JP2013204948A - Flexible duct direction positioning apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a flexible duct direction positioning apparatus capable of bending a flexible duct without twisting it and easily adjusting a bending angle.SOLUTION: A flexible dust direction positioning apparatus includes a link structure 3 connecting a tip side link hub 5 to a base end side link hub 4 through two groups of link mechanisms 6A so that posture can be changed. Each link mechanism 6A is a three-joint link structure including four revolute pairs T1, T2, T3, T4 comprising base end side and tip side end part links 7, 8 respectively connected to the base end side link hub 4 and the tip side link hub 5 so that each one end can be rotated and a center link 9 rotatably connecting the other ends of the base end side and tip side end part links 7, 8. Two separated positions of the flexible duct 2 are fixed on the base end side and tip side link hubs 4, 5 of the link structure 3.

Description

  The present invention is provided in a device having a fluid discharge port or suction port such as an air conditioner, a blower, a spot cooler, or a mist removing device, and changes the bending angle of the flexible duct to change the direction of the discharge port or the suction port. The present invention relates to a flexible duct direction positioning device for positioning.

  An example of an apparatus using a flexible duct is disclosed in Patent Document 1. This device is a spot air-conditioning duct system that blows air to the spot position, and changes the air blowing direction by manually changing the bending angle of the flexible duct used in the portion of the air blowing port. .

  An example of the air-conditioning outlet is disclosed in Patent Document 2. As shown in FIG. 14, the air-conditioning outlet has a ventilation cylinder 102 supported so as to be able to turn with respect to the ventilation path 101, and a movable cylinder 103 supported so as to be tiltable with respect to the ventilation cylinder 102. By changing the turning angle of the ventilation cylinder 102 with respect to the path 101 and the tilting angle of the movable cylinder 103 with respect to the ventilation cylinder 102, the blowing direction is changed.

JP 2004-183927 A JP 2008-64337 A

  Patent Document 1 has the following problems. That is, in the specification of this document, there is a description that “the flexible duct can be manually changed in its curved shape and the shape after the change is maintained” (paragraph 0036). When the shape can be changed, it is considered that the shape holding force after the change is not so strong. Therefore, there is an advantage that the flexible duct can be manually changed to an arbitrary direction, while the flexible duct is supported while supporting the weight of the flexible duct itself and the weight of an accessory (such as a sensor in the case of the same document) attached to the flexible duct. It is expected that the range of the bending angle that can maintain the shape of this is considerably narrow. In addition, when there is a large amount of air such as air flowing through the inside, there is a concern that the flexible duct may extend without being able to withstand the internal wind pressure even within the range of the bending angle.

The air-conditioning outlet of Patent Document 2 has the following problems.
In order to reduce the rotational resistance of the swivel support portion 104 of the ventilation tube 102 and the tilt support portion 105 of the movable tube 103 and reduce air leakage, the structures of the swivel support portion 104 and the tilt support portion 105 are complicated. Become. Therefore, assembly is complicated and expensive. In particular, since the tilting support portion 105 of the movable cylinder 103 has a spherical support structure, it is difficult to take effective measures for reducing rotational resistance and air leakage.
Since the swinging motor 106 for turning the ventilation cylinder 102, the tilting motor 107 for tilting the movable cylinder 103, and the drive shaft associated with these motors 106 and 107 are provided in the ventilation path, these are obstacles to ventilation. As a result, the air blowing efficiency decreases.
The turning of the ventilation tube 102 is substantially limited to swinging that repeats normal rotation and reverse rotation, and cannot continuously rotate in one direction. This is because the wiring to the tilting motor 107 is twisted when it is continuously rotated in one direction.
The range angle θ in which the movable cylinder 103 can be tilted is limited to the range of the outer peripheral surface of the spherical surface portion 103 a formed in the movable cylinder 103. Therefore, there is a limit to increasing the range angle θ of the movable cylinder 103.
The spherical portion 103a of the movable cylinder 103 is disposed in the ventilation cylinder 102, and the proximal end side diameter D2 and the nozzle diameter D3 of the movable cylinder 103 are smaller than the ventilation cylinder diameter D1. Therefore, the air blowing range blown from the movable cylinder 103 is narrow.

  An object of the present invention is to provide a flexible duct direction positioning device that can bend a flexible duct without twisting and can easily adjust the bending angle.

  The flexible duct direction positioning device of the present invention includes a link structure in which a distal end side link hub is connected to a proximal end side link hub through two sets of link mechanisms so that the posture can be changed. Each of the link mechanisms includes a proximal end and a distal end link, one end of which is rotatably connected to the proximal link hub and the distal link hub, and the proximal and distal ends. This is a three-joint chain structure having four rotating pairs, each consisting of a central link in which the other ends of the partial links are rotatably connected. Two separate locations of the flexible duct are fixed to the link hub on the base end side and the tip end side of the link structure.

  In the link structure configured as described above, the proximal link hub and the proximal link connected to the proximal link hub, and the distal link hub and the distal link connected to the distal link hub are spherical link structures. In these spherical link structures, the end link on the base end side and the end link on the front end side are connected to each other via a central link. The two central links of the two sets of link mechanisms have one degree of freedom limited to translational movement on the circumference of a circle in which the spherical link structures on the base end side and the tip end side overlap. The spherical link structure on the proximal side and the distal side is a four-bar linkage mechanism on a plane if the radius of curvature of the node is infinite, and each of the proximal side and the distal side independently has one degree of freedom. Have. Therefore, the link structure has a total of three degrees of freedom, with one degree of freedom of the two central links and one degree of freedom of each of the spherical link structures on the proximal end side and the distal end side.

  In the three-degree-of-freedom link structure, the angle and position of the distal-side link hub with respect to the proximal-side link hub are changed by changing the relative angle of each rotation pair of the two sets of link mechanisms. When two distant locations of the flexible duct are fixed to the proximal and distal link hubs, the flexible duct restricts the movement of one degree of freedom, which is the translational motion of the two central links, by the flexible duct. The link structure has approximately two degrees of freedom. Therefore, by defining any one degree of freedom of each of the proximal side and distal side spherical link structures, the angle and position of the distal side link hub with respect to the proximal side link hub are changed, The flexible duct can have any bending angle.

  The link structure consists of two sets of link mechanisms, and each link mechanism is separated from each other in the circumferential direction, so that the angle of the distal link hub with respect to the proximal link hub does not interfere with each other. Can be greatly increased. Further, when the number of link mechanisms is two sets, the number of parts can be reduced as compared with the case of three sets or more, and the cost can be reduced. Furthermore, even if the angle of the link hub on the distal end side with respect to the link hub on the proximal end side is increased, the link hubs do not shift in the circumferential direction, so that the flexible ducts fixed to the link hubs are not twisted. Therefore, it can be freely operated within an angular range in two directions. It is also possible to turn in one direction continuously. In the pan / tilt mechanism, the base end side and the tip end side are displaced in the circumferential direction. Therefore, the flexible duct needs to be allowed to deform in the twisting direction, and the angle range is limited.

  In addition, the link structure performs an operation in which two points of the spherical center of the spherical link structure on the proximal end side and the distal end side are the bending centers. That is, the flexible ducts fixed to the proximal and distal link hubs are bent at two locations in the central axis direction. Therefore, even if the bending angle per place is not so large, it can be bent to a wide angle as a whole by combining the bending angles at the two places. If the bending angle per location is small, the life of the flexible duct can be extended.

  Since the link hub on the proximal end side and the distal end side may have the same size, the diameter of the flexible duct can be made the same on the proximal end side and the distal end side. Thereby, the resistance of the ventilation in a flexible duct can be made small. In addition, since it is not necessary to maintain the angle with the flexible duct itself, a simple flexible duct can be used, and the cost can be reduced.

In this invention, at least one set of the two sets of link mechanisms is provided with interlocking means for rotating and displacing the base end side end link and the tip end side end link in conjunction with each other. May be.
As a result, the link structure is limited to a motion with two degrees of freedom. Therefore, positioning of the angle and position of the distal end side link hub with respect to the proximal end side link hub can be accurately and easily performed.

In this invention, the rotation pair of the link mechanism may be provided with a fixing means for fixing the mutual rotation angle of one component member and the other component member in the rotation pair. The fixing means may be one that mechanically fixes the mutual rotation angle, may be one that keeps the mutual rotation angle constant by a motor or the like, and is one that fixes the mutual rotation angle by an electromagnetic brake or the like. There may be.
After the flexible duct is bent to a target angle by the link structure, the bending angle of the flexible duct is easily and strongly fixed by fixing the mutual rotation angle of one component member and the other component member in the rotation pair by the fixing means. Can be fixed to.

In this invention, you may provide the actuator which changes the mutual positional relationship of each structural member in the said link mechanism, and the control apparatus which controls this actuator to perform arbitrary operation | movement at arbitrary time.
Thereby, the bending angle of a flexible duct can be changed by remote control. In addition, the bending angle of the flexible duct can be changed over time. For example, the direction of the outlet of the flexible duct can be continuously turned in one direction.

For example, the flexible duct has one end that is a side connected to the air conditioner main body fixed to the link hub on the base end side, and the other end that is a side serving as a blowout port is fixed to the distal end side. Secure to the link hub. In that case, the actuator may change a rotation angle of the end link on the base end side with respect to the link hub on the base end side.
By changing the rotation angle of the end link on the base end side with respect to the link hub on the base end side, the angle and position of the link hub on the front end side with respect to the link hub on the base end side are changed. If the actuator is provided on the air conditioner main body side which is the stationary side, the weight of the movable part in the link structure can be reduced. Thereby, the output of the actuator can be small, and the apparatus can be made light and compact.

Further, the actuator is a linear motion actuator in which the advance / retreat portion linearly advances / retreats with respect to the fixed portion, the fixed portion of the linear motion actuator is connected to the link hub on the proximal end side, and the advance / retreat portion is connected to the proximal end You may connect with the edge part link of a side so that rotation is possible.
In this case, the rotation angle of the end link on the base end side with respect to the link hub on the base end side is changed by operating the actuator so that the advancing / retreating portion moves forward and backward with respect to the fixed portion. Large torque can be obtained by increasing the moment length by moving the position of the connection point between the actuator and the end link on the base end side away from the rotation center of the end link on the base end side. As a result, the actuator can be miniaturized and the device can be made lighter and more compact.

The flexible duct has one end connected to the air conditioner connected to the link hub on the base end side, and the other end serving as the outlet is the link on the distal end side. When connected to a hub, the actuator is a linear motion actuator in which the advancing / retreating portion linearly advances / retreats with respect to the fixed portion, and the fixed portion and the advancing / retreating portion of the linear motion actuator are connected to the proximal end side link. The intermediate portion and the intermediate portion of the end link on the distal end side may be rotatably connected.
In this case, the mutual distance between the intermediate portion of the proximal end side end link and the intermediate portion of the distal end side end link is changed by operating the actuator so that the advancing / retreating portion advances / retreats with respect to the fixed portion. The angle and position of the distal end side link hub with respect to the proximal end side link hub are changed. By connecting the intermediate part of the end link on the base end side and the intermediate part of the end link on the distal end side by the linear motion actuator, the rigidity of the link mechanism is increased. Therefore, the amount of deflection of the link mechanism is reduced, and the positioning accuracy of the distal end side link hub with respect to the proximal end side link hub is increased.

In the present invention, the link structure has a hollow portion through which the link hub on the proximal end side and the link hub on the distal end side penetrate in the alignment direction of the link hubs in a state where the link hubs are parallel to each other. And a hollow structure having a space where none of the links exists between the link hub on the proximal end side and the link hub on the distal end side, and the flexible duct is disposed in the hollow portion and the space portion. Is good.
Thereby, a flexible duct having the same inner diameter between both ends can be attached to the link structure. A flexible duct having the same inner diameter between both ends has no obstacle in the duct, and therefore has a low resistance to ventilation and good ventilation efficiency.

When the link structure is the hollow structure, it is preferable that an opening connecting the hollow portion and the outside is provided at the same position in the circumferential phase of the link hub on the proximal end side and the link hub on the distal end side. .
Thereby, it becomes easy to incorporate a flexible duct into each hollow portion of the link hub on the proximal end side and the distal end side.

In addition, when the link structure is the hollow structure, the proximal-side link hub and the distal-end side link hub are each divided into two link hub divided parts at two circumferentially divided portions. In the two link hub divided bodies, the ends divided by one of the divided portions are rotatably connected to each other, and the ends divided by the other divided portion are fastened to each other by a fastening member. May be possible. In that case, the two sets of link mechanisms are such that the proximal end side and the distal end side end link of each set of link mechanisms are each of the link hub divided bodies of the proximal end side link hub and the distal end side end link. It is desirable to be connected to each link hub divided body.
With this configuration, the base-side link hub and the front-end side link hub can be opened and closed largely with the end portion where the two link hub divided bodies are rotatably connected to each other as a fulcrum. A flexible duct having a large diameter can be easily incorporated into the link hub on the end side and the link hub on the front end side. Further, when the two sets of link mechanisms are configured as described above, the link structure is well balanced.

  The flexible duct direction positioning device of the present invention includes a link structure in which a distal end side link hub is connected to a proximal end side link hub via a pair of link mechanisms so that the posture can be changed, and each of the link mechanisms. A proximal end and a distal end link, one end of which is rotatably connected to the proximal link hub and the distal link hub, respectively, and other proximal and distal end links. It is a three-joint chain structure having four rotary pairs, each consisting of a central link having ends rotatably connected thereto, and two flexible ducts are separated from the link hub on the base end side and the tip end side of the link structure. Since the flexible duct is fixed, the flexible duct can be bent without being twisted, and the bending angle can be easily adjusted.

It is a partial cross section figure which shows the neutral state of the flexible duct direction positioning device concerning one Embodiment of this invention. It is a partial sectional view showing a different state of the flexible duct direction positioning device. FIG. 3 is a sectional view taken along line III-III in FIG. 1. It is the figure which expressed the link structure of the flexible duct direction positioning device with a straight line. It is the figure which looked at the link hub of the base end side of the flexible duct direction positioning device from the direction along a central axis. It is VI-O-VI sectional drawing of FIG. It is a VII arrow line view of FIG. It is a figure which shows the neutral state of the flexible duct direction positioning apparatus concerning different embodiment of this invention. It is IX-IX sectional drawing of FIG. It is a figure which shows the neutral state of the flexible duct direction positioning apparatus concerning further different embodiment of this invention. It is a figure which shows the neutral state of the flexible duct direction positioning apparatus concerning further different embodiment of this invention. It is the figure which looked at the flexible duct direction positioning device concerning further another embodiment of this invention from the link hub side of the base end side. It is the figure which looked at the flexible duct direction positioning device concerning further another embodiment of this invention from the link hub side of the base end side. It is the figure which simplified and represented a part of FIG. 1 of patent document 2. FIG.

  An embodiment of the present invention will be described with reference to FIGS. 1 and 2 are partial sectional views showing different states of the flexible duct direction positioning device, and FIG. 3 is a sectional view taken along line III-III in FIG. FIG. 1 is also a cross-sectional view taken along the line II of FIG. The flexible duct direction positioning device 1 is used, for example, in an air conditioning outlet portion of an air conditioner, and includes a flexible duct 2 and a structure 3 installed inside the flexible duct 2. As the flexible duct 2, a general commercial product can be used.

  The link structure 3 is obtained by connecting a distal end side link hub 5 to a proximal end side link hub 4 via two sets of link mechanisms 6A and 6B so that the posture can be changed. 1 and 2 show only one link mechanism 6A. Each of the link mechanisms 6A and 6B is a three-joint link mechanism including four rotary pairs T1 to T4, and a proximal end link 7 having one end rotatably connected to the proximal link hub 2, and A distal end side end link 8 having one end rotatably connected to the front end side link hub 5 and a central link 9 having both ends rotatably connected to the other ends of the end links 7 and 8 respectively. Is done.

  The two sets of link mechanisms 6A and 6B are geometrically the same shape. The geometrically same shape is a geometric model in which the link mechanism is expressed by a straight line as shown in FIG. 4, that is, a model expressed by each rotation pair T1 to T4 and a straight line connecting these rotation pairs T1 to T4. Say that they have the same shape. Each of the link mechanisms 6A and 6B has a shape in which the geometric model expressed by a straight line has a mirror image symmetry with respect to the central portion of the central link 9 and the distal end portion. In other words, the base end portion and the tip end portion are mirror images of each other with the cross section F perpendicular to the direction of arrangement of the two rotating pairs T2 and T3 of the center link 9 and the end links 7 and 8 as symmetry planes. Symmetric.

  The end links 7 and 8 on the proximal end side and the distal end side of the link mechanisms 6A and 6B are both spherical link structures. In the spherical link structure, when the end link 7 on the base end side is taken as an example, as shown in FIG. 3, the rotational pair O1A of the link hub 4 on the base end side and the end link 7 on the base end side, as shown in FIG. The O1B and the rotation pair O2A, O2B of the end link 7 and the central link 9 on the base end side all pass through the spherical link center P. The same applies to the end link 8 on the front end side.

  The two sets of link mechanisms 6A and 6B are in a positional relationship in which the rotational pair shafts O1A and O1B of the link hub 4 on the base end side and the end link 7 on the base end side intersect each other. That is, the angle between the rotation pair axes O1A and O1B is not 180 °. Then, the central links 9 of the link mechanisms 6A and 6B are located on the side where the inter-axis angle of the rotation pair shafts O1A and O1B is larger than 180 °. In the illustrated example, the smaller inter-axis angle α is 120 °. The same applies to the rotation pair shaft (not shown) of the link hub 5 on the distal end side and the end link 8 on the distal end side.

  1 and 2, the proximal end side link 7 and the distal end side end link 8 of the link mechanism 6A are rotationally displaced in conjunction with each other by the interlocking means 11. In the case of this embodiment, the interlocking means 11 has a configuration in which a pair of bevel gears 12 and 13 that are rotatable with respect to the end link 7 on the proximal end side and the end link 8 on the distal end side are meshed with each other. The pair of bevel gears 12 and 13 have the same specifications, and the end link 7 on the proximal end side and the end link 8 on the distal end side are opposite in rotation direction and have the same rotational displacement angle. It works like so. Similar interlocking means 11 is provided between the end link 7 on the base end side and the end link 8 on the front end side in the link mechanism 6B.

  Thus, if the interlocking means 11 is based on the meshing of a plurality of bevel gears 12, 13, etc., the rotational displacement of the proximal end side end link 7 and the distal end side end link 8 is caused by slipping or the like. Since no error occurs, it can be linked accurately and is compact.

  The interlocking means 11 is not limited to the engagement of a pair of bevel gears 12 and 13 having the same specifications. A link mechanism, a cam, a belt or the like may be used instead of the bevel gear. The number of teeth of the pair of gears may be different from each other. In this case, the rotational displacement angles of the end link 7 on the proximal end side and the end link 8 on the distal end side are different. Further, the mutual rotation of the proximal end side end link 7 and the distal end side end link 8 may be controlled by another means other than the gear, for example, an actuator such as a rotary actuator or a motor.

  As shown in FIGS. 5 to 7, the link hub 4 on the proximal end side includes an inner ring from a circumferential position corresponding to one circular ring portion 15 and the end link 7 on the proximal end side of the ring portion 15. The two bearing housing parts 16 (16A, 16B) projecting to the side, and three duct holding members 17 respectively attached to the three outer peripheral surfaces of the ring part 15 by mounting bolts B1. The three attachment positions of the duct holding member 17 are equally distributed in the circumferential direction, and two of them are the same circumferential position as the two bearing housings 16.

  The two bearing housing portions 16 (16A, 16B) both have a pair of bearings 16a, and the pair of bearings 16a support the end links 7 on the base end sides of the link mechanisms 6A, 6B so as to be rotatable. Has been. Each bearing housing portion 16 is provided with an actuator 18 that changes the mutual positional relationship between the constituent members in the link mechanisms 6A and 6B. In this embodiment, the actuator 18 is a motor, and changes the rotation angle position of the end link 7 on the base end side with respect to the link hub 4 on the base end side.

  As shown in FIGS. 1 and 2, the distal end side link hub 5 is also substantially the same as the proximal end side link hub 4, and includes one ring portion 15, two bearing housing portions 19, and a link portion. 15 and three duct holding members 20 attached to three circumferential directions, and the end links 8 on the distal ends of the link mechanisms 6A and 6B are rotatably supported by the two bearing housing portions 19, respectively. . However, no actuator is provided in the bearing housing portion 19 of the link hub 5 on the distal end side.

  The actuator 18 is controlled by a control device 21 (FIG. 3), and can perform an arbitrary operation at an arbitrary time. The control device 21 includes a computer, a program executed by the computer, an electronic circuit, and the like.

  As shown in FIG. 6, the flexible duct 2 has its both ends covered on the outer periphery of the ring portion 15 of the link hub 4 (5) on the proximal end side and the distal end side, and the outer periphery is tightened with a band 23. Mounted on the direction positioning device 1 (FIGS. 1 and 2). Further, three duct holding members 17 (20) are attached to the ring 15, and fixing bolts B2 are screwed in from the outer peripheral side of these duct holding members 17 (20) to connect the flexible duct 2 and the band 23 to the link hub 4 (5). The ring portion 15 is fixed.

  As shown in FIGS. 1 and 2, when the flexible duct direction positioning device 1 is used for an air conditioning outlet of an air conditioner, the end connected to the air conditioner body is fixed to the link hub 4 on the base end side. And the edge part by the side which becomes a blower outlet is fixed to the link hub 5 of the front end side. Moreover, the main body side duct 24 that connects the air conditioner main body and the flexible duct 2 is fixed to the ring portion 15 at three locations in the circumferential direction by the duct holding member 17 of the link hub 4 on the base end side, and the outlet duct 25 is It is fixed to the ring portion 15 at three locations in the circumferential direction by the duct holding portion 19 of the link hub 5 on the distal end side.

  The link structure 3 operates as follows. That is, when the proximal end-side end link 7 is rotated by the actuator 18, the link mechanisms 6 A and 6 B are both connected to the proximal end-side end link 7 and the distal end-side end link 8 by the interlocking means 11. They are rotationally displaced in conjunction with each other. Thereby, the movement of the distal end side link hub 5 relative to the proximal end side link hub 4 uniquely determines the attitude of the distal end side link hub 5 relative to the proximal end side link hub 4. In other words, the link structure 3 is a mechanism having two degrees of freedom of rotation in which the posture of the distal end side link hub 5 with respect to the proximal end side link hub 4 is uniquely determined. Therefore, positioning of the angle and position of the distal end side link hub 5 with respect to the proximal end side link hub 4 is accurate and easy.

  explain in detail. In this structure, the link hub 4 on the base end side and the end link 7 on the base end side connected to it, and the link hub 5 on the front end side and the end link 8 on the front end side connected to it are each of a spherical link structure. In each spherical link mechanism, end links 7 and 8 on the proximal end side and the distal end side are connected via a central link 9. Here, the two central links 9 of the link mechanisms 6A and 6B have one degree of freedom limited to translational movement on the circumference of a circle in which the respective spherical link mechanisms overlap. The spherical link mechanism on the base end side and the tip end side is a four-bar linkage mechanism on a plane if the radius of curvature of the node is infinite, and each of the base end side and the tip end side has one degree of freedom independently. ing. When the interlocking means 11 is not provided between the proximal end side and the distal end side end links 7 and 8, one degree of freedom of the two central links 9 and one degree of freedom of each of the proximal side and distal end side spherical link mechanisms. 3 degrees of freedom.

  Here, in this link structure 3, since the interlocking means 11 is provided between the end links 7 and 8 on the proximal end side and the distal end side, the respective spherical link mechanisms are interlocked, and both spherical link mechanisms have one degree of freedom. Become. That is, the link structure 3 is a mechanism with two degrees of freedom that combines one degree of freedom of the central link 9 and one degree of freedom of the spherical link mechanism. The positional displacement of the central link 9 changes between the proximal and distal link hubs 4 and 5, and from the above, the proximal and distal link hubs 4 and 5 are angled in two directions. The structure can be changed.

  As in this embodiment, in the two sets of link mechanisms 6A and 6B, the angles and lengths of the end links 7 and 8 and the geometric shapes of the end links 7 and 8 are the same on the proximal side and the distal side. In addition, when the shapes of the central link 9 are the same on the proximal end side and the distal end side, the central link 9 is connected to the symmetry plane of the central link 9 and the proximal and distal link hubs 4 and 5 are connected. If the angular positional relationship with the end links 7 and 8 is the same between the base end side and the tip end side, the base end side link hub 4 and the base end side end link 7 and the tip end side are geometrically symmetric. The link hub 5 and the tip end side end link 8 move in the same manner.

  The link structure 3 includes two sets of link mechanisms 6A and 6B, and the link mechanisms 6A and 6B are spaced apart from each other in the circumferential direction. The angle of the link hub 5 on the distal end side with respect to the link hub 4 can be increased. Further, when the number of the link mechanisms 6A and 6B is two sets, the number of parts can be reduced as compared with the case of three sets or more, and the cost can be reduced. Further, even if the angle of the link hub 5 on the distal end side with respect to the link hub 4 on the proximal end side is increased, the link hubs 4 and 5 are not displaced in the circumferential direction. Duct 2 is not twisted. Therefore, it can operate freely within an angular range in two directions. It is also possible to turn in one direction continuously.

  Further, the link structure 3 performs an operation in which the two spherical centers P of the spherical link structure on the proximal end side and the distal end side are the bending centers. That is, the flexible duct 2 fixed to the proximal and distal link hubs 4 and 5 is bent at two locations in the central axis direction. Therefore, even if the bending angle per place is not so large, it can be bent to a wide angle as a whole by combining the bending angles at the two places. FIG. 2 shows a state where the bending angle is maximum, and the flexible duct 2 can be bent by about 90 ° as shown in the figure. If the bending angle per location is small, the life of the flexible duct can be extended.

  Since the link hubs 4 and 5 on the proximal end side and the distal end side may have the same size, the diameter of the flexible duct 2 can be made the same on the proximal end side and the distal end side. Thereby, the resistance of the ventilation in the flexible duct 2 can be made small. Moreover, since it is not necessary to hold | maintain an angle with flexible duct 2 itself, simple flexible duct 2 can be used and cost reduction can be aimed at.

  In this flexible duct direction positioning device 1, the actuator 18 is controlled by the control device 21 to change the position and angle of the distal end side link hub 5 relative to the proximal end side link hub 4. Can be changed remotely. Moreover, the bending angle of the flexible duct 2 can be automatically changed with time. For example, the direction of the outlet of the flexible duct 2 can be continuously turned in one direction.

  Since the actuator 18 that changes the rotation angle of the end link 7 on the base end side with respect to the link hub 4 on the base end side is installed on the air conditioner main body side on the stationary side, the weight of the movable part in the link structure 3 Can be lightened. Thereby, the output of the actuator 18 can be small, and the flexible duct direction positioning device 1 can be made lightweight and compact.

  When the link structure 3 is installed inside the flexible duct 2 as in this embodiment, there is a drawback that the link structure 3 becomes an air blowing resistance, but the link structure 3 is the flexible duct direction positioning device 1. The advantage of not interfering with other objects is also great.

  In the following, an embodiment in which a flexible duct is arranged inside a link structure having a hollow structure, contrary to the above embodiment, will be described.

  In the flexible duct direction positioning device 1 shown in FIGS. 8 and 9, the link structure 3 has a hollow structure. The hollow structure is a hollow portion 27 in which the link hub 4 on the proximal end side and the link hub 5 on the distal end side penetrate in the direction in which the link hubs 4 and 5 are arranged in a state where the link hubs 4 and 5 are parallel to each other. (FIG. 9), and a structure having a space 28 (FIG. 8) in which none of the links 7, 8, 9 exists between the link hub 4 on the proximal end side and the link hub 5 on the distal end side. It is. The structure of the link structure 3 is basically the same as that of the above embodiment. The flexible duct 2 is disposed in the hollow portion 27 and the space portion 28 and is attached to the link hubs 4 and 5 by attachment means 29. The attachment means 29 includes, for example, a nut 29a fixed to the outer peripheral surface of the flexible duct 2, and a bolt 29b screwed into the nut 29a from the link hubs 4 and 5 side.

  When the flexible duct 2 is arranged in this way, the flexible duct 2 having the same inner diameter between both ends can be attached to the link structure 3. Since the flexible duct 2 having the same inner diameter between both ends has no obstacle inside the duct, the resistance to ventilation is low and ventilation efficiency is good.

  In this embodiment, the actuator for changing the mutual positional relationship between the respective structural members in the link mechanisms 6A and 6B is not provided, and the mutual positional relationship between the respective structural members is manually changed, so that the link hub 4 on the proximal end side is changed. The link hub 5 on the distal end side is positioned at a desired position and angle. Therefore, in order to fix the position and angle of the link hub 5 on the distal end side after positioning, one of the components of the rotating pair T1 to T4 of the link mechanism 6A, 6B and the other configuration Fixing means 30 for fixing the mutual rotation angle of the members is provided.

  In this example, a fixing means 30 is provided at the rotation pair T1 of the base end side link hub 4 and the base end side end link 7. As shown in FIG. 9, the shaft portion 32 provided integrally with the base portion of the end link 7 is rotatably supported by the bearing 31 provided on the link hub 4. The fixing means 30 includes a stopper screw 33 screwed into a screw hole provided in the link hub 4 and a friction member 34 interposed between the stopper screw 33 and the outer diameter surface of the shaft portion 32. By screwing the stopper screw 33 toward the shaft portion 32, the friction member 34 is pressed against the outer diameter surface of the shaft portion 32 to fix the rotation of the end link 7.

10 and 11 show embodiments in which the position and angle of the distal end side link hub 5 relative to the proximal end side link hub 4 are positioned by an actuator.
The flexible duct direction positioning device 1 in FIG. 10 uses a linear motion actuator in which an advancing / retreating portion 36b made of a rod linearly advances / retreats as an actuator 36 with respect to a fixed portion 36a made of a cylinder. The fixed portion 36a of the actuator 36 is connected to the base end side link hub 4, and the advance / retreat portion 36b is rotatably connected to the base end side end link 7.

  In this case, the rotation angle of the end link 7 on the base end side with respect to the link hub 4 on the base end side is changed by operating the actuator 36 so that the advance / retreat section 36b moves forward and backward with respect to the fixed portion 36a. A large torque can be obtained by increasing the moment length R by separating the position of the connecting point Q between the actuator 36 and the end link 7 on the base end side from the rotation center O1 of the end link 7 on the base end side. it can. Thereby, the actuator 36 can be reduced in size, and the apparatus can be reduced in weight and size.

  The flexible duct direction positioning device 1 in FIG. 11 is the same in that a linear motion actuator is used as the actuator 36. The fixed portion 36a and the advance / retreat portion 36b of the actuator 36 are connected to the intermediate portion of the end link 7 on the proximal end side and Each of them is rotatably connected to an intermediate portion of the end link 8 on the distal end side.

  In this case, the actuator 36 is operated so that the advancing / retreating portion 36b advances / retreats with respect to the fixed portion 36a, whereby the intermediate portion of the proximal end side end link 7 and the intermediate portion of the distal end side end link 8 are mutually connected. Change the distance. Thereby, the angle and position of the distal end side link hub 5 with respect to the proximal end side link hub 4 are changed. By connecting the intermediate portion of the end link 7 on the base end side and the intermediate portion of the end link 8 on the distal end side to the actuator 36 which is a linear motion actuator, the rigidity of the link mechanisms 6A and 6B is increased. Therefore, the amount of deflection of the link mechanisms 6A and 6B decreases, and the positioning accuracy of the link hub 5 on the distal end side with respect to the link hub 4 on the proximal end side increases.

  FIG. 12 shows a preferable shape of the link hubs 4 and 5 on the proximal end side and the distal end side when the link structure 3 has a hollow structure. Although the figure shows the link hub 4 on the proximal end side, the link hub 5 on the distal end side has the same structure. Further, an example in which the rotation angle of the end link 7 on the base end side with respect to the link hub 4 on the base end side is changed by the actuator 36 that is a linear motion actuator (FIG. 7) is shown.

  The link hub 4 is divided into two link hub divided bodies 4a by two dividing portions 40 and 41 in two circumferential directions. The two link hub divided bodies 4a are configured such that ends divided by one dividing portion 40 are rotatably connected to each other by a pin 42 and ends divided by the other dividing portion 41 are fastening members. 43 can be fastened to each other. In the two sets of link mechanisms 6 </ b> A and 6 </ b> B, the end links 7 of the link mechanisms 6 </ b> A and 6 </ b> B are connected to the link hub divisions 4 a of the link hub 4.

  With this configuration, in a state where the attachment of the flexible duct 2 to the link hubs 4 and 5 by the attachment means 29 is released, the link hub 4 greatly opens and closes the two link hub divided bodies 4a with the pin 42 as a fulcrum. Therefore, the flexible duct 2 having a large diameter can be easily incorporated in the link hub 4. Further, when two sets of link mechanisms 6A and 6B are provided in each link hub divided body 4a, the balance of the link structure 3 is good.

  Further, as shown in FIG. 13, an opening 45 that connects the hollow portion 27 and the outside may be provided at the same position in the circumferential phase of the link hubs 4 and 5 on the proximal end side and the distal end side. Thereby, it becomes easy to incorporate the flexible duct 2 into the hollow portions 27 of the link hubs 4 and 5 on the proximal end side and the distal end side. Although the figure shows the link hub 4 on the proximal end side, the link hub 5 on the distal end side has the same structure. Further, an example in which the rotation angle of the end link 7 on the base end side with respect to the link hub 4 on the base end side is changed by the actuator 36 which is a linear motion actuator (FIG. 10) is shown.

DESCRIPTION OF SYMBOLS 1 ... Flexible duct direction positioning device 2 ... Flexible duct 3 ... Link structure 4 ... Base end side link hub 4a ... Link hub division body 5 ... Lead end side link hubs 6A, 6B ... Link mechanism 7 ... Base end side end Part link 8 ... End part link 9 on the distal end side ... Central link 11 ... Interlocking means 18 ... Actuator 21 ... Control device 27 ... Hollow part 28 ... Space part 30 ... Fixing means 36 ... Actuator (linear actuator)
36a ... fixed part 36b ... advance / retreat part 40, 41 ... dividing part 43 ... fastening member 45 ... opening T1, T2, T3, T4 ... rotating pair

Claims (10)

A link structure in which the distal end side link hub is connected to the proximal end side link hub via two sets of link mechanisms so that the posture can be changed,
Each of the link mechanisms includes a proximal end and a distal end link, one end of which is rotatably connected to the proximal link hub and the distal link hub, and the proximal and distal ends. It is a three-bar chain structure having four rotating pairs, each consisting of a central link that rotatably connects the other ends of the partial links,
2. A flexible duct direction positioning device, wherein two separate locations of a flexible duct are fixed to the link hub on the base end side and the tip end side of the link structure.   The interlocking means according to claim 1, wherein at least one set of the two sets of link mechanisms is configured to rotate and displace the base end side end link and the tip end side end link in conjunction with each other. Flexible duct direction positioning device provided.   The flexible duct direction positioning device according to claim 1 or 2, wherein a fixing means for fixing a mutual rotation angle of one component member and the other component member in the rotation pair is provided on the rotation pair of the link mechanism.   4. The actuator according to claim 1, wherein the actuator is configured to change a mutual positional relationship between the constituent members in the link mechanism, and the controller is configured to control the actuator to perform an arbitrary operation at an arbitrary time. Flexible duct direction positioning device provided with   5. The flexible duct according to claim 4, wherein one end that is a side connected to an air conditioner body is fixed to the link hub on the base end side, and the other end that is a side serving as a blowout port is the side. A flexible duct direction positioning device fixed to a distal end side link hub, wherein the actuator changes a rotation angle of the proximal end side end link with respect to the proximal end side link hub.   6. The actuator according to claim 5, wherein the actuator is a linear motion actuator in which an advance / retreat portion linearly advances / retreats with respect to the fixed portion, the fixed portion of the linear actuator is connected to the link hub on the base end side, and the advance / retreat portion is A flexible duct direction positioning device rotatably connected to an end link on the base end side.   5. The flexible duct according to claim 4, wherein one end that is a side connected to an air conditioner is connected to the link hub on the base end side, and the other end that is a side serving as a blowout port is the tip. The actuator is a linear motion actuator in which the advancing / retreating portion linearly advances / retreats with respect to the fixed portion, and the fixed portion and the advancing / retreating portion of the linear motion actuator are connected to the end link on the base end side. A flexible duct direction positioning device that is rotatably connected to the intermediate portion and the intermediate portion of the end-side end link.   8. The link structure according to claim 1, wherein the link hub includes a link hub on the proximal end side and a link hub on the distal end side in a state where the link hubs are parallel to each other. A hollow structure having a hollow portion penetrating in the direction of alignment and having a space portion where none of the links exists between the link hub on the proximal end side and the link hub on the distal end side, and the hollow portion And a flexible duct direction positioning device in which the flexible duct is disposed in the space.   9. The flexible duct direction positioning device according to claim 8, wherein an opening connecting the hollow portion and the outside is provided at the same position in the circumferential phase of the base end side link hub and the distal end side link hub.   The link hub on the base end side and the link hub on the distal end side are divided into two link hub divided bodies at two circumferentially divided portions, respectively. The end portions divided by one of the divided portions are rotatably connected to each other, and the end portions divided by the other divided portion can be fastened to each other by a fastening member. In the link mechanism, the end link on the base end side and the tip end side of each set of link mechanisms is connected to each link hub split body of the link hub on the base end side and each link hub split body of the end link on the front end side. Flexible duct direction positioning device connected to each other.

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