Lost motion mechanism and actuator

Abstract

A lost motion mechanism can include a castellation including a housing, an upper castellation, and a lower castellation. The housing can include a first linear slot and a second linear slot perpendicular to the first linear slot. The upper castellation can include an upper body, spaced upper teeth extending from the upper body forming spaced upper gaps therebetween, and an actuation peg extending from the upper body into the first linear slot. The lower castellation can include a lower body, spaced lower teeth extending from the lower body forming spaced lower gaps therebetween, and an anti-rotation peg extending from the lower body into the second linear slot. An actuator can be configured with the lost motion mechanism such that a movable arm includes a forked end configured to move over the actuation peg when the movable arm is rotated.

Description

Technical Field

[0001] The bleed mechanism may include a crenellated device that can maintain a clearance and can be switched to provide a locked state and an unlocked state. The unlocked state enables bleed operation for cylinder deactivation. The crenellated device can be switched by an actuator. Background Technology

[0002] Variable valve actuation offers many benefits. It can switch between engine braking and nominal operation, or between one lift level and another, including zero lift. However, the package can be complex or may have a large footprint. Summary of the Invention

[0003] Cylinder deactivation (“CDA”) can be used for thermal management and fuel efficiency benefits. This disclosure describes a mechanism for implementing CDA. However, other variable valve actuation (“VVA”) technologies can be implemented, including engine braking, advance or delay of valve opening or closing, etc.

[0004] A crenellated device for electromagnetic actuation is shown and described using the actuation method. A system for electromagnetic unlocking is also shown and described using the actuation method. These can be assembled as part of a deactivation pushrod assembly. Cylinder deactivation can then be achieved on the pushrod assembly. Systems including electromagnetic actuation can be used to selectively engage or disengage the pneumatic mechanism. The system can include reverse deactivation.

[0005] The pneumatic mechanism may include a crenellated device, which includes a housing, an upper crenellated member, and a lower crenellated member. The housing may include a first linear slot and a second linear slot perpendicular to the first linear slot. The upper crenellated member may include: an upper body; spaced upper teeth extending from the upper body, the spaced upper teeth forming spaced upper gaps therebetween; and an actuating pin extending from the upper body into the first linear slot. The lower crenellated member may include: a lower body; spaced lower teeth extending from the lower body, the spaced lower teeth forming spaced lower gaps therebetween; and an anti-rotation pin extending from the lower body into the second linear slot.

[0006] The actuator can be configured to have a paving mechanism, such that the movable arm includes a forked end configured to move on the actuator bolt when the movable arm is rotated.

[0007] Other objects and advantages will be set forth in part in the description which follows, and in part will be obvious from the description or may become apparent by practice of the disclosure. These objects and advantages will also be achieved and attained by means of the elements and combinations particularly pointed out in the appended claims. Attached Figure Description

[0008] Figure 1A and Figure 1BIt is a view of a portion of the valve mechanism on an engine, including the aerodynamic mechanism and actuators.

[0009] Figures 2A to 2C This is a view of an alternative pneumatic mechanism including the crenellated device.

[0010] Figure 3A and Figure 3B This is a view of the actuator's actuation position.

[0011] Figure 4A The crenellated device in the locked position is shown.

[0012] Figure 4B The crenellated device is shown in the unlocked position.

[0013] Figure 5A Figure 5C shows an alternative aspect of the pneumatic mechanism and actuator. Detailed Implementation

[0014] The examples shown in the accompanying drawings will now be referred to in detail. Throughout all the drawings, the same reference numerals will be used to denote the same or similar parts whenever possible. Directional reference numerals such as "left" and "right" are used for ease of reference in the drawings.

[0015] Pushrod engines (also known as V-type engines) are designed to achieve cylinder deactivation. They use actuators 30 and 130 to achieve cylinder deactivation, which can engage or disengage a pneumatic mechanism. The pneumatic mechanism includes mortise and tenon joints 21, 22, 211, 212 or latching device 41.

[0016] Figure 1A and Figure 1B This is a view of a portion of the valve mechanism on an engine, including the aerodynamic mechanism and actuator 30. A portion of the engine block 10 is shown. The engine block 10 may include portions for actuating other cylinders and other valve mechanisms. A representative cylinder may include a fuel injector 15 positioned near a pair of intake valves 1, 2 and a pair of exhaust valves 3, 4. Valve bridges 5, 6 may receive actuation force from rocker arms 11, 12. A bridging tilt function can be achieved due to the clearance maintained by the mortise and tenon joints 21, 22, 211, 212. A carrier 7 may be used to position the rocker arms 11, 12. This portion of the valve mechanism is representative, and different numbers of valves and different rocker arm configurations may be substituted.

[0017] When the mantles 21 and 22 are in the locked position, a pair of rocker arms 11 and 12 are actuated by a pair of push rods 91 and 92. Other mantles 211 and 212 can replace mantles 21 and 22. Lifters 95 and 96 can travel on cams that can rotate to transmit valve lift profiles according to the timing of the cam protrusions. However, when the mantles 21, 22, 211, and 212 are unlocked, the lower mantles 24 and 124 can be pushed to slide into the upper mantles 23 and 123. Sliding upwards can constitute reverse deactivation. Instead of the valve lift profile being transmitted to valves 1 to 4 via rocker arms 11 and 12, the valve lift profile is lost within the mantles 21, 22, 211, and 212.

[0018] Other VVA techniques place the crenellated device or other mechanism in the fulcrum of the rocker arms 11, 12. In this example, the carrier 7 would house the crenellated device. However, in this disclosure, the crenellated devices 21, 22, 211, 212 are positioned below the pivot ends of the rocker arms. The ball-and-socket arrangement at the pivot ends of the rocker arms 11, 12 is formed by circular supports 13, 14 and cup-shaped ends to the rocker arms 11, 12. Supports 13, 14 are positioned on top of the crenellated devices 21, 22, 211, 212. Supports 13, 14 can be selected to suit the application.

[0019] The crenellated support 9 can be mounted to the engine block 10. The crenellated support 9, support 7, and rail 8 are sometimes referred to as part of a tower assembly for mounting the valve mechanism. The tower is simplified and may include other aspects known in the art.

[0020] The crenellated support 9 mounts the crenellated devices 21, 22, 211, and 212 relative to the push rods 91 and 92 and the rocker arms 11 and 12. The crenellated support may include receivers 191 and 192 for the embedded components of the crenellated devices 21, 22, 211, and 212. Certain housing features in the housing features may be replicated in the crenellated support 9. For example, linear slots 271 and 272 may be mirrored in the support slots 195, 196, and 193. The housing features and the mirrored crenellated support features stabilize the crenellated devices 21, 22, 211, and 212, providing stable positioning of the supports 13 and 14 relative to the rocker arms 11 and 12. The housing 27 may have a top 274 with an oil port 273 for lubrication flow. The tubular body 275 may have a housing height that provides a first length between the supports 13 and 14 and the push rods 91 and 92. Actuating bolts 231 and 232 extending from the upper crenellations 23 and 123 prevent the upper crenellations 23 and 123 from moving within the housing 27 and cooperate with the supports 13 and 14 for stable positioning.

[0021] However, it is beneficial to consider clearance in the valve mechanism. The mantles 21, 22, 211, and 212 help maintain clearance. Clearance is a designed clearance that allows for thermal expansion and contraction while ensuring that valves 1 through 4 close when they should. For this purpose, the lower mantles 24, 124 can descend away from the upper mantles 23, 123 or rise towards the upper mantles, thus maintaining the designed clearance. Washer 28 is biased by pushrod spring 294. Pushrod sleeve 29 includes an edge 293. Pushrod spring 294 pushes edge 293 against flange 97 of the engine block and pushes washer 28 relative to the support struts 13, 14 and fixing housing 27. Overall length is defined. However, when the pushrod is mounted on or in the lower valve members 24, 124, the gap between the upper valve members 23, 123 and the lower valve members 24, 124 can be offset in a designed manner when the pushrods 91, 92 expand or contract (along with other connecting features of the valve mechanism and engine).

[0022] Therefore, the actuating mechanism may include crenellated devices 21, 211, and 212. A replica of crenellated device 21 can be used to mount the crenellated devices side-by-side, thereby forming crenellated device 22. As discussed in more detail below, when replicated, the crenellated devices can be oriented to facilitate simultaneous actuation, such as by pointing the actuating bolts 231 and 221 in opposite or different directions.

[0023] The mantle devices 21, 22, 211, and 212 may include a housing 27. A first linear slot 271 may position the upper mantle members 23, 123 and provide travel restriction for the actuator plug 231. Rotational motion of the rotary actuator 31 can be converted to linear motion by being guided by the first linear slot 271. The housing 27 may include a second linear slot 272 perpendicular to the first linear slot 271. The anti-rotation plug 241 may be guided in the second linear slot 272 such that the valve lift profile may be "lost" in the second linear slot 272 when the mantle devices are in the unlocked position. For ease of manufacture, the first linear slot 271 may overlap with the second linear slot 272 on the tubular body 275. Alternatively, other arrangements may be used to facilitate assembly or encapsulation, such that the overlap between the first linear slot 271 and the second linear slot 272 may not exist.

[0024] Upper valances 23, 123 may include an upper body 23. An actuating bolt 231 may be riveted, welded, tightened, co-molded, or otherwise attached or formed to or formed with the upper body 233. The actuating bolt extends from the upper body 233 into a first linear slot 271. The upper edge 237 of the upper body 233 may abut the top 274 of the housing. Spacer teeth 232 extend from the upper body 233. The spacer teeth 232 form spacer gaps 234 therebetween. Height-setting teeth 235 may extend downward to abut a washer 28 to ensure supported positioning of the upper valances 23, 231 within the housing 278. Alternatively, spacers 25, 1235 may be used to support the upper valances 23. Spacer 25 may be annular to provide more concentric positioning of the lower valances 24, 121. Alternatively, a gasket may form spacer 1235. The use of spacer 25 reduces rotational friction of the upper crenellations 23, 231 because the height setting teeth do not need to drag against the lower crenellation body 243. The upper edges 237, 2371 of the upper bodies 233, 2331 can abut the top 274 of the housing 27, while the lower edges 238, 2381 slide on the gaskets 25, 1235 or on the top of the lower teeth 242.

[0025] The lower valence members 24, 124 include a lower body 243. An anti-rotation plug 241 can extend from the lower body 243 into a second linear slot 272. A spacer 25 can surround the lower valence members 24, 124 and can include a passage for the anti-rotation plug. Spacer teeth 242 extend from the lower body 243. The spacer teeth 242 form spacer gaps 244 therebetween. As shown, a long valve lift profile can be “lost” in the longitudinally extending teeth and gaps. Radially extending teeth (such as internal and external teeth and gap arrangements) can be replaced.

[0026] Springs 26 and 261 may be included in compartment 236 within the upper body 233. Springs 26 and 261 may be biased against the top 274 and lower ventral members 24 and 124 of the housing 27. Compartments 245 and 2451 may be included in the lower body 2431. Compartment 245 may be a lightweight feature with lubrication leakage. Compartment 2451 may additionally include a spring cup for spring 261.

[0027] Returning to push rod spring 294, it can press down housing 27 and lower venting members 24, 124, preferably with intervening washers 28, to form caps or restrictive orifices for closing portions of venting devices 21, 22, 211, 212. Several options exist for biasing upper teeth 232 and lower teeth 242. Springs 26, 261 form options. However, push rod spring 294 forms alternative or additional options. Push rod spring 294 can constitute a "free-running" spring, and push rod sleeve 29 can constitute a spring retainer. The upper edge 292 of push rod sleeve 29 can be clamped at housing 27, such as by wire clamp 291 or a ring spring in an inner groove 2762 in housing 27. Push rod sleeve 29 and therefore edge 293 are stable relative to housing 127. Thus, push rods 91, 92 are well guided as they push the joint 2463 of lower venting member 124. The connector 2463 may include embossed, ball, gothic, or other shapes, including a ball-and-socket arrangement. Although the putter 91, 92 are cup-shaped ends 93, 94, the ball-and-socket arrangement can be reversed. Clearance and alignment can coexist.

[0028] Alternatively, the idling mounting area 246 can be integrated with the lower fin 24. The upper edge 292 of the push rod sleeve 29 can be secured to the necking region 2461 of the lower fin 24. The groove 2462 is included in the necking region 2461, and the clamp 291 or ring spring can be pushed out against the upper edge 292 of the push rod sleeve 29. The force of the push rod spring 294 on the edge 293 and the washer 28 pulls the lower tooth 242 of the lower fin 24 out of the upper gap 234 after an idling event. In this arrangement, the spring 26 can be optional. And, when the lower fin 24 is drawn by the push rod spring 294, there is less resistance to rotating the upper fin 23. In the case of necking termination with the connector 2463, the push rods 91, 92 can include cup-shaped ends 93, 94 for reliable engagement with the lower fin 24. Gap and alignment can coexist again.

[0029] Therefore, it can be said that the push rod sleeve 29 is mounted to the lower fin 24. The push rod sleeve can be configured to have a push rod spring 294 to bias the lower fin 24 out of the housing 27. Alternatively, it can be said that the push rod sleeve 29 can be mounted to the housing 127. The push rod sleeve 29 can be configured to guide the push rods 91, 92 to push the lower fin 124. In either case, it can be said that a connector extends from the lower fin 24, 124, wherein the connector is configured to receive the ends of the push rods 91, 92.

[0030] In cylinder deactivation with valve mechanism engaged (“CDA”), it may be desirable to actuate two mandrel devices 21, 22, 211, 212 simultaneously, such that both the intake and exhaust valves for the cylinder are deactivated together. Therefore, an actuator 30 capable of rotating both mandrel devices 23, 123 is desired. Such an actuator 30 may include a rotary actuator 31, such as a motor, solenoid, or other electronically controlled device. The rotary actuator 31 can rotate a rotatable shaft 32. A plate 33 may be connected to the rotatable shaft 32. The rotatable shaft 32 and the plate 33 may form a linkage. The linkage is connected to the rotary actuator 31. At least one movable arm 33, 34 is connected to the linkage to move one or more actuator pins 231, 221.

[0031] The teeth and clearances forming the upper tooth 232, upper gap 234, lower tooth 242, and lower gap 244 can be sized to respond to the strength and precision of the rotary actuator 31. Small teeth and clearances are shown. Therefore, the rotary actuator 31 can be small in size and low in strength. This contributes to compactness and packaging. Furthermore, a single rotary actuator 31 can be mounted in a compact space between the two rocker arms 11, 12. However, a single rotary actuator 31 can actuate two mortise-and-tenon devices 21, 22, 211, 212.

[0032] One or more movable arms 33, 34 may be attached to plate 33. Bent ends 333, 343 may transition to vertical portions 332, 342. Vertical portions 332, 342 may utilize vertical space along engine block 10. Vertical portions may descend such that bent portions 334, 344 may descend below the mounting portion of crenellated support 9. Bent portions 334, 344 may surround housing 27 and receiver portions 191, 192. Movable arms 33, 34 may be configured to rotate to move actuators 231, 221. Movable arms 33, 34 may include forked ends 331, 341 configured to move on actuators 231, 221 when the movable arms 33, 34 rotate. Forked ends 331, 341 allow some "clearance" during actuation. When the forked ends 331 and 341 push or pull the actuator pins 231 and 221, the actuator pins 231 and 221 can rotate the corresponding upper crenellated members. Furthermore, the forked ends 331 and 341 can move along the actuator pins 231 and 221 during this pushing or pulling motion of the rotary actuator 31. The forked ends 331 and 341 allow a certain degree of relative movement and flexibility during the transmission of actuation force. A small footprint and compact packaging are achieved through the efficient use of vertical space, such as by the vertical portions 332 and 342, and the efficient use of lateral space, such as by the rotating bending portions 334 and 344. Figure 3B The arrows indicate that the rotation of the rotary actuator 31 causes the fork ends 331 and 341 to rotate, which are engaged to rotate the actuator pins 231 and 221.

[0033] When actuator 30 is actuated to rotate upper ferrule members 23, 123, the first linear slot 271 causes actuator 231 to engage. The cam lift is transmitted via the ferrule device in either the drive mode or the locked position. When the ferrule device is in the locked position, the upper spacer tooth 232 and the lower spacer tooth 242 are aligned face-to-face. When the ferrule device is in the unlocked mode, either idle or cylinder deactivation mode is possible. Cam lift is absorbed by the ferrule device and is not transmitted to valves 1 to 4. When the lower spacer tooth 242 is aligned to slide in the upper spacer clearance 234, the ferrule devices 21, 22, 211, 212 are in the unlocked position. When the ferrule devices 21, 22, 211, 212 are in the unlocked position, the anti-rotation bolt 241 can slide in the second linear slot 272. It can be said that the first linear slot 271 causes the actuator 231 to lock the vertical position of the upper crenellated parts 23 and 123.

[0034] A single mandrel device may be included in the valve mechanism, or, as shown, a pair of mandrel devices may be included in the valve mechanism. Alternatively, each pair of pushrods 91, 92 may include a pair of mandrel devices. Thus, there may be two intake mandrel devices for the two intake pushrods and two exhaust mandrel devices for the two exhaust pushrods. Therefore, the system and apparatus are scalable. However, a single actuator 30 may actuate two mandrel devices, and the actuator 30 may include a simplified electromagnetic actuator. Furthermore, the actuator 30 may allow switching between a locked and unlocked position during low engine RPM because the actuator 30 may be electric. Wiring may be included in the tower, and this occupies little space. The cylinder head portion of the engine block 10 requires minimal modification to accommodate the carrier 9.

[0035] Each of the crenellated device actuators 231 and 221 can be described as having a corresponding movable arm 33 or 34 connected to a link for moving it. The link may include a plate 33 connected to a rotation shaft 32 of the rotary actuator 31. The plate 33 may be configured to rotate the movable arm 33 or 34. The actuator 30 may be configured to switch between pulling the actuator 231 while pushing the second actuator 221 and pushing the actuator 231 while pulling the second actuator 221.

[0036] A single carrier element 9 or tower assembly can accommodate rocker arms 11, 12, crenellated devices 21, 22, 211, 212, and actuator 30. This facilitates compact assembly and packaging.

[0037] Figure 5AFigure 5C illustrates an aspect for an alternative pneumatic mechanism. The housing 901 includes a tubular body 951, an inner chamber 921, a first window 931, and a second window 941. An upper restraint 191 is disposed within the housing 90. When the latch assembly 41 is not latched, the upper restraint 191 can slide within the inner chamber 921. The upper restraint 191 can be restricted in its travel by a top 911 of the housing 901. The upper restraint 191 may include a vent hole 192.

[0038] The lower limiter 193 may also be housed within the housing 901. When the latch assembly 41 is not latched, the lower limiter 193 can slide within the inner chamber 921. The lower limiter 193 may include a vent 196 in the top portion 195. The top portion 195 may be a tapered portion of the inner chamber 194. The lower limiter 193 may be configured to receive push rods 91, 92. Push rods 91, 92 may be housed in the tapered portion and abut against the top portion 195. The lower limiter 193 may also include an indentation 197 for receiving a clamp, etc., to anchor the push rod sleeve 129 at the upper portion 2921. The push rod sleeve 129 may include an edge 2931 for housing a push rod spring 294 (also referred to as a "free-running" spring). The push rod spring 294 may push against a washer 128. Washer 128 can provide a controlled orifice for assembling the lower limiter 193 within the tubular body 951 of housing 901. Pushrod sleeve 129 can be mounted to the lower limiter 193 and can be configured with pushrod spring 294 to bias the lower limiter 193 out of housing 901. Therefore, the drive mode is enabled when latch assembly 41 latches with latch ends 1411, 1421 in the first window 931 and the second window 941. However, "free-running" can occur when latch assembly 41 unlatches with latch ends 1411, 1421 retracted from the first window 931 and the second window 941. Upper limiter 191 and lower limiter 193 slide within housing 901 to absorb valve lift curves. Free-running spring force can reset latch assembly 41 by pulling the lower limiter 193 away.

[0039] The upper limiting member 191 and the lower limiting member 193 can be formed from a single sheet of material, such as by transverse drilling or casting a locking hole. The actuating hole can also be a blind hole or formed from a sheet of material by casting or other means.

[0040] A latch assembly 41 may be mounted between an upper limiter 191 and a lower limiter 193. The latch assembly 41 may include a first latch 141 and a second latch 142 biased toward each other. Plugs 143 and 144 may be mounted to guide the first latch 141 and the second latch 142. Latch ends 1411 and 1421 may be stepped or otherwise shaped to engage in the first window 931 and the second window 941. However, latch springs 145 and 146 may be biased against plugs 143 and 144 and against latch seats 1412 and 1422 to withdraw latch ends 1411 and 1421 from the first window 931 and the second window 941.

[0041] Actuator 80 can be mounted through housing 901. Actuator 80 can be configured to slide to press first latch 141 against first window 931 and second latch 142 against second window 941. Actuator 80 may include wedge 82 or cone or conical shape that can be pushed between first latch 141 and second latch 142 to actuate them apart. Wedge 82 may terminate at tip 81 that sets the gap between first latch 141 and second latch 142. Actuator 80 can be withdrawn via embedded or integrally formed lever 83 such that latch springs 145, 146 can push first latch and second latch together. Lever 83 may be integral with "L" bracket, etc. Vertical portion 133 can be compactly packaged using vertical space in engine block 10. Linear portion 132 may be attached to linear actuator 130 (such as a solenoid) to provide linear motion that can be translated to lever 83. Similar to rotary actuator 31, linear actuator 130 can be encapsulated between rocker arms 11 and 12 for actuators that have a small and efficient footprint in the valve mechanism. Linear actuator 130 can be configured as sliding actuator 80.

[0042] Given the descriptions and practices of the examples disclosed herein, other implementations will be obvious to those skilled in the art.

Claims

1. An air-operated mechanism, comprising: A crenellated device, the crenellated device comprising: Housing, the housing comprising: A first linear slot; and a second linear slot extending perpendicular to the first linear slot; An upper crenellated member disposed within the housing, the upper crenellated member comprising: Upper body; Spaced upper teeth, the spaced upper teeth extending downward from the upper body, these spaced upper teeth being spaced apart from each other via corresponding upper gaps; and An actuating plug extends outward from the upper body into the first linear slot; A lower crenellated member disposed within the housing, the lower crenellated member comprising: Lower main body; The lower teeth are spaced apart by corresponding lower gaps and extend upward from the lower body. The anti-rotation pin extends outward from the lower body into the second linear slot, wherein the second linear slot is configured to guide the anti-rotation pin in a direction perpendicular to the first linear slot, such that the valve lift curve is lost in the second linear slot when the ferrule is in the unlocked position, wherein the first linear slot is configured to overlap the second linear slot on the tubular body of the housing.

2. The pneumatic mechanism according to claim 1 further includes: A spring, which is biased against the housing and the lower crenellated member.

3. The pneumatic mechanism according to claim 1 or 2 further includes: Spacers surrounding the lower crenellated member.

4. The pneumatic mechanism according to claim 3 further includes: A push rod sleeve is mounted to the lower fin, the push rod sleeve including a push rod spring configured to bias the lower fin out of the housing.

5. The pneumatic mechanism according to claim 3 further includes: A push rod sleeve is mounted to the housing, the push rod sleeve being configured to guide the push rod to press against the lower crenellated member.

6. The pneumatic mechanism according to claim 5 further includes: A connector extending from the lower crenellated member is configured to receive the end of a push rod.

7. The pneumatic mechanism according to claim 1 further includes: An actuator configured to rotate the upper crenellated member, the actuator comprising: Rotary actuator; A linkage connected to the rotary actuator; and a movable arm connected to the linkage to move the actuator bolt.

8. The pneumatic mechanism of claim 7, wherein the movable arm surrounds the housing and rotates to move the actuating bolt.

9. The pneumatic mechanism according to claim 7 or 8, wherein the movable arm comprises: A forked end, which is configured to move on the actuating bolt when the movable arm rotates.

10. The pneumatic mechanism according to claim 7 or 8, wherein when the actuator is actuated to rotate the upper crenellated member, the first linear slot guides the actuating bolt.

11. The pneumatic mechanism of claim 10, wherein when the crenellated device is in the locked position, the lower end of the upper spacer tooth is aligned with the upper end of the lower spacer tooth, and wherein when the crenellated device is in the unlocked position, the lower spacer tooth slides into the corresponding upper gap.

12. The pneumatic mechanism of claim 11, wherein when the crenellated device is in the unlocked position, the anti-rotation bolt is configured to slide in the second linear slot.

13. The pneumatic mechanism according to claim 7 or 8, wherein the first linear slot is configured to guide the actuating bolt and maintain the vertical position of the upper crenellation.

14. An aerodynamic system, comprising: The pneumatic mechanism according to any one of claims 7 to 13, wherein the pneumatic mechanism includes a mortise device, an actuator, and a second mortise device including a second actuating bolt, the actuator further including a second movable arm connected to the linkage to move the second actuating bolt.

15. The pneumatic system of claim 14, wherein the linkage includes a plate connected to a rotation shaft of the rotary actuator, and wherein the plate is configured to rotate the movable arm and the second movable arm.

16. The pneumatic system of claim 14, wherein the actuator is configured to switch between simultaneously moving the actuator and the second actuator in a first rotational direction and simultaneously moving the actuator and the second actuator in a second rotational direction.

Images