EP3919988A1 - Articulated timepiece mechanism with flexible guiding - Google Patents

Abstract

Articulated mechanism (100) for a clockwork mechanism, for transmitting movement between an actuator and a receiver, comprising a structure (10) relative to which a driver (9), movable according to a single degree of freedom under the action of the actuator, is connected to said structure (10) by at least one flexible guide (50), the driver (9) and the structure (10) each being more rigid than each flexible guide (50), at least one guide flexible (50) is flat, and comprises flexible necks (51), of section smaller than the elements which are adjacent to them, and / or flexible blades (5, 6,52), of section smaller than the elements which are adjacent to them, and constituting articulations, and in particular this articulated mechanism (100) comprises at least two arms articulated to the structure (10) at two distinct points, these arms being arranged to cooperate kinematically with one another, or with a tertiary bar or a tertiary structure.

Description

Field of the invention

The invention relates to an articulated mechanism for a clockwork mechanism, arranged for a transmission of movement between an actuator and a receiver.

The invention also relates to a clockwork mechanism, comprising an actuator and a receiver, and at least one such articulated mechanism, arranged for transmission of movement between the actuator and the receiver.

The invention also relates to a clockwork movement, comprising at least one such clockwork mechanism, and / or at least one such articulated mechanism.

The invention also relates to a watch, comprising at least one such clockwork movement, and / or at least one such clockwork mechanism, and / or at least one such articulated mechanism.

The invention relates to the field of mechanisms for watchmaking, and in particular to display mechanisms and complications mechanisms.

Background of the invention

The transformation of movement inside a watch mechanism requires a large volume, which cannot be allocated to housing complications, and leads to a loss of energy efficiency, which penalizes the power reserve of the part. horology, in particular a watch.

Summary of the invention

The invention proposes to make the movement transformation mechanisms as flat as possible, even if they must have two or three parallel levels in certain cases, and to find a solution to reduce friction, by limiting the drive contacts. strictly necessary, with as few friction components as possible, which are always detrimental to the overall performance.

To this end, the invention adapts certain principles of articulated mechanisms well known in heavy mechanics or in general mechanics to watch mechanisms. It is however a question of not creating more friction than that which one removes, at the level of the pivots, articulations, guides and other slides.

The invention also introduces into control mechanisms, for example display or winding control mechanisms, flexible guides, whose horological applications have hitherto mainly concerned oscillators.

The invention therefore aims to use flexible guides which allow transformations of movements according to the principles of the articulated mechanisms of Hoeckens, Tchebytchev, Roberts, Klann, and the like, which will be illustrated below.

It is important to understand that, although the displacement of these mechanisms is generally carried out in the plane, in two directions (in x and y), these joints have only one degree of freedom. A particular point of the mechanism, like the point M on the figure 9 , must obligatorily carry out the drawn trajectory: its trajectory is captive, and this point has only one real degree of freedom, along this trajectory. Likewise, point P of the figure 12 follows a linear path.

The transformation of known mechanisms in the form of articulated bars is possible with guides and articulations in the form of flexible guide, which eliminates the losses.

Thus, the invention relates to an articulated mechanism for a clockwork mechanism, arranged for a transmission of movement between an actuator and a receiver, according to claim 1.

The invention also relates to a clockwork mechanism, comprising an actuator and a receiver, and at least one such articulated mechanism, arranged for transmission of movement between the actuator and the receiver.

The invention also relates to a clockwork movement, comprising at least one such clockwork mechanism, and / or at least one such articulated mechanism.

The invention also relates to a watch, comprising at least one such clockwork movement, and / or at least one such clockwork mechanism, and / or at least one such articulated mechanism.

Brief description of the drawings

• la figure 1 représente, de façon schématisée et en vue en plan, un mécanisme de commande sous forme d'un quadrilatère articulé sensiblement plan, dont un des côtés du quadrilatère est une structure fixe; dans le cas particulier où les deux bras articulés à cette structure fixe sont de même longueur, le milieu du quatrième côté, articulé à ces deux bras, suit une trajectoire sensiblement en forme de huit ;
• la figure 2 représente, de façon similaire à la figure 1, une variante où les points d'articulation des bras à la structure fixe sont de part et d'autre de l'aire d'évolution du quatrième côté, lequel suit toujours une trajectoire sensiblement en forme de huit ;
• la figure 3 représente, de façon similaire à la figure 1, un autre mécanisme articulé dit parallélogramme de Watt, agencé pour transformer un mouvement de rotation en un mouvement sensiblement rectiligne ;
• la figure 4 représente, de façon similaire à la figure 3, un mécanisme similaire, dont la trajectoire du milieu du quatrième côté est sensiblement linéaire sur une partie de sa course ;
• la figure 5 représente, de façon similaire à la figure 1, un autre mécanisme articulé dit cheval de Tchebytchev, qui ne comporte que trois barres (dont la structure fixe), les deux bras qui sont articulés à la structure fixe coopérant l'un avec l'autre par une liaison à glissière, de façon à ce qu'un point particulier du bras portant la glissière suive une trajectoire sensiblement linéaire sur une partie de sa course, et une trajectoire courbe de dégagement sur le reste de sa course lors du retour au début de sa trajectoire linéaire ;
• la figure 6 est un détail d'une liaison patin-glissière d'un tel cheval de Tchebytchev ;
• la figure 7 illustre les deux positions extrêmes de ce cheval de Tchebytchev ;
• la figure 8 représente, de façon similaire à la figure 5, un autre mécanisme articulé qui est un développement du cheval de Tchebytchev, et est nommé mécanisme lambda de Tchebytchev, et qui comporte quatre barres articulées, une barre articulée à la structure fixe et articulée à une extrémité du bras portant la glissière faisant office de manivelle, l'autre extrémité du bras portant la glissière décrivant une trajectoire similaire, avec une partie sensiblement linéaire ;
• la figure 9 représente le mécanisme de la figure 8, dans une autre position ;
• la figure 10 représente, de façon similaire à la figure 1, un autre mécanisme articulé à trois barres (dont la structure fixe), dit mécanisme de Hoeckens, dont une première articulation à la structure fixe porte une bielle, entraînée dans un mouvement circulaire, et qui est articulée avec une longue barre qui coulisse dans une glissière qui est elle-même articulée en un deuxième point de la structure fixe ;
• la figure 11 représente, de façon similaire à la figure 1, un autre mécanisme articulé, dit mécanisme de Roberts, à cinq barres, dont trois forment un triangle isocèle indéformable; la barre tertiaire est la base de ce triangle isocèle, dont les deux côtés de même longueur on la même longueur que les bras articulés à la structure fixe, et le sommet de ce triangle isocèle opposé à la base suit un mouvement rectiligne sur la ligne des articulations principales, quand l'un des bras secondaires, ou la base, est animé, ou animée, d'un mouvement de rotation alternée ;
• la figure 12 représente, de façon similaire à la figure 11, un tel mécanisme de Roberts dans deux positions différentes ;
• la figure 13 représente, de façon similaire à la figure 1, un autre mécanisme articulé, dit mécanisme de Peaucellier-Lipkin, connu pour l'atteinte d'une trajectoire très proche de la droite, comportant huit barres : la structure fixe porte, au niveau d'une première articulation multiple, deux premiers bras de même longueur, dont les extrémités opposées sont articulés à deux sommets opposés d'un losange régulier déformable, dont un autre sommet est articulé à un deuxième bras articulé à la structure fixe à une deuxième articulation ;
• la figure 14 et la figure 15 illustrent partiellement, dans des positions particulières, le mécanisme de la figure 13 ;
• la figure 16 représente, de façon schématisée et en perspective, un autre mécanisme articulé, dit mécanisme de Klann, qui présente l'avantage de pouvoir reproduire des trajectoires complexes comme par exemple le mouvement de la marche d'un être humain ; ce mécanisme comporte ici six barres, qui s'étendent sur trois niveaux parallèles, et qui sont articulées les unes aux autres par sept articulations ; ce mécanisme permet donc l'évitement d'un obstacle sur la trajectoire ;
• la figure 17 et la figure 18 illustrent partiellement, et vue en plan, dans des positions particulières, le mécanisme de la figure 16 ;
• la figure 19 représente, de façon similaire à la figure 1, un mécanisme de guidage en translation à liaisons flexibles par cols, les deux bras étant chacun relié par des cols à la structure fixe d'une part, et à une barre tertiaire en forme de L d'autre part ;
• la figure 20 représente, de façon similaire à la figure 1, un mécanisme de guidage en translation à liaisons flexibles par lames flexibles, où la structure fixe en U porte une masse par l'intermédiaire de quatre lames flexibles, ici droites et parallèles les unes aux autres ;
• la figure 21 représente, de façon similaire à la figure 1, un mécanisme de guidage dit RCC (de l'anglais remote center compliance) à deux lames flexibles, dont le croisement des directions des deux lames définit un axe virtuel de pivotement, aussi dénommé axe déporté, d'une masse en L suspendue par ces deux lames à la structure fixe ici également en L ;
• la figure 22 représente, de façon similaire à la figure 11, un mécanisme de guidage dit RCC à quatre cols, comportant une structure fixe ici en L, qui porte, selon deux directions sécantes, par l'intermédiaire de cols, des bras qui sont reliés par d'autres cols à une masse suspendue, ici également en L, et dont le croisement des directions des deux séries de cols, lesquels sont alignés deux à deux, définit un axe virtuel de pivotement, aussi dénommé axe déporté, de la masse suspendue ;
• les figures 23 à 28 illustrent, de façon schématisée, partielle et en plan, l'application d'un mécanisme lambda de Tchebytchev, dont le principe est illustré aux figures 8 et 9, à l'affichage rétrograde d'une phase de lune, le bras tertiaire est un entraîneur qui porte à son extrémité distale un disque sombre apte à occulter une représentation claire de la lune, de façon progressive et linéaire, sous l'action d'une commande en rotation ici située à dix heures d'une montre ; l'entraîneur est suspendu par une première lame flexible à un premier bras rotatif, et par une deuxième lame flexible à un deuxième bras qui est lui-même suspendu par une troisième lame flexible, sensiblement alignée avec la deuxième lame flexible, à la structure d'une montre ;
• les figures 29 à 41 illustrent, de façon similaire aux figures 23 à 28, une autre application d'un mécanisme de Roberts, pour un autre mécanisme similaire d'affichage rétrograde d'une phase de lune dans l'hémisphère Nord, où l'entraîneur est cette fois suspendu entre deux lames flexibles, sensiblement alignées, aux deux bras ; la figure 29 est une vue en plan d'une montre portant ce mécanisme ; les figures 30 et 31 illustrent l'affichage de pleine lune dans la position de repos, les figures 32 et 33 l'affichage d'une lune décroissante, les figures 34 et 35 l'affichage de la nouvelle lune, les figures 36 et 37 l'affichage d'une lune croissante, les figures 38 et 39 l'affichage de la pleine lune, et les figures 40 et 41 illustrent la superposition de toutes les positions précédemment illustrées ;
• les figures 43 à 54 illustrent, de façon schématisée, partielle et en plan, une autre application d'un mécanisme lambda de Tchebytchev à l'affichage d'un quantième, l'entraîneur comportant à son extrémité distale un doigt agencé pour l'entrainement d'un anneau de quantième à denture intérieure classique, maintenu en position par un sautoir non illustré ; la figure 42 illustre des proportions permettant d'obtenir une trajectoire T1 droite : la distance entre les deux articulations de la structure fixe est le double de la longueur de la manivelle entre ses articulations, et l'articulation médiane de l'entraîneur est éloignée de son articulation avec la manivelle de deux fois et demi la longueur de la manivelle entre ses articulations, et l'extrémité distale de l'entraîneur, qui décrit cette trajectoire linéaire, est éloignée de l'articulation médiane de l'entraîneur de deux fois et demi la longueur de la manivelle entre ses articulations, cette extrémité distale étant alignée avec les deux articulations de l'entraîneur ;
• les figures 43 et 44 illustrent, de façon partielle, ce mécanisme, la manivelle n'étant pas représentée, et un cercle en trait interrompu illustrant la trajectoire de son articulation avec l'entraîneur ; le bras articulé qui relie la partie médiane de l'entraîneur à la structure fixe de la montre comporte ici une masse intermédiaire suspendue par deux guidages flexibles, d'une part à la structure fixe, d'autre part à l'entraîneur ; dans cet exemple chaque guidage flexible comporte deux lames, qui sont croisées au moins en projection sur un plan parallèle à celui de l'entraîneur ; les axes de pivotement virtuels définis par ces croisements sont sensiblement alignés avec les fixations de ces guidages flexibles, sur la structure fixe d'une part, et sur l'entraîneur d'autre part ;
• la figure 45 illustre la position de repos, dans laquelle on réalise préférentiellement le mécanisme articulé dans le cas d'une réalisation monolithique ; depuis cette position de repos, on arme progressivement le système de la figure 45 à la figure 51, et le guidage flexible revient par lui-même de la figure 51 à la figure 45 ;
• les figures 46 à 48 décrivent la trajectoire linéaire du doigt pendant la rotation de la manivelle ;
• la figure 49, accompagnée d'un détail, montre le détail du début de la coopération du doigt de l'entraîneur, ici sensiblement cylindrique, avec la pointe d'une dent de l'anneau de quantième ;
• la figure 50, accompagnée d'un détail, montre le détail de la poursuite de la coopération du doigt de l'entraîneur, qui quitte la trajectoire linéaire pour aborder la trajectoire courbe de retour, avec la dent de l'anneau de quantième, au niveau du flanc de dent, en position propice à l'entraînement de l'anneau ;
• les figures 51 à 52 décrivent la trajectoire courbe du doigt pendant la poursuite de la rotation de la manivelle, en entraînement de l'anneau ; naturellement l'affichage du quantième sur l'anneau est particulier : les quantièmes ne sont pas figurés en suite numérique, mais sont répartis en fonction du pas angulaire qui correspond à la course courbe du doigt lors de la trajectoire retour ;
• la figure 53, accompagnée d'un détail, montre le détail de la fin de la coopération du doigt de l'entraîneur, qui glisse le long du flanc de la dent de l'anneau de quantième ;
• la figure 54, accompagnée d'un détail, montre la sortie du doigt de l'entraîneur, qui quitte la trajectoire courbe pour aborder la trajectoire linéaire, avant de reprendre son cycle illustré aux figures 46 et suivantes ;
• la figure 55 illustre, de façon schématisée, partielle et en plan, l'application d'un mécanisme de Klann, tel qu'illustré à la figure 16, à l'entraînement d'une denture extérieure, par exemple d'une roue d'afficheur ou d'une roue de remontage automatique, avec l'extrémité distale de l'entraîneur qui est agencée pour pénétrer sensiblement radialement entre deux dents, puis pour entraîner un flanc de dent pendant la trajectoire linéaire, puis échapper à la denture selon une trajectoire courbe contournant largement la denture avant le retour dans une position d'entraînement.

Other characteristics and advantages of the invention will become apparent on reading the detailed description which follows, with reference to the appended drawings, where:

• the figure 1 represents, schematically and in plan view, a control mechanism in the form of a substantially planar articulated quadrilateral, of which one of the sides of the quadrilateral is a fixed structure; in the particular case where the two arms articulated to this fixed structure are of the same length, the middle of the fourth side, articulated to these two arms, follows a path substantially in the shape of an eight;
• the figure 2 represents, similarly to the figure 1 , a variant where the points of articulation of the arms to the fixed structure are on either side of the movement area on the fourth side, which always follows a path substantially in the shape of an eight;
• the figure 3 represents, similarly to the figure 1 , another articulated mechanism called Watt's parallelogram, arranged to transform a rotational movement into a substantially rectilinear movement;
• the figure 4 represents, similarly to the figure 3 , a similar mechanism, the trajectory of the middle of the fourth side of which is substantially linear over part of its stroke;
• the figure 5 represents, similarly to the figure 1 , another articulated mechanism called Chebyshev's horse, which has only three bars (including the fixed structure), the two arms which are articulated to the fixed structure cooperating with each other by a sliding link, so as to that a particular point of the arm carrying the slide follows a substantially linear trajectory over part of its travel, and a curved clearance trajectory over the rest of its travel when returning to the start of its linear trajectory;
• the figure 6 is a detail of a skate-slide connection of such a Chebyshev horse;
• the figure 7 illustrates the two extreme positions of this Chebyshev horse;
• the figure 8 represents, similarly to the figure 5 , another articulated mechanism which is a development of the Chebyshev horse, and is called the Lambda mechanism of Chebyshev, and which has four articulated bars, an articulated bar with a fixed structure and articulated at one end of the arm carrying the slide acting as a crank , the other end of the arm carrying the slide describing a similar path, with a substantially linear part;
• the figure 9 represents the mechanism of figure 8 , in another position;
• the figure 10 represents, similarly to the figure 1 , another articulated mechanism with three bars (including the fixed structure), known as the Hoeckens mechanism, of which a first articulation with the fixed structure carries a connecting rod, driven in a circular movement, and which is articulated with a long bar which slides in a slide which is itself articulated at a second point of the fixed structure;
• the figure 11 represents, similarly to the figure 1 , another articulated mechanism, known as the Roberts mechanism, with five bars, three of which form an undeformable isosceles triangle; the tertiary bar is the base of this isosceles triangle, whose two sides of the same length have the same length as the arms articulated at the fixed structure, and the vertex of this isosceles triangle opposite the base follows a rectilinear motion on the line of the main articulations, when one of the secondary arms, or the base, is animated, or animated, of an alternating rotational movement ;
• the figure 12 represents, similarly to the figure 11 , such a Roberts mechanism in two different positions;
• the figure 13 represents, similarly to the figure 1 , another articulated mechanism, called the Peaucellier-Lipkin mechanism, known for reaching a trajectory very close to the right, comprising eight bars: the fixed structure carries, at the level of a first multiple articulation, two first arms of same length, the opposite ends of which are articulated at two opposite vertices of a regular deformable rhombus, of which another vertex is articulated to a second articulated arm to the structure fixed to a second articulation;
• the figure 14 and the figure 15 partially illustrate, in particular positions, the mechanism of the figure 13 ;
• the figure 16 represents, schematically and in perspective, another articulated mechanism, called the Klann mechanism, which has the advantage of being able to reproduce complex trajectories such as, for example, the movement of a human being's walking; this mechanism here comprises six bars, which extend over three parallel levels, and which are articulated to each other by seven articulations; this mechanism therefore allows the avoidance of an obstacle on the trajectory;
• the figure 17 and the figure 18 partially illustrate, and plan view, in particular positions, the mechanism of the figure 16 ;
• the figure 19 represents, similarly to the figure 1 , a translational guide mechanism with flexible neck connections, the two arms each being connected by necks to the fixed structure on the one hand, and to an L-shaped tertiary bar on the other hand;
• the figure 20 represents, similarly to the figure 1 , a translational guide mechanism with flexible links by flexible blades, where the fixed U-shaped structure carries a mass via four flexible blades, here straight and parallel to each other;
• the figure 21 represents, similarly to the figure 1 , a guide mechanism called RCC (from English remote center compliance) with two flexible blades, whose crossing of the directions of the two blades defines a virtual pivot axis, also referred to as the offset axis, with an L-shaped mass suspended by these two blades from the fixed structure here also in L;
• the figure 22 represents, similarly to the figure 11 , a guide mechanism called RCC with four necks, comprising a fixed structure here in L, which carries, in two intersecting directions, by means of necks, arms which are connected by other necks to a suspended mass, here also in L, and of which the crossing of the directions of the two series of necks, which are aligned two by two, defines a virtual pivot axis, also called the offset axis, of the suspended mass;
• the figures 23 to 28 illustrate, schematically, partially and in plan, the application of a Lambda mechanism of Chebyshev, the principle of which is illustrated in figures 8 and 9 , at the retrograde display of a moon phase, the tertiary arm is a driver which carries at its distal end a dark disc capable of obscuring a clear representation of the moon, in a progressive and linear manner, under the action of a rotating control here located at ten o'clock from a watch; the trainer is suspended by a first flexible blade to a first rotating arm, and by a second flexible blade to a second arm which is itself suspended by a third flexible blade, substantially aligned with the second flexible blade, to the structure of 'a watch ;
• the figures 29 to 41 illustrate, similarly to figures 23 to 28 , another application of a Roberts mechanism, for another similar mechanism for retrograde display of a moon phase in the northern hemisphere, where the trainer is this time suspended between two flexible blades, substantially aligned, at the two arm ; the figure 29 is a plan view of a watch bearing this mechanism; the figures 30 and 31 show the full moon display in the rest position, the figures 32 and 33 the display of a waning moon, the figures 34 and 35 the display of the new moon, the figures 36 and 37 the display of a waxing moon, the figures 38 and 39 full moon display, and figures 40 and 41 illustrate the superposition of all the positions illustrated above;
• the figures 43 to 54 illustrate, schematically, partially and in plan, another application of a Lambda mechanism of Chebyshev to the display of a date, the driver comprising at its distal end a finger arranged for driving a ring of calendar with conventional internal teeth, held in position by a jumper (not shown); the figure 42 illustrates the proportions making it possible to obtain a straight trajectory T1: the distance between the two joints of the fixed structure is double the length of the crank between its joints, and the middle joint of the trainer is moved away from its joint with the crank two and a half times the length of the crank between its joints, and the distal end of the the trainer, which describes this linear trajectory, is moved away from the middle articulation of the trainer by two and a half times the length of the crank between its articulations, this distal end being aligned with the two articulations of the trainer;
• the figures 43 and 44 partially illustrate this mechanism, the crank not being shown, and a dotted line circle illustrating the trajectory of its articulation with the trainer; the articulated arm which connects the median part of the trainer to the fixed structure of the watch here comprises an intermediate mass suspended by two flexible guides, on the one hand to the fixed structure, on the other hand to the trainer; in this example, each flexible guide comprises two blades, which are crossed at least in projection on a plane parallel to that of the driver; the virtual pivot axes defined by these crossings are substantially aligned with the fixings of these flexible guides, on the fixed structure on the one hand, and on the driver on the other hand;
• the figure 45 illustrates the rest position, in which the articulated mechanism is preferably produced in the case of a monolithic embodiment; from this rest position, we gradually arm the system of figure 45 to the figure 51 , and the flexible guide returns by itself from the figure 51 to the figure 45 ;
• the figures 46 to 48 describe the linear trajectory of the finger during the rotation of the crank;
• the figure 49 , accompanied by a detail, shows the detail of the start of the cooperation of the trainer's finger, here substantially cylindrical, with the tip of a tooth of the date ring;
• the figure 50 , accompanied by a detail, shows the detail of the continuation of the cooperation of the trainer's finger, which leaves the linear trajectory to approach the return curved trajectory, with the tooth of the date ring, at the level of the flank tooth, in a position suitable for driving the ring;
• the figures 51 to 52 describe the curved trajectory of the finger while the crank continues to rotate, while driving the ring; naturally the display of the date on the ring is special: the dates are not shown in a numerical sequence, but are distributed as a function of the angular pitch which corresponds to the curved stroke of the finger during the return path;
• the figure 53 , accompanied by a detail, shows the detail of the end of the cooperation of the finger of the trainer, which slides along the side of the tooth of the date ring;
• the figure 54 , accompanied by a detail, shows the exit of the trainer's finger, which leaves the curved trajectory to approach the linear trajectory, before resuming its cycle illustrated in figures 46 and following;
• the figure 55 illustrates, schematically, partially and in plan, the application of a Klann mechanism, as illustrated on figure 16 , the drive of an external toothing, for example of a display wheel or of an automatic winding wheel, with the distal end of the driver which is arranged to penetrate substantially radially between two teeth, then to drive a tooth flank during the linear path, then escape the toothing in a curved path largely bypassing the toothing before returning to a drive position.

Detailed description of the preferred embodiments

There is known, for particular drive mechanisms, an articulated mechanism with four bars, one main bar of which is fixed, and comprises two main articulations, distinct from one another; each of these main articulations carries a secondary bar at a first end, and each secondary bar is articulated at its second end, by a secondary articulation, to a tertiary bar. Thus each of these secondary articulations describes an imposed closed trajectory, equivalent to a single degree of freedom, even if this degree of freedom is neither linear nor circular.

By convention, the main bar will be called "fixed structure"hereinafter; it may in particular be a plate, or a bridge, or another structural element of a horological movement or of a watch case, and it will be called "arm. »The secondary bars which are articulated to this fixed structure by main articulations, we will then call the other bars according to their kinematic distance from the fixed structure, for example tertiary bar, quaternary bar, each articulated to the bar (or to the arm ) further upstream in this kinematic chain, through an articulation bearing the name of this bar (or this arm) further upstream: for example a tertiary bar is articulated by a secondary articulation to a bar secondary or arm; and a quaternary bar is hinged by a tertiary hinge to a tertiary bar. Thus, when we cite a mechanism with N bars, one of these N bars is constituted by the fixed structure.

Thus a four-bar mechanism generally comprises a main bar or fixed structure, and comprises two main articulations; each of these main articulations carries a secondary bar at a first end, and each secondary bar is articulated at its second end, by a secondary articulation, to a tertiary bar, or else is articulated at the other. Thus each of these secondary articulations describes an imposed closed trajectory, equivalent to a single degree of freedom, even if this degree of freedom is neither linear nor circular.

Such a four-bar mechanism is used, for example, for driving the perforated film in a cinema projector. Similarly, the coach wipers are each mounted on the tertiary bar of a deformable parallelogram.

More generally, a four-bar mechanism comprises four rigid bodies, generally articulated to one another by rotating connections such as ball joints or pivots. These rotating links can be replaced, in monolithic structures such as those used in watchmaking, by collars which provide sufficient angular freedom from one bar relative to another, in the same plane, or even by flexible blades or bars. flexible blade assemblies.

These articulated guidance systems make it possible to perform movements that are sometimes complex.

The best known examples are the deformable parallelogram, used in particular for coach wipers, and the pantograph.

The use of main bars of different lengths allows the execution of differentiated movements, as in passenger vehicles where the movement and stroke of the driver and passenger wipers are different.

The planar quadrilateral mechanisms constitute deformable quadrilaterals, the bars of which forming the sides are linked to each other by real or virtual pivot connections such as flexible pivots with flexible blades crossed in projection, or the like.

The raising-and-lowering mechanism of a wooden horse or of a merry-go-round subject is guided by a deformable parallelogram. A parallelogram deformable allows for a circular translational movement; this makes it possible to preserve the orientation in space, in particular with respect to the horizontal plane, of a manipulated object.

A crank-connecting rod-oscillator mechanism makes it possible to transform a reciprocating movement into a continuous rotational movement, or vice versa. It is well known for driving pedal sewing machines: the user's action on the pedal generates an oscillating movement of the pedal, which drives a rotating crank, for driving the sewing machine. to sew.

A pantograph mechanism makes it possible to make a homothety on a movement, and to amplify or reduce the amplitude of a movement.

A Watt's parallelogram is a crossed parallelogram, which makes it possible to obtain a particular guidance, along an imposed curve, and which is called pseudo-linear guidance. Thus, on a wagon suspension, the axle support is suspended from the wagon structure by two articulated bars, parallel to each other and of different distance from the rail, each connected by a primary articulation to the wagon. and by a secondary articulation to the axle box, and, thus, the trajectory of the center of the wheel with respect to the wagon follows an S-shaped curve which is almost linear in its central part.

Another mechanism whose purpose is to perform a pseudo-linear movement is a three-bar mechanism, called Chebyshev's horse, which constitutes a crank-rod-piston system. One of the secondary articulations is replaced by a sliding mechanism: the end of a secondary bar slides on the other secondary bar which is load-bearing, for example in the form of a journal which circulates in an oblong slot, or of a pad in a slide, or the like, the tertiary bar is then no longer necessary. A point on the secondary bearing bar describes a repeating closed curve. With a particular adjustment of the lengths, part of this closed curve can be a straight line.

Chebyshev's so-called lambda (due to its shape) mechanism is a four-bar mechanism that converts rotational motion into approximate rectilinear motion, with approximately constant speed over part of the path of the exit point. The tertiary bar is extended outside the two secondary articulations, and a point distant from these two secondary articulations follows, over part of its course, a rectilinear path, and returns by a curved path to its starting point. It is therefore advantageous for everything retrograde type watch display. This mechanism requires the possibility of continuous rotation on one of the primary joints, of the crank type, which limits its use to special cases because it is not entirely flat.

The Hoeckens mechanism, with three bars, is similar to Chebyshev's horse, and also allows the conversion of a rotational movement into a substantially rectilinear movement over a large part of its stroke. A first articulation to the fixed structure carries a connecting rod, driven in a circular movement, and which is articulated with a long bar which slides in a slide which is itself articulated at a second point of the fixed structure.

This mechanism is used in medical robotics, like the previous one, an application example of which can be read in Mathieu Joinie-Maurin's doctoral thesis, at the University of Strasbourg on 02/09/2012, pages 69 and following.

There are more precise but more complex devices, such as the Peaucellier-Lipkin device which is an articulated system making it possible to transform a rectilinear movement into circular movement, and vice-versa, and is based on the geometric principle of the inversion of a circle, and it has seven rigid rods. It is in fact possible to solve the problem of rectilinear motion with less, the minimum being five rods as in Hart's inverter is similar but only requires five rods to achieve a roughly equivalent result.

The Roberts mechanism also converts rotational motion into rough linear motion. The tertiary bar is the base of an isosceles triangle, whose two sides of the same length have the same length as the secondary bars, and the vertex of this isosceles triangle opposite the base follows a rectilinear motion on the line of the main joints, or parallel to this line, when one of the secondary bars, or the base, is animated by an alternating rotational movement.

The Klann mechanism is a planar mechanism designed to avoid an obstacle in a path, for example to simulate the gait of a legged animal and replace the wheel. The mechanism consists of a leg that comes into contact with the ground, a crank, two rocker arms, and two rods, all connected by pivot links. The proportions of each of the links in the mechanism are defined to optimize the linear movement of the foot during half of the rotation of the crank. The remainder of the crank rotation allows the foot to be raised to a predetermined height before returning to the starting position and repeating the cycle. Two mechanisms coupled together to the crank and out of phase by half a cycle allow the chassis of a vehicle to move parallel to the ground. The kinematics of the Klann mechanism is based on mechanical links which give the relative movement to each of the bars. It converts rotational motion into linear motion. The document US6260862 describes such a mechanism. Although of a more complex kinematics than the mechanisms with three or four bars, and although requiring three levels, the Klann mechanism has the advantage of being able to generate a complex trajectory guaranteeing the absence of collision with an obstacle, and this , in a perfectly repetitive fashion.

It is understood that all these mechanisms have a common characteristic: at least one particular point always follows the same closed trajectory, therefore according to a single degree of freedom along this trajectory. More particularly, for some of them, at least part of this trajectory is substantially linear, or linear. Often the remainder of the path is close to an arc of a circle, or a parabola, or the like.

The invention proposes to use the properties of some of these mechanisms for controlling certain horological functions, in particular display functions. Indeed, modern micromachining techniques and the implementation of “LIGA”, “MEMS” or similar type processes make it possible to obtain monolithic components grouping together complex functions, and in particular within oscillators. The rotating connections, such as ball joints or pivots, of traditional mechanics can be replaced, in these monolithic structures such as used in watchmaking, by collars which provide sufficient angular freedom of one bar with respect to another, in a same plan.

Many of the mechanisms described above lend themselves well to a planar execution, which is advantageous in watchmaking technique. Other mechanisms, driven in continuous rotation or not, require a crank in a secondary plane, which is parallel to a main plane in which are located all the joints other than those of the crank. Still others require more levels, such as the Klann mechanism shown in figure 16 ; the overall size nevertheless remains small, and remains compatible with the production of a horological complication.

Thus, the invention relates to an articulated mechanism 100 for a clockwork mechanism, arranged for a transmission of movement between an actuator and a receiver.

According to the invention, this articulated mechanism 100 comprises a fixed structure 10, relative to which a driver 9 is movable according to a single degree of freedom under the action of such an actuator, this driver 9 being connected to the fixed structure 10. by at least one flexible guide 50, said driver 9 and said fixed structure 10 each being more rigid than each flexible guide 50.

More particularly, this driver 9 is mobile according to a single degree of freedom, other than in pivoting, and so that each point of this driver 9 follows a path other than circular.

More particularly, the driver 9 is connected to the fixed structure 10 by a plurality of flexible guides 50.

More particularly, the only connections between the driver 9 and the fixed structure 10 are of the flexible guide type: the driver 9 is connected to the fixed structure 10 only by a flexible guide 50 or more flexible guides 50.

More particularly, at least one flexible guide 50 is flat, and comprises flexible necks 51, of lower section than the elements which are adjacent to them, and constituting articulations, and / or comprises flexible blades 5, 6, 52, of lower section. to the elements which are adjacent to them, and constituting articulations. The figures non-limitatively illustrate straight flexible blades, it is clear that these flexible blades can be curved, bent, or even adopt complex shapes, for example zig-zag or the like.

More particularly still, each flexible guide 50 is plane, and comprises flexible necks 51, of section smaller than the elements which are adjacent to them, and constituting articulations, and / or comprises flexible blades 5, 6, 52, of section smaller than elements which are adjacent to them, and constituting articulations.

And in particular this articulated mechanism 100 comprises at least two arms 1 and 2, which are articulated to the structure 10 at two distinct points, these arms 1 and 2 being arranged to cooperate kinematically with one another, or with a tertiary bar. 12 or a tertiary structure 120, such as a non-deformable triangle 121, or a deformable quadrilateral 122, or the like. This tertiary bar 12 or this tertiary structure 120 advantageously constitutes this driver 9.

• ou bien le premier bras 1 comporte, à distance de la première articulation principale 11, un guidage en translation à liaisons flexibles ou un élément de coulissement 18 agencé pour coopérer en coulissement et de façon articulée avec un élément de coulissement complémentaire 28 que comporte, à distance de la deuxième articulation principale 21, le deuxième bras 2 constituant l'entraîneur 9, tel que visible sur les figures 5 à 7 ;
• ou bien le mécanisme articulé 100 comporte, à distance de la première articulation principale 11, une première articulation secondaire 110 entre le premier bras 1 et l'entraîneur 9, et, à distance de la deuxième articulation principale 21 et de la première articulation secondaire 110, une deuxième articulation secondaire 210 entre le deuxième bras 2 et l'entraîneur 9, ou entre le deuxième bras 2 et une barre de manœuvre 4 articulée avec l'entraîneur 9.

The articulated mechanism 100 comprises a first main articulation 11 between the structure 10 and a first arm 1, and a second main articulation 21 between the structure 10 and a second arm 2, and:

• or else the first arm 1 comprises, at a distance from the first main articulation 11, a translational guide with flexible connections or a sliding element 18 arranged to cooperate in sliding and in an articulated manner with a complementary sliding element 28 which comprises, at distance from the second main articulation 21, the second arm 2 constituting the driver 9, as visible on the figures 5 to 7 ;
• or else the articulated mechanism 100 comprises, at a distance from the first main articulation 11, a first secondary articulation 110 between the first arm 1 and the driver 9, and, at a distance from the second main articulation 21 and from the first secondary articulation 110 , a second secondary articulation 210 between the second arm 2 and the trainer 9, or between the second arm 2 and a maneuvering bar 4 articulated with the trainer 9.

The figure 6 illustrates the first case, with a slide between two arms, where the first arm 1 comprises, at a distance from the first main articulation 11, a sliding element 18 arranged to cooperate in sliding and in an articulated manner with a complementary sliding element 28 that comprises, at a distance from the second main articulation 21, the second arm 2 constituting the driver 9.

The figure 8 illustrates the second case, where the articulated mechanism 100 comprises, at a distance from the first main articulation 11, a first secondary articulation 110 between the first arm 1 and the driver 9, and, at a distance from the second main articulation 21 and the first secondary articulation 110, a second secondary articulation 210 between the second arm 2 and the trainer 9, or between the second arm 2 and a maneuvering bar 4 articulated with the trainer 9. At least one of the articulations, like the first main articulation 11 and the second main articulation 21, in the case of this figure, can be a pivot connection which allows a rotation of 360 °, and which then requires a realization by a traditional guide, not being possible by flexible guide .

In a variant, the kinematics according to the lambda mechanism of Tchebytchev is ensured by a substitute for the traditional articulations: the figure 43 thus illustrates an articulated mechanism 100, which comprises two flexible guides 50 arranged in series between the driver 9 and the structure 10, and which are separated by an intermediate inertial mass 51 to which they are both attached or with which they form a monolithic whole. Each flexible guide 50 comprises two flexible blades 5 and 6, arranged in two parallel planes, and which intersect in projection on one of these planes; in planar projection, a first direction D1 is defined by the alignment of these crossing points, and a second direction D2 is defined by the alignment between, on the one hand, the pivot of axis D9 at the end of a crank not shown which forms the second arm 2 of the figure 8 , and on the other hand a distal end 90 of the driver 9: the crossing of the flexible blades 5 and 6 furthest from the structure 10, and the closest to the driver 9, is equivalent to the first secondary articulation 110 between the first arm 1 and the trainer 9; it corresponds to the intersection of the directions D1 and D2.

In a variant, as seen on the figures 13 to 15 , the articulated mechanism 100 constitutes a Peaucelier-Lipkin mechanism, and the same articulation carries several arms, here the first articulation 11 carries two first arms 1 and 118.

In a variant, as seen on the figures 5 to 7 , the articulated mechanism 100 forms a Chebyshev horse, and the first arm 1 comprises a sliding element 18, which is arranged to cooperate in sliding with a complementary sliding element 28 carried by the second arm 2.

In different variants, and in particular those illustrated by the figures 1, 2, 4 , 8, 9 , 11 to 15 , the articulated mechanism 100 comprises, at a distance from the first main articulation 11, a first secondary articulation 110 between the first arm 1 and the driver 9, and, at a distance from the second main articulation 21 and from the first secondary articulation 110, a second secondary articulation 210. This second secondary articulation 210 is arranged between the second arm 2 and the trainer 9, or between the second arm 2 and a maneuvering bar 4 articulated directly or indirectly with the trainer 9 as on the variant of the figure 16 constituting a Klann mechanism.

In this variant of the figure 16 , the maneuvering bar 4 is articulated respectively at a first maneuvering joint 24 with the second arm 2, and at the level of a second maneuvering joint 49 with the driver 9. And the structure 10 comprises a pivot 30 arranged to guide in rotation a third bar 3, which is articulated at a third secondary articulation 31 remote from the pivot 30, with the operating bar 4.

In a variant, at least one flexible guide 50 comprises at least two parallel plane levels, and comprises in each level flexible blades 5, 6, 52, of section smaller than the elements which are adjacent to them, and whose directions are crossed and whose the projection, on a plane parallel to the levels, of the intersection of these directions defines a virtual pivot axis and an articulation, as visible on the figures 43 to 54 .

More particularly, the driver 9, the structure 10, and at least one flexible guide 50 are coplanar. More particularly still, the driver 9, the structure 10, and each flexible guide 50 are coplanar.

In a variant, the trainer 9 is a third bar.

In a variant, the trainer 9 is a rigid polygonal structure, as in the production of figures 11 and 12 where the articulated mechanism 100 forms a Roberts mechanism, with a non-deformable structure 120 which is formed of an isosceles triangle 121.

In an advantageous variant, the driver 9 comprises, at a distal end 90, a hook or a finger or a tooth for driving a receiver.

In many variants, the first arm 1 or the second arm 2 is designed to be driven by an actuator. But the drive by the actuator can also take place at an intermediate bar of the articulated mechanism 100.

In a particular variant of a Klann mechanism, the third bar 3 is designed to be driven by an actuator.

More particularly, and as visible on the figure 43 , the articulated mechanism 100 comprises at least a plurality of flexible guides 50 arranged in series between the driver 9 and the structure 10, and of which at least two successive flexible guides 50 are separated by an intermediate inertial mass 51 to which they are both fixed or with which they form a monolithic whole.

More particularly, at least one flexible guide 50 comprises a pivot with two separate crossed blades, or a pivot with two integral crossed blades, or an RCC pivot with two orthogonal blades, or an RCC pivot with 4 necks, or at least two blades at least. less locally parallel, or translational guidance with flexible neck connections. A flexible linear guide of the type of figure 19 allows a slide without friction.

More particularly, the articulated mechanism 100 is a composite mechanism comprising at least one flexible guide 50 in silicon and / or silicon oxide, or in micromachinable material shaped by a “LIGA” or “MEMS” or similar process, this flexible guide being mechanically fixed to the driver 9 and to the structure 10 by pinned and / or screwed and / or glued and / or pinched connection, or other mechanical connection known to the watchmaker.

More particularly, the articulated mechanism 100 is a monolithic mechanism.

Advantageously, the trajectory T of the distal end 90 comprises at least one linear or substantially linear segment T1. More particularly, the entire path T of the distal end 90 is linear or substantially linear. More particularly, the trajectory T of the distal end 90 forms an eight, which can be very flattened, depending on the lever arms imposed on the articulated mechanism, and the crossing part of the loops of the eight is very close to a linear stroke.

More particularly, the trajectory T of the distal end 90 comprises a linear or substantially linear segment corresponding to a first travel T1 of the distal end 90 in a first direction, and a concave curve joining the ends of the segment and corresponding to a second T2 stroke of the distal end 90 in the second direction opposite to the first direction.

The invention also relates to a clockwork mechanism 500, comprising an actuator and a receiver, and at least one such articulated mechanism 100, arranged for transmission of movement between the actuator and the receiver.

In a variant, the driver 9 is designed to drive a receiver by direct contact, or through a pusher or a latch, in particular through its distal end 90.

In a variant, the actuator is arranged to exert a continuous force on the articulated mechanism 100, over the whole of a control stroke, for an adequate stroke of the receiver.

In a variant, the actuator is arranged to exert an impulse on the articulated mechanism 100, to transmit an adequate impulse to the receiver.

In a variant, the actuator is integral with one of the elements of a flexible guide 50 or articulated with one of the elements of a flexible guide 50.

• un mécanisme d'entraînement en rotation, notamment un élément d'un rouage (par exemple sur les figures 23 et 30), en particulier pour un entraînement du type manivelle, par exemple sur les figures 43 à 54 ;
• un mécanisme d'entraînement à râteau, tel que visible sur la figure 56, avec une roue 602 coopérant avec un secteur denté 206 que comporte le deuxième bras 2 ;
• un mécanisme d'entraînement à came, tel que visible sur la figure 57, avec une came 702 coopérant avec un doigt palpeur 207 que comporte le deuxième bras 2.

The actuator can take different forms:

• a rotating drive mechanism, in particular a part of a cog (for example on figures 23 and 30 ), in particular for a crank-type drive, for example on figures 43 to 54 ;
• a rake drive mechanism, as seen on the figure 56 , with a wheel 602 cooperating with a toothed sector 206 which the second arm 2 comprises;
• a cam drive mechanism, as seen on the figure 57 , with a cam 702 cooperating with a feeler finger 207 which the second arm 2 comprises.

In a particular embodiment, the articulated mechanism 100 is a Hoeckens mechanism designed to transform a rotation imparted by the actuator into a retrograde linear displacement of the receiver.

In a particular embodiment, the articulated mechanism 100 is a Roberts mechanism arranged to transform a rotation imparted by the actuator into a retrograde linear displacement of the receiver, the distal end 90 of the driver 9 being a vertex of a triangle 121 the other tops of which are articulated to articulated arms 1, 2, which the articulated mechanism 100 comprises.

In a particular embodiment, the articulated mechanism 100 is a Klann mechanism designed to transform a continuous rotation imparted by the actuator into a periodic driving thrust on a toothing or a bearing surface that the receiver comprises. The figure 55 illustrates such an example, a triangular fixed structure 10 comprises three articulations 101, 102, 103; a third bar 3 is articulated at a first end 31 to the articulation 103, and its second end 32 is driven in a circular movement. The particular kinematics impose a trajectory T substantially at a right angle which allows the distal end 90 to bypass, without touching it, a tooth of a wheel, in order to push it at the end of the cycle.

In a particular embodiment, the articulated mechanism 100 is a Lambda Chebyshev mechanism designed to transform a continuous rotation imparted by the actuator into a periodic driving thrust on a toothing or a bearing surface that the receiver comprises.

In a particular embodiment, the articulated mechanism 100 is a Chebyshev horse mechanism designed to transform a rotation imparted by the actuator into a retrograde linear displacement of the receiver.

The invention also relates to a timepiece movement 1000, comprising at least one such timepiece mechanism 500, and / or at least one such articulated mechanism 100.

The preferred embodiment of these mechanisms comprises flexible guides 50, the clockwork mechanism 500 or the articulated mechanism 100 may naturally also include at least one conventional guide in rotation or in translation.

The invention also relates to a watch 2000, comprising at least one such clockwork movement 1000, and / or at least one such clockwork mechanism 500, and / or at least one such articulated mechanism 100.

The figures 23 to 28 illustrate a first application of the invention, using an articulated mechanism comprising flexible guides, for a retrograde display, in which a rotation is transformed into a linear displacement of a moon phase shutter 79, gradually covering or uncovering a representation clear 78 of the moon.

The figures 29 to 41 illustrate a mechanism arranged in a different way, for the same application. These two non-limiting examples prove that the invention makes it possible to overcome the geometric obstacles inside the clockwork movement, because these mechanisms, which are here non-limitingly monolithic, make it possible to bypass the other components of the watch, and to take advantage of the smallest available space.

In the same way, it is easy to implant a Roberts mechanism according to the figure 12 .

The figures 42 to 54 illustrate the application of a crank mechanism, of the Lambda mechanism type of Chebytechv or similar, to ensure the course of a straight trajectory in a first direction, and curved in a second direction, to actuate a date disc.

The figure 55 uses a Klann actuation mechanism, which actuates a toothing, for example to drive a display or an automatic winding wheel. The trajectory of the driver is more complex, it allows a large clearance, and a substantially radial retraction between two teeth of the wheel.

In short, the mechanisms according to the invention make the most of the space available in a watch, and improve the overall efficiency by minimizing friction.

The advantage of applying the invention to display mechanisms is the transformation of a rotational movement into a translational movement for a linear display with a single degree of freedom.

The advantage of applying the invention to actuation mechanisms is the possibility of actuating toothing with kinematics allowing a minimum of friction. Indeed, in the case of the prior art, the actuator comes into contact with a tooth and bypasses it. Contact is necessary to bypass the tooth. Generally, when the driver is a hook or the like, the back of this hook, that is to say the part opposite to that which has a bearing surface provided to modify the position of the teeth, rubs against the tooth , before the bearing surface drives the tooth, there are then large areas of friction and wear, which are detrimental to the efficiency of the mechanism, and to its resistance over time. On the other hand, in the case of the invention, the flexible guide guides the actuator to bypass the tooth without contact, the kinematics of the articulated mechanism in fact allowing a substantially radial approach, then the actuator comes into contact with the tooth only for activate it. The friction zones are thereby reduced, as is the energy lost by friction. Details of figures 49 and 50 show the use of the area with a small radius of curvature between the rectilinear trajectory T1 and the curved trajectory T2, to ensure this optimal kinematics.

• absence d'usure ;
• absence de lubrification ;
• absence de grippage ;
• absence d'émission de poussières ;
• absence d'hystérèses ;
• précision et répétabilité ;
• maîtrise et précision de la trajectoire répétitive ;
• absence de jeu dans le système.

Flexible guides, as used in these applications, have great potential in watchmaking because they have the following properties and advantages:

• absence of wear;
• lack of lubrication;
• absence of seizure;
• absence of dust emission;
• absence of hysteresis;
• precision and repeatability;
• control and precision of the repetitive trajectory;
• no play in the system.

Claims (33)

Articulated mechanism (100) for a clockwork mechanism, arranged for a transmission of movement between an actuator and a receiver, characterized in that said articulated mechanism (100) comprises a structure (10) relative to which a driver (9) is movable according to a single degree of freedom under the action of said actuator, said driver (9) being connected to said structure (10) by at least one flexible guide (50), said driver (9) and said structure (10) ) each being more rigid than each said flexible guide (50). Articulated mechanism (100) according to claim 1, characterized in that said driver (9) is movable according to a single degree of freedom, other than in pivoting, and so that each point of said driver (9) follows a trajectory other than circular. Articulated mechanism (100) according to claim 1 or 2, characterized in that at least one said flexible guide (50) is plane, and comprises flexible necks (51), of section smaller than the elements which are adjacent to them, and / or flexible blades (5, 6, 52), of section smaller than the elements which are adjacent to them, and constituting articulations, and said articulated mechanism (100) comprises at least two arms (1, 2) articulated to said structure (10 ) at two distinct points, said arms (1, 2) being arranged to cooperate kinematically with one another, or with a tertiary bar (12) or a tertiary structure (120). Articulated mechanism (100) according to one of claims 1 to 3, characterized in that said articulated mechanism (100) comprises a first main articulation (11) between said structure (10) and a first arm (1), and a second main articulation (21) between said structure (10) and a second arm (2), and in that , either said first arm (1) comprises, at a distance from said first main articulation (11), a guide in translation at flexible connections or a sliding element (18) arranged to cooperate in sliding and in an articulated manner with a complementary sliding element (28) which comprises, at a distance from said second main articulation (21), said second arm (2) constituting said trainer (9), or else said articulated mechanism (100) comprises, at a distance from said first main articulation (11), a first secondary articulation (110) between said first arm (1) and said trainer (9), and, to distance from said second ar main joint (21) and said first secondary joint (110), a second secondary joint (210) between said second arm (2) and said trainer (9), or between said second arm (2) and a maneuvering bar (4) articulated with said trainer (9). Articulated mechanism (100) according to claim 4, characterized in that said articulated mechanism (100) comprises, at a distance from said first main articulation (11), a first secondary articulation (110) between said first arm (1) and said driver (9), and, at a distance from said second main articulation (21) and from said first secondary articulation (110), a second secondary articulation (210) between said second arm (2) and said driver (9), or between said second arm (2) and a maneuver bar (4) articulated with said driver (9), and in that said second secondary articulation (210) is arranged between said second arm (2) and said maneuver bar (4) articulated with said trainer (9), which maneuvering bar (4) is articulated respectively at a first maneuvering joint (24) with said second arm (2), and at a second maneuvering joint (49) ) with said trainer (9). Articulated mechanism (100) according to claim 5, characterized in that said structure (10) comprises a pivot (30) arranged to guide in rotation a third bar (3) which is articulated, at the level of a third secondary articulation (31 ) remote from said pivot (30), with said operating bar (4). Articulated mechanism (100) according to one of claims 1 to 8, characterized in that at least one said flexible guide (50) comprises at least two parallel plane levels, and comprises in each level flexible blades (5, 6, 52 ), of lower section than the elements which are adjacent to them, and whose directions are crossed and whose projection, on a plane parallel to said levels, of the intersection of these directions defines a virtual pivot axis and an articulation. Articulated mechanism (100) according to one of claims 1 to 7, characterized in that said driver (9), said structure (10), and said at least one flexible guide (50) are coplanar. Articulated mechanism (100) according to one of claims 1 to 8, characterized in that said driver (9) is a third bar (3). Articulated mechanism (100) according to one of claims 1 to 8, characterized in that said driver (9) is a rigid polygonal structure. Articulated mechanism (100) according to claim 4 and according to one of claims 1 to 10, characterized in that said first arm (1) or said second arm (2) is arranged to be driven by said actuator. Articulated mechanism (100) according to claim 9 or one of the dependent claims of claim 9, characterized in that said third bar (3) is arranged to be driven by said actuator. Articulated mechanism (100) according to one of claims 1 to 12, characterized in that said driver (9) is connected to said fixed structure (10) by a plurality of said flexible guides (50). Articulated mechanism (100) according to one of claims 1 to 12, characterized in that said driver (9) is connected to said fixed structure (10) only by one said flexible guide (50) or several said flexible guides (50) . Articulated mechanism (100) according to one of claims 1 to 13, characterized in that said articulated mechanism (100) comprises a plurality of said flexible guides (50) arranged in series between said driver (9) and said structure (10) and of which at least two of said successive flexible guides (50) are separated by an intermediate inertial mass (51) to which they are both fixed or with which they form a monolithic whole. Articulated mechanism (100) according to one of claims 1 to 14, characterized in that at least one said flexible guide (50) comprises a pivot with two separate crossed blades, or a pivot with two integral crossed blades, or an RCC pivot with two orthogonal blades, or an RCC pivot with 4 necks, or at least two blades at least locally parallel, or a translational guide with flexible connections by necks. Articulated mechanism (100) according to one of claims 1 to 16, characterized in that said articulated mechanism (100) is a composite mechanism comprising at least one said flexible guide (50) in silicon and / or silicon oxide, mechanically fixed to said driver (9) and to said structure (10) by pinned and / or screwed and / or glued and / or clamped connection. Articulated mechanism (100) according to one of claims 1 to 17, characterized in that said articulated mechanism (100) is a monolithic mechanism. Articulated mechanism (100) according to one of claims 1 to 18, characterized in that said driver (9) comprises, at a distal end (90), a hook or a finger or a tooth for driving a said receiver, and in that the path of said distal end (90) comprises at least one linear or substantially linear segment. Articulated mechanism (100) according to claim 19, characterized in that the path of said distal end (90) is linear or substantially linear. Articulated mechanism (100) according to claim 19, characterized in that the path of said distal end (90) comprises a linear or substantially linear segment corresponding to a first stroke T1 of said distal end (90) in a first direction, and a concave curve joining the ends of said segment and corresponding to a second stroke T2 of said distal end (90) in a second direction opposite to said first direction. Clockwork mechanism (500), comprising an actuator and a receiver, and at least one articulated mechanism (100) according to one of claims 1 to 21, arranged for a transmission of movement between said actuator and said receiver. Clockwork mechanism (500) according to Claim 22, characterized in that the said driver (9) is arranged to drive a said receiver by direct contact, or through a pusher or a rocker. Clockwork mechanism (500) according to claim 22 or 23, characterized in that said actuator is arranged to exert a continuous force on said articulated mechanism (100), over the whole of a control stroke, for an adequate stroke of said receiver. Clockwork mechanism (500) according to claim 22 or 23, characterized in that said actuator is arranged to exert an impulse on said articulated mechanism (100), to transmit an adequate impulse to said receiver. Clockwork mechanism (500) according to one of claims 22 to 25, characterized in that said actuator is integral with one of the elements of said flexible guide (50) or articulated with one of the elements of said flexible guide (50). Clockwork mechanism (500) according to one of claims 22 to 26, characterized in that said articulated mechanism (100) is a Hoeckens mechanism arranged to transform a rotation imparted by said actuator into a retrograde linear displacement of said receiver. Clockwork mechanism (500) according to one of claims 22 to 26, characterized in that said articulated mechanism (100) is a Roberts mechanism arranged to transform a rotation imparted by said actuator into a retrograde linear displacement of said receiver, said trainer (9) being a vertex of a triangle, the other vertices of which are articulated to articulated bars (1; 2) included in said articulated mechanism (100). Clockwork mechanism (500) according to one of claims 22 to 26, characterized in that said articulated mechanism (100) is a Klann mechanism arranged to transform a continuous rotation imparted by said actuator into a periodic driving thrust on a set of teeth or a bearing surface that the said receiver comprises. Clockwork mechanism (500) according to one of claims 22 to 26, characterized in that said articulated mechanism (100) is a Lambda Chebyshev mechanism arranged to transform a continuous rotation imparted by said actuator into a periodic drive thrust on a set of teeth or a bearing surface that the said receiver comprises. Clockwork mechanism (500) according to one of claims 22 to 26 comprising an articulated mechanism (100) according to claim 4, characterized in that said articulated mechanism (100) comprises a first main articulation (11) between said structure ( 10) and a first arm (1), and a second main articulation (21) between said structure (10) and a second arm (2), and in that either said first arm (1) comprises, at a distance of said first main articulation (11), a translational guide with flexible connections by necks or a sliding element (18) arranged to cooperate in sliding and in an articulated manner with a complementary sliding element (28) that comprises, at a distance from said second main articulation (21), said second arm (2) constituting said trainer (9), and characterized in that said articulated mechanism (100) is a mechanism called Chebyshev's horse arranged to transform a rotation imparted by said actuator ur in a retrograde linear displacement of said receptor. Clockwork movement (1000) comprising at least one clockwork mechanism (500) according to one of claims 22 to 31, and / or at least one articulated mechanism (100) according to one of claims 1 to 21. Watch (2000) comprising at least one timepiece movement (1000) according to claim 32, and / or at least one timepiece mechanism (500) according to one of claims 22 to 31, and / or at least one mechanism articulated (100) according to one of claims 1 to 21.

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