure 13(c) shows a controlled pivot hexagon with double ended arrows

representing various ways and positions in which a controlled pivot hexagon can be controlled by actuators and positioners such as hydraulic or pneumatic screw actuator or positioners. Such positions and ways can be used singly or in appropriate combinations.

[0095] Earlier, and relative to Figure 8, the connection of reverse arm mechanisms to each other by a common arm to form controlled pivot octagons is described. This connection method also has application as an open or single line mechanism. Figure 14(a) shows reverse arm mechanisms connected by a common arm as described and in series and with their arms in a folded position and with Figure 14(b) showing the position that a series of mechanisms will adopt when a pivot arm at left is moved from past vertical to the horizontal. Every second pivot arm remains parallel to the moved arm. A small movement of the arm at left will result in a large and magnified and accelerated or higher speed movement of the arm at right. The single line or single chain configuration as shown has use as a high-speed actuator and positioner carrier and while it has its own inherent rigidity or structure it can be supported or guided top or bottom as required. The series configuration can be used in multiples and can incorporate springs or other actuators and controllers as required.

[0096] Figures 15 (a-d) show how a reverse arm mechanism can be connected by way of its base arm to further reverse arm mechanisms to make what could be a flexible fabric of interconnected and interacting reverse arm mechanisms and how the fabrics can be connected on more than one plane to make a movable body like a muscle. Figure 15(a) shows an indicative side view of an embodiment in which reverse arm mechanisms are connected in interconnected by way of common base arms in layers or levels. Each connected area enclosed by pivot arms could be viewed as and called a cell.

[0097] In this embodiment as shown in 15(c) reverse arm mechanisms circular and pulling means (i) are used paired on common axles (ii) as shown from the top. Each paired mechanism is connected by two, three or four pivot arms to further paired mechanisms. The arms are either locked to one of the paired mechanisms as indicated in Figure 15(c) at (iv) to provide the controlled moment and movement transfer, or free floating as indicated at (iii) to allow full and independent movement of each mechanism as required to allow and enable the movements of the pattern or fabric of mechanisms in the directions of the arrows in Figures 15(a) and 15(b).

[0098] Figure 15(c) shows what is referred to in this embodiment as the base pivot arm (v), and (vi) shows one of what are called connecting pivot arms. In this figure and relative to the drawings some connecting arms would be angled up to meet an adjoining paired

mechanism and some would be angled down to meet a lower paired mechanism.

[0099] Movement or driving means can be provided at various points as required but movement of an individual connected arm relative to its paired mechanism would cause movement in the entire fabric.

Rectified Sheet

Rule 91 (ISA/AU) [0100] The fabric could be made to any required shape and could be used to form a square or triangle. Mechanisms could be very small or very large. Figure 15(b) shows a variation on the embodiment where the elements and mechanisms can be used to act like an artificial muscle in being able to expand and contract and pull and push at the end points in the direction shown by the eternal arrows. The internal arrows show one direction of drive mechanism for expanding and contracting the fabric cells. The drive or drives could also function at a right angle to the direction shown or diagonally or in combinations of angles. Drive and motion could be provided by different means such as electric motors and screw drives, fluid pressure or electricity and magnets. Relative to the internal arrows shown, movement could be caused by electro and permanent magnets arranged so that when current was one way the arms are drawn together to contract the fabric and fabric cells in the direction of the arrow and when the current was reversed the arms would move apart and expand the fabric in the direction of the arrow. Either one expanding and contacting mechanism could be used to move the entire fabric or more than one could be used and a number of cells or each cell could be powered. In some instances, energy storing

mechanisms such as springs or other accumulators could be applied intermittently or continually to cells to conserve energy and or provide for efficient and rapid acceleration and movement. Additionally, electricity generation apparatus such as magnets and wire loops can be introduced and fitted so that when the fabric is moved electricity is generated. Figure 15(e) shows an indicative arrangement of how contracting straps such as straps that contract when a current is applied or other contracting mechanism can be used to pull and position the arms and cause movement of the cells. Alternatively, the hatched rectangles could represent elastic means that will allow the cell to move and return to its normal held position.

[0101] In a further embodiment of the current embodiment, and as may be applied to other embodiments of the current invention, joints may be added to the connecting pivot arms. In this embodiment, and as previously described relative to other embodiments, the hexagons are rigid or generally rigid or held in the one plane. An alternative arises when suitable flexible pivot joints or hinges are added to the pivot connecting arms of the current embodiment, or their equivalents in other described embodiments. The flexible joints would be added to maintain the integrity of the movement of the mechanisms and to enable the bending and curving of the plane of the fabric or other mechanisms as possible and appropriate.

[0102] In a further embodiment of the current embodiment, which can also be a separate and stand-alone embodiment, the mechanisms can be connected and configured so that the fabric can be connected on more than one plane and so the fabric in one plane operates and moves in a similar or related way to the connected fabric on the other plane. Figure 15(d) provides an example of a mechanism that can connect the fabrics together on a plane at right angles to another fabric with (i) showing an example of a pin that could be used to connect either to a further mechanism as shown, or if the shown mechanism was to be a stand-alone mechanism, the pin could just connect to the two pivot arm end pivots to allow the required movement. The mechanism could be connected together in opposing pairs so that fabrics are made with two planes normal to each other. Mechanisms could be made so

Rectified Sheet

Rule 91 (ISA/AU) that multiple planes are connected together so that movable three-dimensional shapes can constructed. Other angles and numbers of mechanisms with suited connectors could be connected together to make related expandable and contractible three-dimensional objects.

[0103] While the Figure 15 diagrams show hexagonal based mechanism the same principles can be applied to other polygonal based mechanism as appropriate.

[0104] Figures 16 (a and b) indicatively show how controlled polygons can be used as shock and crash absorbing apparatuses. Earlier this specification refers to the additions of springs and the like to the mechanisms of the invention. Figure 14(a) shows a mechanism for automotive and other uses that incorporates spring mechanisms into the axles or pivot of the mechanism as shown at (i) so that movement of the mechanism lower pivot base arm as represented by the arrow (ii) will cause twisting of the axles as represented by the arrows (iii). The axles themselves could be torsion bar springs suitably fixed to provide spring and resistance or axles connected with other springs. The spring means can be adjusted so that various stiffness and spring resistance can be provided by the mechanism. In some embodiments only a single spring mechanism may act with the function of the mechanism still maintained or the springs may act progressively with one spring acting after a certain amount of movement of the mechanism. As shown and indicated by (iv) other springs could be incorporated or the shown device could be an incorporated damper or shock absorber or both.

[0105] Figure 16(b) shows a related embodiment where a similar device can be used in automotive and other applications as shock or crash protector and absorber. Arrows at left represent an impact or potential impact, (i) represent an impact or energy absorbing device and the curved arrows at right represent to movement of the axles that can be used to trigger or move additional safety or protection devices.

[0106] Figures 16(c) indicatively shows an alternative embodiment for use as a suspension system or shock absorbing or energy absorbing system where the pressure or force as represented by the arrow (i) is applied to pivot point connections (ii) and with the diagram showing an arrangement with a base arm connection (iii) mounted in an example vertical position. Dotted circle (iv) represents an attachment that could be a wheel and with rectangles (v) representing springs or shock absorbing mechanisms that can be arranged as required. Arrow (vi) represents an angled shock such as that caused by a pot hole during forward motion and curved arrow (vii) representing the reactive curved motion of the mechanism that will allow shock absorption better than if the direction of travel of the wheel was directly upwards. Arrow (viii) shows the direction of travel of the free base arm. The base arm connection (iii) can form a further pivot along the vertical axis which could enable steering with a wide range of movement. While the diagram shows a controlled pivot polygon where a wheel is connected to a pivot point a controlled pivot polygon such as an octagon could be similarly used, and base arm could be used to connect a wheel or other attachment. [0107] Devices as previously disclosed could be used in multiple and connected layers as required. Devices as disclosed could be fitted with wheels and used in the automotive and rail industries and as retractable landing gear in aircraft. In rolling stock, in addition to being used as suspension systems, the disclosed devices could be used energy absorbers and releasers with the slowing train compressing a mechanism which can store the energy to be released when the train accelerates. The same mechanism can absorb crash energy to minimise damage during crashes and derailment.

[0108] Figures 17 (a-g) show variations on how controlled pivot polygons can be used as spring mechanical energy accumulators and batteries and launchers and accelerators and energy conversion mechanisms. Figures 17(a), 17(b) and 17(c) show embodiments of the invention that could be called spring actuators that are devices that can absorb and store kinetic energy in springs or gas and that could be called a mechanical battery that can either release the energy very quickly or very slowly in a controlled manner. Figure 17(a) shows a compression spring fitted, Figure 17(b) shows a tension spring fitted and Figure 17(c) shows what represents a gas spring. Any type of suitable spring or multiples of suitable spring material could be used from rubber bands upwards. At another extreme to rubber bands applied to a device like shown at Figure 17(b), for use as an accelerator or launcher high pressure steam could be fed to a contracted device as depicted in 17(c) so as to expand the mechanism when a trigger release mechanism is activated. Depending on the cylinder and infeed arrangement the device shown at 17(c) could either move base pivot arms apart or together.

[0109] In other versions electrical actuators and electrical attraction and repulsion could be used to provide movement.

[0110] This embodiment has the ability to accelerate and move pivot base arms very rapidly.

[0111] Figure 17(d) shows a stack or multiple of the spring actuators connected together. The device as shown is in a half-contracted position. When contracted the energy stored could be released for example thought a rack and pinion device with the pinion driving a generator or other mechanical device. Alternatively, the energy could be released very quickly by way of a suitable trigger release mechanism. With full release, acceleration and expansion of the ends of the stack will be very rapid. If one spring actuator releases at x speed, then the five actuators as shown will theoretically expand at 5x. The device as shown effectively works as an accelerator and a speed multiplier. The spring actuators can be stacked to any practical number and can be arranged side by side and work in a vertical, horizontal or angled position.

[0112] A further variation of the current embodiment is shown in Figure 17(e) in which straight leaf springs are shown indicatively arranged in a controlled hexagon. The drawing shows the apparatus at rest with no kinetic energy stored in the spring. Figure 17(f) shows the embodiment apparatus charged and locked in a ready position with energy stored in the springs and ready to be released. When the mechanism is unlocked and the energy is released the base arms (i) contract and move together. [0113] In alternative embodiments, springs or accumulators can be applied to controlled pivot octagons and other polygons as applicable. By way of example. Figure 17(g) shows straight leaf springs in a charged position as configured relative to a controlled pivot octagon. When the energy is released base arms (i) expand and move apart. Relative to base arms, this mechanism can either be configured and used as an expanding or a contracting actuator with base arms (ii) moving together when energy is released.

[0114] The following embodiments as described are described relative to contracting spring actuators but can equally be applied to expanding spring actuators. While leaf spring actuators are shown, any of the earlier embodiments described with coil or cylinder springs can be applied. Figure 17(h) shows a stack of five of the leaf spring embodiment apparatuses in the at-rest position and Figure 17(i) shows a stack of five of the embodiment apparatuses in a charged position. The current embodiment with springs moving pairs of arms in each controlled pivot hexagons can provide for high acceleration and speed in contraction.

[0115] Releasing the charged mechanisms without load will cause a high degree of shock to the apparatus. Load on the batteries can be created by direct contact with something that needs to be moved, or the power of the battery can be indirectly applied to the object by gears, pulleys chains, belts, ropes or the like. The contraction of the spring actuator can be converted to an effective expanding lineal motion by the arrangement of pulleys and belts.

[0116] Application of further embodiments of the current invention provide for an apparatus for the charging of the mechanical batteries by the application or rotary motion and the conversion of the linear movement of the battery to rotary motion.

[0117] Figure 17(j) indicatively represents the apparatus with three stacks of charged compressing spring actuators fitted between base arms with an adjacent reverse arm mechanism connected. The arrows under the spring actuators show the direction of contraction of the actuators as energy is released. The upright columns can be fixed at the base. As the actuators and reverse arm mechanisms contract the pivot hexagons the adjoining pivot hexagram supports and expands. To provide an example of use of the mechanism as an energy accumulator the rectangle (i) represents a hydraulic or gas cylinder and (ii) represents a cylinder rod as part of a system where compressed gas or fluid is pumped into the cylinder to expand the spring mechanism and later the contracting spring assembly returns the pressurised liquid or gas to the system. Because of the stability of the spring actuators themselves, the large controlled pivot hexagon may be unnecessary in the apparatus shown.

[0118] Figure 17(k) indicatively represents an apparatus that can convert the actuators linear movement to rotary motion for the driving of a generator or compressor or the like. End supports of the apparatus are shown by (i). In this embodiment the controlled pivot hexagon spring mechanism top arm contracts and moves in the direction of the arrow (ii). A horizontal belt or chain such as a roller chain is connected to the end supports and passes around idler sprockets and a primary drive sprocket (iii) mounted on the centre moving pivot base arm or the moving arm mounted on the ends of the actuators. The belt or chain is then connected to the other end support post. When the mount arm moves in the direction of the arrow the primary drive sprocket rotates in the direction of the arrow encircling the primary drive sprocket.

[0119] This single strand drive system as indicated in Figure 17(k), which may be applied as multiple single strands as shown in the configuration shown so as to provide stability and strength, will produce low revolutions per minute and high torque. An alternative multi strand embodiment produces higher revolutions per minute at the drive and lower torque.

[0120] Figure 17(1) shows a multi-strand apparatus end support arms (i) and (ii) the moving centre arm connected to a bank of spring actuators with arrow (iii) showing the direction of travel as energy is released. A belt or chain is shown at (iv) and is connected via roller sprockets (vi) to each end post as at (v). The belt will travel from the end post connection to around a roller on the movable post and then back to and around a roller connected to the end post and then again to and around a further roller on the movable post with this being repeated until the required number of strands are created. The top strand is then passed around an idler sprocket (vii) and the primary drive sprocket (viii) and then around a second idler sprocket. The chain then continues horizontally and around a pulley on the other end post and back to a further pulley mounted on the movable post. This is repeated to match the strand number and pulley configuration on the other side of the movable post. In this multi pulley and strand configuration, when the post moves the primary drive will rotate at a higher speed compared to a single strand setup.

[0121] In both the indicative embodiments primary drive can be both used to provide power and energy output in a rotary form and return energy to the battery by turning the drive in the opposite direction so as to compress the spring actuator mechanism. For example, solar panels could be used to charge the actuator when the sun was shining and to release the stored energy when it was not.

[0122] The described mechanism will have particular advantage where large electrical storage batteries are very expensive or impractical. The battery mechanism may be applicable where a low source of charging can charge the mechanism over a long time and provide a high source of power over a short time. Alternatively, the batteries can be charged by baseload supply when price is low and stored for sale when prices are high. The apparatus could also act as a mechanical capacitor provided high current levels for short periods.

[0123] In a different embodiment of the described apparatus, the apparatus could be used as a hydraulic or pressurised gas accumulator with one of more suitably configured compressing and expanding cylinders positioned as required.

[0124] Actuators arranged in any suitable orientation such as the vertical could be used to collect energy such as from a landing plane or rocket or a car or truck passing over the top. This collected energy could be stored or used directly in an oscillating system to generate electricity. Such mechanisms could form part of a roadway or a bridge so that passing traffic would generate electricity. In an extreme form such devices could be used as a toll collection device with vehicles expending fuel to generate electricity. If the device was used in a rocket landing pad the energy collected in the springs could be used to assist with launch with additional launch energy able to be provided by solar energy converted to spring energy. Similarly, spring actuators can be used to assist with plane launch.

[0125] Separately, in certain situations a single reverse arm mechanism not forming a controlled pivot hexagon and fitted with springs as previously shown would have standalone applications.

[0126] Such an embodiment is shown Figure 17(m) which is a group of drawings showing an embodiment where a reverse arm mechanism is connected with pivot arms and springing means to form a flexible foot or foot support. At (i), a reverse arm mechanism is connected with three additional free moving pivot arms. The device is shown in position that it would be held by gravity. The device can be connected with springing means as indicatively shown by cross hatched rectangles (ii) shows the indicative foot in a suspended position with the free pivot arms held in position relative to the reverse arm mechanism by the elastic and springing means (iii) shows the foot mechanism with weight resting on what can be the heel (iv) shows the foot with central weight resting on the foot (v) shows the foot mechanism with weight resting on the toe area (vi) shows a foot mechanism with a reverse arm mechanism toe attachment with a leaf spring fixed to the toe reverse arm mechanism which can absorb and return energy to the walk during the walking motion (vii) shows the foot at the commencement of a step and (viii) shows the foot and the end of a step motion and at the start of the new step with stored spring energy. Other spring means and ways not shown would and could be incorporated in the shown embodiment.

[0127] Figures 18 (a-j) indicatively show and provide examples of how reverse arm mechanisms can be incorporated into variously configured mechanisms to replace mechanisms such as crossheads and rhombic drives in engines and motors and other mechanisms that incorporate cylinders and pistons and electrical components such as magnets, wire coils and solenoids. Like a crosshead mechanism and a rhombic drive, reverse arm mechanism drives can importantly reduce and eliminate side thrust on pistons and cylinders.

[0128] Figures 3 and 4 show controlled pivot hexagon and octagons that enable parallel and point motion to a high degree of strength and accuracy. These mechanisms can generate versatile reciprocating motion without the use of slides. Pistons and cylinders and piston rods can be connected to and mounted relative to controlled pivot hexagon in a variety of ways, and, as necessary, attachments can be made to convert reciprocating motion to circular motion and vice versa.

[0129] Figure 18(a) shows the controlled pivot hexagon in the open position and how when it contracts and moves in the direction of the arrow it will push, by way of the arm, the wheel in an anti-clockwise direction as indicated by arrow (i) and 18(b) shows how when the mechanism is expanding it will pull the top of the wheel in the other direction causing rotation of the wheel. Normal to a reciprocating system the system may or will require some initial momentum provided by the wheel acting as a flywheel to keep the rotation continuing in the required direction. [0130] The previous figures are highly indicative of the embodiment with pivot arms being able to be any practical length and thickness, mechanisms very small or very large, and support frame open as depicted or fully enclosed such as in a normal modern motor and with one or more pistons and cylinders and/or flywheels being used per apparatus and one or more controlled pivot polygons used in a connected apparatus with the components being mounted and connected in any practical or desirable or beneficial way.

[0131] An apparatus incorporating one or more pistons and cylinders could be used as an internal combustion engine, a heat engine such as a Stirling engine, a steam engine, a compressed air engine, a water engine or as a fluid or gas or air pump or compressor.

[0132] Controlled pivot polygons can be fitted with magnetic and electrical devices and in configurations and numbers and ways so that the controlled pivot hexagons can be used to generate electrical current as the result of the relative movement of parts of the hexagons and attachments to the hexagons, and also so that the magnetic and electrical devices can cause the controlled pivot polygons to act as motors and to generate movement as the result of the applying of electrical current and power to the devices.

[0133] Figure 18(c) shows an indicative arrangement of connecting a flywheel and rotary motion wheel to a mechanism with the assembly shown mid-stroke. The diagram depicts an indicative arrangement for a pulse type induction motor or generator incorporating permanent magnets (i) and an electrical coil (ii). Such apparatuses may be efficient as battery chargers or motors producing and using electricity relatively unimpeded by unwanted eddy currents.

[0134] Figure 18(d) shows an indicative configuration of a mechanism fitted with a combustion chamber and piston (i) and a coil (ii) and magnet (iii) to form a motor-generator. The arrangement is indicatively shown in the fully compressed or top dead centre position. The arrangement could operate in two-stroke or four-stroke configuration and be used as a "range-extender" to top up batteries in an electric car.

[0135] The controlled pivot polygon combustion engine embodiment presents opportunity to produce reduced cost and high efficiency combustion engines. Two- stroke, long-stroke, slow RPM, slow piston speed marine diesel engines produce the highest thermal efficiencies of all internal combustion engine systems. The current embodiment introduces the opportunity to bring energy efficient long stroke combustion into smaller and lighter engine configurations. Figure 18(e) indicatively shows a two-stroke marine diesel configuration in which the traditional crosshead mechanism is replaced by a controlled pivot hexagon with the mechanism offering the opportunity to alter and reverse the position and operation of the connecting rod and crank. The potential benefits of reversing crank operation are discussed below. The indicative embodiment as shown could incorporate two connecting rods going to the crankshaft, one on either side of the cylinder, to balance forces as necessary. The current embodiment enables a wide range of engine configurations and types. While a controlled pivot hexagon is shown, a controlled pivot octagon could be applied. [0136] As shown in the Figure 18(f) diagram, in conventional or standard crankshaft/connecting rod/piston configurations geometry dictates that the piston travels further in the first and fourth 90-degree rotations of the crank from TDC. These are the quarters that include final compression and initial and primary combustion. At a constant flywheel rotation speed, the increased distance dictates higher piston speeds and greater acceleration in those quarters, and what can be viewed as an "unnatural rushing" of the compression/combustion process. In the current invention embodiment configuration as shown this is opposite with piston movement slower around top dead centre. This has the potential to increase fuel burn times and engine efficiency. Speed and acceleration analysis of the controlled pivot polygon mechanism reverse connection embodiment can lead to a conclusion that a successful application of the embodiment may have beneficial implications for the nature and efficiency of internal combustion engines.

[0137] While the embodiment shown has the potential to be applicable to all size engines, relative to marine engines the embodiment has the potential to reduce complexity and weigh and the size of the engine required to produce the required power, allowing long strokes in a smaller area.

[0138] Another reciprocating to circular and vice versa motion embodiment relates to a rhombic drive mechanism as used on some versions of Stirling type heat engines and some internal combustion engines. Figure 18(g) which shows a control pivot hexagon connect to two wheels or flywheels or crank wheels at pivot points (i) can be used to explain a traditional rhombic drive. In a traditional rhombic drive the two wheels are interconnected gear wheels that counter rotate according to arrows (ii). The interconnection is required to maintain the form of the mechanism as without the interconnection of the gears the hexagon arms would be uncontrolled. The gear interconnection requirement can lead to alignment and wear problems. In the current embodiment the reverse arm mechanisms provide the rigidity with the mechanism being able to be aligned by way of adjustment of the pulling means. 18(h) shows the same configuration arm position after wheel rotation through approximately 180 degrees.

[0139] Figures 18(g) and (h) shows typical positions and geometry of a traditional Stirling engine drive with reverse arm mechanisms applied. Stirling engines driving two pistons in the one cylinder assembly through a hollow rod from each of the reciprocating and parallel arms. The geometry of this configuration as shown in these diagrams provides uneven movement timing of each base arm. In a Stirling type engine this may not be a problem or may be an advantage. Figure 18(i) (i) to (iv) shows an alternative embodiment where the centre of the flywheels is aligned and separated the same distance as the length of the base arms so that upon rotation the geometry dictates even timing of movement of each base and drive arm.

[0140] Figure 18(j) indicatively shows an alternative embodiment where a single reverse arm mechanism can be connected to the flywheels so as the enable the mounting of a cylinder or push rod. The diagram indicatively shows two such mechanisms connected by a common rod that could carry a piston on one or both ends and 18(j) indicatively shows an arrangement for an opposed cylinder motor. [0141] One both or all wheels or flywheels as shown can be crankshafts enabling the connection and use of multiple cylinders in the one apparatus.

[0142] As with earlier embodiments the current embodiment can be used as an engine or compressor or pump or electrical motor or generator.

[0143] Further circular/reciprocating embodiments can include Scotch yoke type mechanisms and pitman arms or connecting rods that push and pull on slide mechanisms. For example, pivot arms could be circular rods and linear type bushes or bearings which can move along the rod arms can be driven by a wheel or crank shaft by way of the pitman arm or connecting rods. This type of mechanism, along with other drive and conversion mechanisms, can be configured to so as to control timing and characteristics of

reciprocating motions.

[0144] Figures 19(a) and 19(b) show embodiments where reverse arm mechanisms in the circular/reciprocating embodiment can be used in tools and machines where reciprocating motion is required such as in sawing machines, shears and bellows and the like. The geometry of the drive wheel assembly as shown dictates different travel and speed and torque on forward and reverse strokes and this can this can be used to advantage relative to the operation being carried out. The figures provide an example relative to a typical reciprocating motion applied to a saw. The diagrams show various saw configurations including, for example, how an extra controlled pivot polygon can be added for stability and strength and weights could be added to keep the saw tensioned and cutting straight. While not shown, the versatility of the current invention is demonstrated by the fact that the shown saw devices could be mounted on one or more controlled pivot hexagons controlled say by a screw mechanism to enable the progressive and accurate lowering of the saw through the cut.

[0145] This embodiment can also adopt the drives and methods as disclosed relative to rhombic type drives.

[0146] Figures 20 (a-c) shows various embodiments of reverse arm mechanisms incorporated into electrical switches for use in a variety of embodiment suitable for high voltage and current switches to low energy modular switches suitable for such uses as mechanical computers.

[0147] Figure 20(a) shows an example embodiment with the shown device being a spring- loaded breaker which can make high speed closing and opening of active terminals. In addition, the device can make accurate parallel contact increasing efficiently and closure and opening characteristics. High speed and parallel breaking can reduce arcing and the need for expensive vacuum switches. The switch device as shown can be used to switch directly to earth for safety as indicated in Figure 20(b). While the device shown is lever activated, the device or similar devices can be electrically and electronically controlled and activated such as in a relay switch.

[0148] An embodiment related to a relay which is shown in Figures 20(c) which represents reverse arm mechanisms arranged in a module to form a pair of double-pole double-throw (DPDT) relays. The modules can be made thin and in a range of sizes. Plastics could be used, and the modules fitted into plastic insert frames or boards as indicatively shown in Figure 20(d). The boards can be used in multiple layers. Switch module boards can be powered and controlled by interlayered circuit boards making required contacts and connections between individual switch modules and adjoining switch boards and circuit boards and controllers. The embodiment appears as having a wide range of applications including electro-mechanical computing. While switch modules can be configured in multiple ways the switch configuration as shown could operate on a pulse supply and hold position and memory without power supply. In the embodiment indicatively shown in Figure 20(c) switching is activated by an electrical coil (i) mounted to the body and permanent magnets (ii) connected to the reverse arm mechanism strap or band. Switch arms (iii) are held in position relative to contact switch points by an over-centre tension spring (iv) with switch arm position controlled by supplying current and reversing current direction. Other electrical mean such as a standard solenoid could be arranged in a variety of ways to cause switching. Springs, arms and electrical means can be arranged in different ways to create different switch configuration and types.

[0149] Similarly to the parallel contacting as described providing advantage in electrical contact, such contacting can provide similar advantage in other mechanisms such as valves and taps.

[0150] From time to time one pulling and holding means of a reverse arm mechanism application carries out no function, with, for example, gravity carrying out the function of one of the pulling and holding means. In this situation the movement of one pivot arm and one of the crossed pulling and holding means allows the other pivot are to move to the same relative position and the other crossed pulling and holding means does not pull the arm into position. In this circumstance the reverse arm mechanism will effectively act as a reverse arm mechanism even with only one of the pulling and holding means incorporated into the mechanisms. While two of the crossed pulling and holding means may not be necessary for every function the use of two may be desirable from a safety point of view or in the event of unexpected events.

Industrial Applicability

[0151] The industrial applicability of reverse arm mechanisms and their application in a wide range of industrial applications is discussed and disclosed in the description in the previous section.