A device having controllable dynamic behavior

Abstract

A device (100, 200, 300) having controllable dynamic behavior components comprising a casing (111, 211, 311), a central shaft (113, 213, 313) for connecting to the internal (114, 214, 314) or external drive unit, wherein the central shaft (113, 213, 313) is rotatably mounted in the casing (111, 211, 311). The device (100, 200, 300) further comprises a centrifugal force generating unit comprising a rotary disc (116, 217, 316) fastened to the central shaft (113, 213, 313) with blocked rotary movement, a follower (117, 218, 317) for moving along the axis y and at least two inertia components (118, 219, 318) located between the rotary disc (116, 217, 316) and the follower (117, 218, 317), characterized in that sides of the rotary disc (116, 217, 316) and the follower (117, 218, 317) facing each other comprise raceways (119, 120, 220, 221, 319, 320) for bidirectional radial movement of the inertia components (118, 219, 318) between the rotary disc (116, 217, 316) and the follower (117, 218, 317), wherein inertia components (118, 219, 318) are in constant contact with the rotary disc (116, 217, 316) and the follower (117, 218, 317), wherein the raceways (119, 220, 319) of the rotary disc (114, 214) enforces the movement of the inertia components (118, 219, 318) along the axis y, and position of the inertia components (118, 218, 317) along the raceway (119, 120, 220, 221, 319, 320) is determined by the rotational velocity the central shaft (113, 213, 313) and the external load.

Description

[0001] A device having controllable dynamic behavior

[0002] Technical field

[0003] The present invention relates to a device having controllable dynamic behavior, e.g. springs, dampers, grippers, actuators, etc.

[0004] Background of the invention

[0005] In the state of the art, there are known dynamic mechanical components like springs, dampers, etc. having constant parameters, providing specific dynamic behavior. If there was a need to change the dynamic behavior of the component in a device, usually, its replacement to the component having different characteristics or manual regulation would be a must.

[0006] The state of art reveals also some dynamic mechanical components allowing to change its characteristics within a given range.

[0007] Russian patent RU2668933C1 reveals a device for damping vibrations, comprising lower levers and upper levers forming a rhombus-shaped lever arrangement, inside of which there is a vertical spring. The device for damping vibrations further comprises masses placed in hinged joints connecting the lower levers and the upper levers. Furthermore, between aforementioned masses there is a motion transformation unit in a form of a screw mechanism. Parallel to the motion transformation unit there is an additional spring, the ends of which are fixed to the hinged joints. The aim of the disclosure is to provide a device for damping vibrations having an expanded range of regulation of the elastic-dissipative properties.

[0008] From Russian patent RU2604250C2 there is known a device for damping vibrations, comprising a vertical spring, which is fixed by one end to a base of the device and by the other end to an object to be protected from the excessive vibrations. The device for damping vibrations comprises lower levers and upper levers forming a rhombus-shaped lever arrangement. The upper levers are connected with the object to be protected and the lower levers are connected with the base. Further, the lower levers and upper levers are connected with each other by hinges. The device comprises two elastic elements positioned parallel to the base. One elastic element is in a form of a spring with first masses at its ends and is located between the lower levers. The second elastic element is in a form of a pneumatic element, for example, an actuator, adapted to adjust the overall stiffness of the lever arrangement. The ends of the second elastic element are connected to the lower levers and second masses in order to ensure the creation of inertial forces acting in the direction opposite to the interference forces of the base at all frequencies within a given range. The device also comprises a processing unit configured to cooperate with a sensor. The sensor is configured to obtain information about a dynamic state of the object to be protected, and the processing unit is further configured to regulate the pressure in the second elastic element based on the measurements from the sensor. The aim of the disclosure is to provide a device for damping vibrations ensuring dynamic damping of oscillations at all frequencies of a given range.

[0009] Russian utility model RU157103U1 discloses dynamic vibration damper comprising additional masses, lower levers and upper levers. Moreover, the dynamic vibration damper comprises a damping chamber and an elastic element. The elastic element is placed between an object to be protected from the action of vibrations and the damping chamber. The damping chamber is placed between the elastic element and a base of the device. The damping chamber is connected to the elastic element by a throttle. The dynamic vibration damper comprises also racks with sliders installed on both side of the damping chamber. The sliders are connected to the first ends of the lower levers, and the second ends of the lower levers are connected to the additional masses. The upper levers are connected to the object to be protected and to the lower levers.

[0010] Russian patent RU2440523C2 discloses a device for damping vibrations, comprising a spring, upper levers and lower levers forming a rhombus-shaped lever arrangement. The spring and the rhombus-shaped lever arrangement are located between a base of the device and an objected to be protected from the action of vibrations. Further, the spiring is located parallel to the rhombus-shaped lever arrangement. The device comprises also rotational masses located at the joints of the upper and lower levers. The upper levers are connected with the objected to be protected by means of swivel joints and the lower levers are connected with the base by means of swivel joints. The aim of the disclosure is to provide a device for damping vibrations that ensures simplification of the process of damping vibrations acting on the object to be protected. The Essence of the Invention

[0011] The object of the invention is a device having controllable dynamic behavior comprising a casing, a central shaft for connecting to the internal or external drive unit, wherein the central shaft is rotatably mounted in the casing. The afore-mentioned device further comprises a centrifugal force generating unit comprising a rotary disc fastened to the central shaft with blocked rotary movement, a follower for moving along the axis y, and at least two inertia components located between the rotary disc and the follower. The device is characterized in that sides of the rotary disc and the follower facing each other comprise raceways for bidirectional radial movement of the inertia components between the rotary disc and the follower, wherein inertia components are in constant contact with the rotary disc and the follower, wherein the raceways of the rotary disc enforces the movement of the inertia components along the axis y and position of the inertia components along the raceway is determined by the rotational velocity the central shaft and the external load.

[0012] In the proposed device, the centrifugal forces acting upon inertia components of the mechanism cause the desired effect at the output of the device. By controlling the rotational velocity, a rich variety of dynamical behavior at the output of the device can be obtained. In particular, the proposed device can operate as a spring, a damper, or a gripper.

[0013] What is more, control of rotational velocity allows precise and stepless adjustment of the output parameters of the device.

[0014] Preferably, the rotary disc and the follower are in constant angular position in relation to each other. It provides less wear of the inertia elements.

[0015] Preferably, inertia components have a form of cylinders, balls, or other solids of a shape that enables its motion along the raceways.

[0016] Advantageously, the device according to the invention comprises at least one element for counteracting the centrifugal force, generated by the centrifugal force generating unit, acting on the follower. Such an element can preferably have a form of a spring, or an additional mass connected to the follower. The use of spring for counteracting the centrifugal force, generated by the centrifugal force generating unit, allows for use of the device with gravitational force acting on the device from any direction. Preferably, the device according to the invention comprises a forcing element connected to the follower.

[0017] Favorably, the forcing element is connected to the follower by means of bearing. It allows the non-transfer of rotational motion from the follower to the forcing element.

[0018] Preferably, it comprises at least one blocking element for blocking the transfer of the rotational movement of the of the follower to the forcing element.

[0019] Preferably, comprises a drive unit, in particular, an electric, pneumatic or hydraulic motor.

[0020] The device according to the invention, preferably, comprises a clutch for connecting the central shaft to the external or internal drive unit.

[0021] Preferably, the central shaft is integrated with the rotary disc, more preferably the central shaft and the rotary disc form a monolithic structure.

[0022] The device according to the invention, preferably, comprises a unit for controlling the rotational velocity of the central shaft.

[0023] What is more, the device according to the invention can comprise a pair of gripper jaws connected to the effector and the gripper jaws preferably comprise interchangeable working elements.

[0024] The object of the invention is also a set of the devices according to any of the preceding claims wherein on the device constitutes the external load for the other devices within the set.

[0025] Advantages of the invention

[0026] The device according to the invention exhibit significant advantages.

[0027] The changes of the dynamical behavior of the device are obtained solely due to variations of the rotational velocity, without the necessity of parts replacement, manual regulation etc. In result change of the device parameters can be realized in real time.

[0028] Moreover, parameters of the system can be adjusted in a way that prevents self-locking along the axis y. The output parameters of the device are almost independent of the temperature changes.

[0029] Low number of cooperating elements results in high repeatability of the generated force.

[0030] What is more, simplicity of the device and robustness of the design enable to maintain low manufacturing costs and relatively small size of the device.

[0031] The device can be used in a large variety of purposes, in which adaptivity of the dynamical behavior is an important factor. Possible applications include robot grippers, active vibration dampers, adjustable elastic elements, actuators, etc.

[0032] Description of the drawings

[0033] The subject of the invention is shown in the embodiments in a drawing, in which:

[0034] Fig. 1 presents a schematic drawing of the device according to the first embodiment of the invention;

[0035] Fig. 2 presents a cross-section of the device according to the second embodiment of the invention;

[0036] Fig. 3 presents an upper view of the device according to the second embodiment of the invention;

[0037] Fig. 4 presents a cross-section of the device according to the second embodiment of the invention;

[0038] Fig. 5 presents a cross-section of the device according to the third embodiment of the invention;

[0039] Fig. 6 presents a broken cross-section of the device according to the third embodiment of the invention;

[0040] Fig. 7 presents an upper view of the device according to the third embodiment of the invention with broken-out section;

[0041] Fig. 8 presents a schematic drawing of the set of devices according to the first embodiment of the invention; Detailed description of the invention

[0042] The first embodiment of the invention

[0043] A device 100 device having controllable dynamic behavior comprises a casing 111 having a base 112, a central shaft 113 connected to the drive unit 114, wherein the central shaft 113 is rotatably mounted in the casing 111 by means of bearings. The drive unit 114 is connected to the central shaft 113 by means of clutch 115. In the other embodiments of the invention the device 100 can be connectable to the external drive units, not being part of the device, that provide a rotary movement to the central shaft 113. The drive unit 114 is an electric motor having controllable rotational velocity. However, in other embodiments it can e.g., pneumatic, or hydraulic motor. In yet another embodiment the device 100 can comprise a unit for controlling the rotational velocity of the central shaft 113 and be connected to the drive unit having a constant rotational velocity. The unit for controlling the rotational velocity can have a form of a transmission.

[0044] The device 100 further comprises a centrifugal force generating unit comprising a rotary disc 116 fastened to the central shaft 113 with blocked rotary movement, a follower 117 for moving along the axis y and two inertia components 118 located between the rotary disc 116 and the follower 117. Sides of the rotary disc 116 and the follower 117 facing each other comprise raceways 119, 120 for bidirectional radial movement of the inertia components 118 between the rotary disc 116 and the follower 116, wherein the inertia components 118 are in constant contact with the rotary disc 116 and the follower 117 due to the gravity force acting on the follower 117.

[0045] The inertia components 118 have a form of balls. However, in other embodiments of the invention they may have a form of cylinders or other solids of a shape that enables its motion along the raceways 119, 120.

[0046] The raceways 119 of the rotary disc 116 enforces the movement of the inertia components 118 along the axis y. The position of the inertia components 118 along the raceway 119, 120 is determined by the rotational velocity of the central shaft 113 and the external load.

[0047] A rotary motion is provided to the central shaft 113 by the electric motor 114 via clutch 115. The rotary motion is transmitted to the centrifugal force generating unit. As a result, the rotary disc 116, the follower 117, and inertia components 118 rotate about the axis y. At constant rotational velocity of the central shaft 113, a centrifugal force generated keeps the position of the inertia components 118 along the raceways 119, 120 and thereby the position of the follower 117 along the axis y.

[0048] If an additional external force is applied to the follower 117 causing the follower 117 to move along the axis y in the direction of the rotary disc 116. As a result, the inertia components 118 move along the raceways 119, 120 to the position closer to the axis y. If the applied forced increases the inertia components 118 will move closer to the axis y. In turn, if the applied force decreases the inertia components 118 will move along the raceways 119, 120 away from the axis y. If the applied force is removed the inertia components 118 will move to their positions prior to application of the additional external force.

[0049] The change of rotational velocity of the central shaft 113 changes the generated centrifugal force. If the rotational velocity increases, generated centrifugal force also increases and the inertia components 118 move along the raceways 119, 120 away from the axis y. The inertia components 118 push the follower 117 with increased force causing its movement along the axis y in the direction away from the rotary disc 116. In turn, if the rotational velocity decreases, centrifugal force decreases as well and the inertia components 118 move along the raceways 119, 120 closer to the axis y The inertia components 118 push against the follower 117 with less force and the follower 117 moves along the axis y in the direction of the rotary disc 116.

[0050] The change of rotational velocity of the central shaft 113 changes the threshold value of external force that must be applied to follower 117 to cause the movement of inertia components 118 along the raceways 119, 120.

[0051] A control of rotational velocity of the central shaft 113 allows for precise and stepless adjustment of output parameters of the device 100.

[0052] The above-described mode of operation of the device 100 allows for its operating as a damper, inerter, actuator or a spring, in particular a compression spring. In this embodiment, the device according to the invention operates as a spring having variable stiffness. The second embodiment of the invention

[0053] A device 200 having controllable dynamic behavior comprises a casing 211 having a base 212, a central shaft 213 connected to the drive unit 214, wherein the central shaft 213 is rotatably mounted in the casing 211 by means of bearings 215. The drive unit 214 is connected to the central shaft 213 by means of a clutch 216. In the other embodiments of the invention the device 200, instead of having an internal drive unit 214 it can be connectable to the external drive units, not being part of the device, that provide a rotary movement to the central shaft 213. The drive unit 214 is an electric motor having controllable rotational velocity. However, in other embodiments it can e.g., pneumatic, or hydraulic motor. In yet another embodiment the device 200 can comprise a unit for controlling the rotational velocity of the central shaft 213 and be connected to the drive unit having a constant rotational velocity. The unit for controlling the rotational velocity can have a form of a transmission.

[0054] The device 200 comprises a centrifugal force generating unit comprising a rotary disc 217 fastened to the central shaft 213 with blocked rotary movement, a follower 218 for moving along the axis y and plurality of the inertia components 219 located between the rotary disc 217 and the follower 218. Sides of the rotary disc 217 and the follower 218 facing each other comprise raceways 220, 221 for bidirectional radial movement of the inertia components 219 between the rotary disc 217 and the follower 218, wherein the inertia components 219 are in constant contact with the rotary disc 217 and the follower 218. The rotary disc 217 and the follower 218 are preferably in constant angular position in relation to each other by means of blocking pins 222. Blocking pins 222 blocks rotary movement of the follower 218 in relation to the rotary disc 217 without restricting the linear movement the follower 218 along the axis y.

[0055] The inertia components 219 have a form of cylinders. However, in other embodiments of the invention they may have a form of balls or other solids of a shape that enables its motion along the raceways 220, 221.

[0056] The raceways 220 of the rotary disc 217 enforces the movement of the inertia components 219 along the axis y. The position of the inertia components 219 along the raceway 220, 221 is determined by the rotational velocity of the central shaft 213 and the external load.

[0057] The device 200 comprises a forcing element 223 connected to the follower 218. What is more, the forcing element 223 is equipped with rods 224 connected to the contact element 225. The forcing element 223 by means of rods 224 and the contact element 225 transfers the force generated by the centrifugal force generating unit to the external object. However, in other embodiments the force generated by the centrifugal force generating unit can be transferred to external object directly by the follower 218.

[0058] The forcing element 223 is connected to the follower 218 by means of a bearing 226.

[0059] The device 200 further comprises a blocking element 227 equipped with additional bearing 228 for central shaft stabilization and a linear bearings 229. The forcing element 223 is equipped with rods 224 arranged in parallel to the axis y and extending out of the casing 211 through the blocking element 227. Wherein the linear motion of each of the rods 224 through the blocking element 227 is ensured by the linear bearing 229. The blocking element 227 blocks the transfer of the rotational movement of the follower 218 to the forcing element 223. As a result, motion of the forcing element 223 is restricted to linear only.

[0060] The device 200 further comprises an element 230 for counteracting the centrifugal force, generated by the centrifugal force generating unit, acting on the follower 218. The element 230 has a form of a spring acting between the forcing element 223 and the blocking element 227. Alternatively, an element 230 can have a form of additional mass connected to the follower 218. The use of spring 230 for counteracting the centrifugal force, generated by the centrifugal force generating unit, allows for use of the device with gravitational force acting on the device 200 from any direction.

[0061] A rotary motion is provided to the central shaft 213 by the electric motor 214 via clutch 216. The rotary motion is transmitted to the centrifugal force generating unit. As a result, the rotary disc 217, the follower 218, and inertia components 219 rotate about the axis y. At constant rotational velocity of the central shaft 213, a centrifugal force generated keeps the position of the inertia components 219 along the raceways 220, 221 and thereby the position of the follower 218 along the axis y.

[0062] If an additional external force is applied to the contact element 225 it is transferred to the follower 218 by means of rods 224 causing the follower 218 to move along the axis y in the direction of the rotary disc 217. As a result, the inertia components 219 move along the raceways 220, 221 to the position closer to the axis y. If the applied forced increases the inertia components 219 will move closer to the axis y. In turn, if the applied force decreases the inertia components 219 will move along the raceways 220, 221 away from the axis y. If the applied force is removed the inertia components 219 move to their positions prior to application of the additional external force.

[0063] The change of rotational velocity of the central shaft 213 changes the generated centrifugal force. If the rotational velocity increases, generated centrifugal force also increases and the inertia components 219 move along the raceways 220, 221 away from the axis y. The inertia components 219 push the follower 218 with increased force causing its movement along the axis y in the direction away from the rotary disc 217. In turn, if the rotational velocity decreases, centrifugal force decreases as well and the inertia components 219 move along the raceways 220, 221 closer to the axis y. The inertia components 219 push against the follower 218 with less force and the follower 218 moves along the axis y in the direction of the rotary disc 217.

[0064] The change of rotational velocity of the central shaft 213 changes the threshold value of external force that must be applied to follower 218 to cause the movement of inertia components 219 along the raceways 220, 221.

[0065] A control of rotational velocity of the central shaft 213 allows for precise and stepless adjustment of output parameters of the device 200.

[0066] The above-described mode of operation of the device 200 allows for its operating as a damper, inerter, actuator or a spring, in particular a compression spring. In this embodiment, the device according to the invention operates as a spring having variable stiffness.

[0067] The third embodiment of the invention

[0068] A device 300 having controllable dynamic behavior comprises a casing 311 having a base 312, a central shaft 313, a drive unit 314, wherein the central shaft 313 is rotatably mounted in the casing 311 by means of bearings 315.

[0069] The device 300 comprises a centrifugal force generating unit comprising a rotary disc 316 fastened to the central shaft 313 with blocked rotary movement. The central shaft 313 is integrated with the rotary disc 316. They can also form a monolithic structure. The device 300 further comprises a follower 317 for moving along the axis y and plurality of the inertia components 318 located between the rotary disc 316 and the follower 317.

[0070] The inertia components 318 have a form of cylinders. However, in other embodiments of the invention they may have a form of balls or other solids of a shape that enables its motion along the raceways 319, 320.

[0071] Sides of the rotary disc 316 and the follower 317 facing each other comprise raceways 319, 320 for bidirectional radial movement of the inertia components 318 between the rotary disc 316 and the follower 317, wherein the inertia components 318 are in constant contact with the rotary disc 316 and the follower 317. The rotary disc 316 and the follower 317 are preferably in constant angular position in relation to each other by means of blocking pin 321. The blocking pin 321 blocks rotary movement of the follower 317 in relation to the rotary disc 316 without restricting the linear movement of the follower 317 along the axis y.

[0072] The raceways 319 of the rotary disc 316 enforces the movement of the inertia components 318 along the axis y and position of the inertia components 318 along the raceway 319, 320 is determined by the rotational velocity of the central shaft 313 and the external load.

[0073] The drive unit 314 is a frameless electric motor. The drive unit 314 have a hollow rotor, and the stator installed within the casing 311. The electric motor 314 has controllable rotational velocity. However, in other embodiments it can e.g., pneumatic, or hydraulic motor. In yet another embodiment the device 300 can comprise a unit for controlling the rotational velocity of the central shaft 313 and be connected to the drive unit having a constant rotational velocity, e.g. in the form of transmission. Moreover, in the other embodiments of the invention the device 300, instead of having an internal drive unit 314 it can be connectable to the external drive units, not being part of the device, that provide a rotary movement to the central shaft 313.

[0074] The device 300 comprises a forcing element 322 connected to the follower 317. The forcing element 322 is connected to the follower 317 by means of a bearing 323. The forcing element 322 is guided inside the central shaft 313 by means of sleeve bearing 324. Moreover, the forcing element 322 is mounted in the blocker 325 located inside the casing 311 by means of bearing 326. The device 300 comprises a blocking element 327 that blocks the transfer of the rotational movement of the of the follower 317 to the forcing element 322. Therefore, the movement of forcing element 322 is restricted to the linear motion only.

[0075] The device 300 further comprises an element 328 for counteracting the centrifugal force, generated by the centrifugal force generating unit, acting on the follower 317. The element 328 has a form of a spring acting between the forcing element 322 and the blocker 325. Alternatively, the element 328 can have a form of additional mass connected to the follower 317. The use of spring 328 for counteracting the centrifugal force, generated by the centrifugal force generating unit, allows for use of the device with gravitational force acting on the device 300 from any direction.

[0076] Moreover, the device 300 comprises a pair of gripper jaws 329 rotatably mounted in the base ring 330 connected to the casing 311. The rotational axes of gripper jaws 329 are substantially perpendicular to the axis y. The gripper jaws 329 are connected to the forcing element 322 via blocking element 327 and the gripper jaws 329 comprise interchangeable working elements 331.

[0077] A rotary motion is provided to the integrated central shaft 313 and rotary disc 316 by the electric motor 314. As a result, the rotary disc 316, the follower 317, and inertia components 318 rotate about the axis y. At constant rotational velocity of the central shaft central shaft 313 and rotary disc 316, a centrifugal force generated keeps the position of the inertia components 318 along the raceways 319, 320 and thereby the position of the follower 317 along the axis y.

[0078] The change of rotational velocity of the central shaft 313 and the rotary disc 316 changes the generated centrifugal force. If the rotational velocity increases, generated centrifugal force also increases and the inertia components 318 move along the raceways 319, 320 away from the axis y. The inertia components 318 push the follower 317 with increased force causing its movement along the axis y in the direction away from the rotary disc 316. In turn, if the rotational velocity decreases, centrifugal force decreases as well and the inertia components 318 move along the raceways 319, 320 closer to the axis y. The inertia components 318 push against the follower 317 with less force and the follower 317 moves along the axis y in the direction of the rotary disc 316. The follower 317 is connected to the forcing element 322 guided in the sleeve bearings 324. Thus, the bidirectional linear movement of the follower 317 induced by the change of rotational velocity of the central shaft 313 and the rotary disc 316 cause the bidirectional linear movement of the forcing element 322. The blocking element 327 moves linearly together with the forcing element 322, causing the gripper jaws 329 to move around their axes of rotation. As a result, the gripper jaws 329 close and open depending on the change of the rotational velocity of the central shaft 313 and the rotary disc 316.

[0079] At constant rotational velocity of the integrated central shaft 313 and the rotary disc 316, the relative positions of the gripper jaws 329 is kept. A control of rotational velocity of the integrated central shaft 313 and the rotary disc 316 allows for precise control of the device 300.

[0080] In this embodiment, the device according to the invention operates as a gripper.

[0081] The fourth embodiment of the invention

[0082] A set 400 of the devices according to the first embodiment of the invention wherein a set comprises two devices 100', 100". The followers 117', 117" of the devices 100', 100" are connected via a hub 410 and bearings 420. The device 100" constitutes the external load for the device 100'.

[0083] Such a configuration of the devices 100', 100" operates as a bidirectional actuator.

Claims

Claims1. A device (100, 200, 300) having controllable dynamic behavior components comprising:- a casing (111, 211, 311); a central shaft (113, 213, 313) for connecting to the internal (114, 214, 314) or external drive unit, wherein the central shaft (113, 213, 313) is rotatably mounted in the casing (111, 211, 311), a centrifugal force generating unit comprising: a rotary disc (116, 217, 316) fastened to the central shaft (113, 213, 313) with blocked rotary movement, a follower (117, 218, 317) for moving along the axis y and at least two inertia components (118, 219, 318) located between the rotary disc (116, 217, 316) and the follower (117, 218, 317), characterized in that sides of the rotary disc (116, 217, 316) and the follower (117, 218, 317) facing each other comprise raceways (119, 120, 220, 221, 319, 320) for bidirectional radial movement of the inertia components (118, 219, 318) between the rotary disc (116, 217, 316) and the follower (117, 218, 317), wherein inertia components (118, 219, 318) are in constant contact with the rotary disc (116, 217, 316) and the follower (117, 218, 317), wherein the raceways (119, 220, 319) of the rotary disc (114, 214) enforces the movement of the inertia components (118, 219, 318) along the axis y, and position of the inertia components (118, 218, 317) along the raceway (119, 120, 220, 221, 319, 320) is determined by the rotational velocity the central shaft (113, 213, 313) and the external load.

2. Device according to claim 1 characterized in that the rotary disc (116, 217, 316) and the follower (117, 218, 317) are in constant angular position in relation to each other.

3. Device according to claim 1 or 2 characterized in that inertia components (118, 219, 318) have a form of cylinders, balls, or other solids of a shape that enables its motion along the raceways (119, 120, 220, 221, 319, 320).

4. Device according to any of the preceding claims characterized in that it comprises at least one element (230, 328) for counteracting the centrifugal force, generated by the centrifugal force generating unit, acting on the follower (218, 317).

5. Device according to claim 4 characterized in that the element (230, 328) for counteracting the centrifugal force generated by the centrifugal force generating unit acting on the follower (218, 317) is the form of a spring, or an additional mass connected to the follower (218, 317).

6. Device according to any of the preceding claims characterized in that it comprises a forcing element (223, 322) connected to the follower (218, 317).

7. Device according to claims 6 characterized in that the forcing element (223, 322) is connected to the follower (218, 317) by means of bearing (226, 323).

8. Device according to claim 6 or 7 characterized in that it comprises at least one blocking element (227, 327) for blocking the transfer of the rotational movement of the of the follower (218, 317) to the forcing element (223, 322).

9. Device according to any of the preceding claims characterized in that it comprises a drive unit (114, 214, 314).

10. Device according to claim 9 characterized in that the drive unit (114, 214, 314) is an electric, pneumatic or hydraulic motor.11 Device according to any of the preceding claims characterized in that it comprises a clutch (115, 216) for connecting the central shaft (113, 213) to the external or internal drive unit (114, 214).

12. Device according to any of the preceding claims characterized in that the central shaft (313) is integrated with the rotary disc (316), in particular the central shaft (313) and the rotary disc (316) form a monolithic structure.

13. Device according to any of the preceding claims characterized in that it comprises unit for controlling the rotational velocity of the central shaft (113, 213, 313).

14. Device according to any of the preceding claims characterized in that it comprises a pair of gripper jaws (329) connected to the forcing element (322) by means of blocking element (327).

15. Device according to claim 14 characterized in that gripper jaws (329) comprise interchangeable working elements (331).

16. A set 400 of the devices according to any of the preceding claims wherein one of the device (100', 100') constitutes the external load for the other devices (100', 100") within the set.

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