JP2011169393A - Three-dimensional motion mechanism structure - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a three-dimensional motion mechanism structure, capable of simulating a motion of a head with a downsized structure, and surely and easily performing position control at a reduced manufacturing cost. <P>SOLUTION: The three-dimensional motion mechanism structure includes: a head portion; a body portion disposed to be located below the head portion; a lateral oscillating parallel link mechanism connected to the head portion and further connected to a lateral rotating member pivotally supported by the body portion, the link mechanism laterally oscillating the head portion by rotating the lateral rotating member; and a longitudinal oscillating link mechanism connected to either the front or rear of the head portion, the link mechanism longitudinally oscillating the head portion by rotating a longitudinal rotating member pivotally supported by the body portion. The head portion is three-dimensionally operated by rotating the lateral rotating member and the longitudinal rotating member. <P>COPYRIGHT: (C)2011,JPO&amp;INPIT

Description

  The present invention is a three-dimensional motion mechanism structure that imitates the movement of the head, and is disposed, for example, on the inside of the doll toy, the wrist part of the robot hand, or the camera platform, and simulates the movement of the head. The present invention relates to a three-dimensional motion mechanism structure that can be operated in the same manner.

  Conventionally, a neck movement mechanism has been developed that performs three-dimensional movements that mimic the movement of the head.

  For example, as disclosed in Patent Document 1, such an operating mechanism is provided with a plurality of cylinders disposed between the head and the torso, and the cylinder positioned in the tilting direction expands and contracts in accordance with the tilting motion of the neck. By doing so, the movement of the neck can be imitated.

  In addition, a device that imitates the action of the neck by arranging a ball joint between the head and the torso has been developed.

Japanese Patent Laid-Open No. 8-229871

  By the way, if the neck movement mechanism is performed using a plurality of cylinders as disclosed in Patent Document 1, the cost increases, and the cylinder itself is large and requires a space, so it is difficult to reduce the size. Such an operating mechanism is not suitable for small doll toys and robots.

  In addition, in the operation mechanism using a ball joint, the head is always in a three-dimensionally operable state, so that there is a problem that it is difficult to fix the position of the head if the joint part becomes loose. It was. In this case, if the position is to be controlled, the control device becomes large, resulting in a problem that the mechanism structure itself becomes large.

  The present invention has been made in view of such a current situation, and is a tertiary that can mimic the movement of the head with a miniaturized structure, reduce manufacturing costs, and perform position control reliably and easily. An object is to provide an original motion mechanism structure.

The present invention was invented to solve the problems in the prior art as described above,
The three-dimensional motion mechanism structure of the present invention is
A three-dimensional motion mechanism structure that mimics the movement of the head,
The three-dimensional motion mechanism structure is
The head,
A trunk disposed to be located below the head;
Connected to the head and connected to a left and right rotating member pivotally supported on the body, and rotating the left and right rotating member to swing the head left and right. A link mechanism;
A forward / backward swing link mechanism that is connected to either the front or rear of the head and swings the head back and forth by rotating a front / rear rotation member pivotally supported by the body. When,
With
The head is configured to move three-dimensionally by rotating the left / right rotation member and the front / rear rotation member.

  If comprised in this way, since a head can be moved three-dimensionally only with two link mechanisms roughly, a mechanism structure can be reduced in size.

  Further, since the two mechanisms can be operated only by the rotation of the respective rotating members, the position control of the head can be performed reliably and easily.

The three-dimensional motion mechanism structure of the present invention is
The left and right pivoting member of the left and right swinging parallel link mechanism is
It is pivotally supported in the front-rear direction of the body part.

  Thus, it is preferable that the left and right rotating member is pivotally supported in the front-rear direction of the body portion because the parallel link mechanism for left and right swinging can be easily moved.

The three-dimensional motion mechanism structure of the present invention is
The left and right swing parallel link mechanism is
An upper link connected to the head so that the head can be rotated in the front-rear direction around the left-right axis of the head;
A lower link coupled to the left and right pivot member and connected to follow the left and right pivot member;
A left link connecting the left end of the upper link and the left end of the lower link;
A right link connecting the right end of the upper link and the right end of the lower link;
Vertical holding means for holding the left link and the right link substantially vertically;
With
By rotating the left-right rotation member, the head is swung left and right along the lower link, the left link, the right link, and the upper link.

  If the left-right swinging parallel link mechanism is configured in this way, the head can be swung left and right with the vertical axis of the head as a boundary.

The three-dimensional motion mechanism structure of the present invention is
The vertical holding means;
Both ends thereof are connected to the left link and the right link, and are intermediate links pivotally supported in the front-rear direction of the body portion.

  With the intermediate link configured as described above, the left link and the right link can be reliably held substantially vertically.

The three-dimensional motion mechanism structure of the present invention is
The longitudinal pivoting member of the longitudinal swing link mechanism is
It is pivotally supported in the left-right direction of the trunk portion.

In this way, if the front / rear rotating member is pivotally supported in the left / right direction of the body portion, the front / rear rotating member is provided by being displaced by 90 degrees from the left / right rotating member. It is preferable not to interfere with each other.

The three-dimensional motion mechanism structure of the present invention is
The front and rear swing link mechanism is
A first link having one end connected to either the front or the rear of the head so that the head can be rotated about the front-rear direction axis;
A second link having one end connected to the other end of the first link so as to be able to rotate in the vertical direction so as to be in contact with and away from the body part;
A third link having one end connected to the other end of the second link so that the second link can rotate about the vertical axis of the second link;
A fourth link having one end connected to the other end of the third link so as to be able to rotate about a longitudinal axis substantially perpendicular to the vertical axis of the third link;
One end side is connected to the other end side of the fourth link, and the other end side is fixed to the front-rear rotating member so that the one end side can be turned up and down so that one end side of the barrel portion is in contact with and separated from the body portion. The fifth link made,
With
The head is configured to swing back and forth through the fifth link, the fourth link, the third link, the second link, and the first link by rotating the front / rear rotating member. It is characterized by.

  In this way, if the forward / backward swing link mechanism is constituted by the first to fifth links, the head can be moved back and forth reliably in accordance with the rotation of the forward / backward rotation member.

The three-dimensional motion mechanism structure of the present invention is
The third link is
A first connecting portion in which the other end side of the second link and one end side thereof are connected;
A second connection part that is suspended from the other end side of the first connection part and connected to one end side of the fourth link;
It is characterized by having.

  Thus, if it has a 1st connection part and a 2nd connection part, when manufacturing a 3rd link, a process will be easy and it will be easy to connect especially with a 2nd link, and is preferable.

The three-dimensional motion mechanism structure of the present invention is
The horizontal axis of the first connecting portion of the third link is
The second link is configured to be orthogonal to the vertical axis.

  If comprised in this way, when rotating the 3rd link centering | focusing on the axis | shaft of the up-down direction of a 2nd link, it can be rotated smoothly.

The three-dimensional motion mechanism structure of the present invention is
The vertical axis of the second connecting portion of the third link is
The second link is configured to be parallel to the vertical axis.

  If comprised in this way, since the magnitude | size of a link can be made small and a process is also easy, manufacturing cost can be restrained and it is preferable.

The three-dimensional motion mechanism structure of the present invention is
The vertical axis of the second connecting portion of the third link is
The second link is substantially on the same axis as the vertical axis.

  If configured in this way, the second link and the third link are in a straightly connected state. Therefore, when the front / rear rotating member is rotated, the movement is smoothly transmitted to the head, It can be reliably operated back and forth.

The three-dimensional motion mechanism structure of the present invention is
The left and right rotating member and the front and rear rotating member are gears.

  With such a gear, for example, the two link mechanisms can be easily operated simply by meshing with another gear and rotating.

The three-dimensional motion mechanism structure of the present invention is
An electric motor for rotating a gear of the left-right swinging parallel link mechanism is provided.

  By using the electric motor in this way, it is possible to easily control the ON / OFF of the electric motor, the rotation direction, the rotational speed of the motor, and the like, and the head can be swung right and left reliably and easily. it can.

The three-dimensional motion mechanism structure of the present invention is
An electric motor for rotating the gear of the forward / backward swing link mechanism is provided.

  By using the electric motor in this way, it is possible to easily control the ON / OFF of the electric motor, the rotation direction, the rotation speed of the motor, and the like, and the head can be swung back and forth reliably and easily. it can.

The three-dimensional motion mechanism structure of the present invention is
The electric motor is disposed in the body portion.

  Thus, if the electric motor is disposed in the body portion, it is possible to contribute to downsizing the three-dimensional motion mechanism structure.

The three-dimensional motion mechanism structure of the present invention is
The three-dimensional motion mechanism structure is
It is a structure arranged on the inside of a doll toy, a wrist part of a robot hand, or a camera platform.

  In this way, if placed on the inside of a doll toy, the wrist part of a robot hand, or the camera platform, the number of parts that make up the link mechanism can be reduced, reducing manufacturing costs, and maintaining and handling. It is good.

  According to the present invention, in the movement of the head, a structure for separately operating the link mechanism for the left and right swing and the link mechanism for the front and rear swing is separately operated, and the structure is simplified, so that the size can be reduced. It is possible to provide a three-dimensional motion mechanism structure that is easy and can reduce the manufacturing cost, and that can perform position control reliably and easily.

FIG. 1 is a diagram for explaining the configuration of a three-dimensional motion mechanism structure according to the first embodiment of the present invention. FIG. 1 (a) shows the three-dimensional motion mechanism structure in front (front side). FIG. 1B is a perspective view of the three-dimensional motion mechanism structure viewed from the rear (back side). 2A and 2B are diagrams for explaining the configuration of the three-dimensional motion mechanism structure according to the first embodiment of the present invention. FIG. 2A is a rear view, and FIG. 2B is a left side view. It is. FIGS. 3A and 3B are diagrams for explaining the mechanism of the left-right swing of the head of the three-dimensional motion mechanism structure according to the present invention. FIG. 3A is a rear view, and FIG. FIG. 3 and FIG. 3C are perspective views seen from the rear (back side). 4A and 4B are diagrams for explaining the mechanism of the three-dimensional motion of the head of the three-dimensional motion mechanism structure according to the present invention. FIG. 4A is a rear view, and FIG. FIG. 4C is a perspective view seen from the rear (back side). FIG. 5 is a view for explaining the mechanism of the three-dimensional movement of the head of the three-dimensional movement mechanism structure according to the present invention. FIG. 5 (a) is a rear view, and FIG. 5 (b) is the left side. FIG. 5C is a perspective view seen from the rear (back side). FIG. 6 is a view for explaining the mechanism of the three-dimensional movement of the head of the three-dimensional movement mechanism structure according to the present invention. FIG. 6 (a) is a rear view, and FIG. 6 (b) is the left side. FIG. 6C is a perspective view seen from the rear (back side). 7A and 7B are diagrams for explaining the mechanism of the three-dimensional motion of the head of the three-dimensional motion mechanism structure according to the present invention. FIG. 7A is a rear view, and FIG. FIG. 7C is a perspective view seen from the rear (back side). FIG. 8 is a view for explaining the mechanism of the three-dimensional movement of the head of the three-dimensional movement mechanism structure according to the present invention. FIG. 8 (a) is a rear view, and FIG. 8 (b) is the left side. FIG. 8C is a perspective view seen from the rear (back side). FIG. 9 is a view for explaining the mechanism of the three-dimensional movement of the head of the three-dimensional movement mechanism structure according to the present invention. FIG. 9 (a) is a rear view, and FIG. 9 (b) is the left side. FIG. 9C is a perspective view seen from the rear (back side). 10A and 10B are diagrams for explaining the mechanism of the three-dimensional motion of the head of the three-dimensional motion mechanism structure of the present invention. FIG. 10A is a rear view, and FIG. 10B is the left side. FIG. 10C is a perspective view seen from the rear (back side). FIG. 11 is a rear view for explaining a second embodiment of the three-dimensional motion mechanism structure of the present invention. FIG. 12 is a rear view for explaining a third embodiment of the three-dimensional motion mechanism structure of the present invention. FIG. 13 is a rear view for explaining a fourth embodiment of the three-dimensional motion mechanism structure of the present invention. FIG. 14 is a rear view showing another form of the third link in the fourth embodiment of the three-dimensional motion mechanism structure of the present invention. FIG. 15 is a left side view for explaining a fifth embodiment of the three-dimensional motion mechanism structure of the present invention. FIG. 16 is a left side view for explaining a sixth embodiment of the three-dimensional motion mechanism structure of the present invention.

  Hereinafter, embodiments of the present invention will be described in more detail based on the drawings.

  The three-dimensional motion mechanism structure according to the present invention can mimic the movement of the head with a miniaturized structure, reduce manufacturing costs, and perform position control reliably and easily.

In addition, in this specification, the description of the head and the torso is given for convenience of description of a part to be operated three-dimensionally and a part that is positioned below the part and is fixed without being operated. Thus, it is not intended to limit the position or application used, but in a broad sense.

In addition, the description of the position and direction such as up, down, left (left side), right (right side), front (front side), back (back side), top and bottom, front and back, left and right is shown in Fig. 1 (a). 1 is a perspective view of a three-dimensional motion mechanism structure according to the present invention.
Furthermore, the description of “substantially vertical” and “substantially horizontal” simply refers to a direction, and “substantially vertical” refers to a vertical direction, and “substantially horizontal” refers to a left-right direction, and does not strictly define an angle.

[Example 1]
The three-dimensional motion mechanism structure 10 according to the first embodiment of the present invention shown in FIGS. 1 and 2 has a head 20 and a body 30 disposed below the head 20. Two link mechanisms are provided so that the head 20 moves in three dimensions with respect to the trunk 30.

  First, the first link mechanism is a left-right swinging parallel link mechanism 40, which rotates a left-right rotation member 52 pivotally supported in front of the body portion 30 in the left-right direction. Is configured to swing left and right.

  On the other hand, the second link mechanism is a front / rear swing link mechanism 60, which rotates a front / rear rotation member 72 pivotally supported on the left side of the body 30 in the front / rear direction, thereby rotating the head 20. Is configured to swing back and forth.

  The left and right rotating member 52 described above may be pivotally supported behind the trunk portion 30, and the front and rear pivoting member 72 may be pivotally supported on the right side of the trunk portion 30. There is no particular limitation.

The three-dimensional motion mechanism structure 10 of the present invention rotates the left-right pivoting member 52 and the front-rear pivoting member 72 by rotating the left-right pivoting parallel link mechanism 40 and the front-rear pivoting link mechanism 60, respectively. The head 20 can be moved three-dimensionally.
Hereinafter, the left-right swinging parallel link mechanism 40 and the front-rear swinging link mechanism 60 will be described in detail.

<Parallel link mechanism 40 for left / right oscillation>
As shown in FIG. 1A, the left-right swinging parallel link mechanism 40 has an upper link 42 that is first connected in the left-right direction of the head 20. The upper link 42 is configured such that the head 20 can be rotated in the front-rear direction around the axis 80 in the left-right direction of the head 20.

  A lower link 44 is provided below the upper link 42 so as to be parallel to the upper link 42. Such a lower link 44 is coaxial with the shaft on which the left and right pivot member 52 is pivoted so as to follow the left and right pivot member 52 pivotally supported in front of the trunk portion 30 and is pivotally supported on the trunk portion 30. Has been.

  The length of the lower link 44 in the left-right direction is set to be substantially the same as the length of the upper link 42 in the left-right direction.

  On the other hand, the left end of the upper link 42 and the left end of the lower link 44 are connected by a left link 46, and the right end of the upper link 42 and the right end of the lower link 44 are connected by a right link 48. It is connected. Here, the left link 46 and the right link 48 are positioned so as to be parallel to each other.

  Further, the left link 46 and the right link 48 are held substantially vertically. In this embodiment, the left link 46 and the right link 48 are connected between the upper link 42 and the lower link 44. The left link 46 and the right link 48 are held substantially vertically by disposing the intermediate link 50 configured to be pivotally supported in front of the trunk portion 30.

  The left and right oscillating parallel link mechanism 40 configured as described above is configured such that a parallelogram is formed by four links of an upper link 42, a lower link 44, a left link 46, and a right link 48.

Since the intermediate link 50 disposed between the upper link 42 and the lower link 44 always holds the parallelogram left link 46 and right link 48 substantially vertically, the left and right pivots When the member 52 is rotated in the left-right direction, the head 20 connected to the upper link 42 can be swung left and right around the vertical axis 78 of the head 20.
In the present embodiment, the intermediate link 50 is disposed between the upper link 42 and the lower link 44. However, the intermediate link 50 may be provided so as to be parallel to the lower portion of the lower link 44, for example.

<Forward and Backward Swing Link Mechanism 60>
As shown in FIG. 1B, the forward / backward swing link mechanism 60 is configured by connecting a plurality of links.

  In this embodiment, five links from the first link to the fifth link are connected. Hereinafter, the first link 62 to the fifth link 70 will be described in order.

  First, the first link 62 extends from the rear of the head 20 toward the front-rear direction of the head 20. One end side of the first link 62 is coupled to be rotatable 360 degrees about a longitudinal axis 82 of the head 20.

  One end side of the second link 64 is connected to the other end side of the first link 62. The second link 64 is suspended from the connecting portion in a substantially vertical direction.

  The second link 64 is connected to the other end side of the first link 62 so that one end side thereof is rotatable in the vertical direction so as to be in contact with and away from the body portion 30.

  One end side of the third link 66 is connected to the other end side of the second link 64. At this time, one end side of the third link 66 is rotatably connected around the vertical axis 84 of the second link 64.

  Next, one end side of the fourth link 68 is connected to the other end side of the third link 66. At this time, the fourth link 68 is substantially perpendicular to the vertical axis 86 of the third link 66. One end side is coupled to be rotatable 360 degrees around a direction axis 88. The other end side of the fourth link 68 extends substantially horizontally in a direction approaching the body portion 30.

  In the present embodiment, the third link 66 includes a first connection portion 66a connected to the other end side of the second link 64, and a fourth link 68, which will be described later, hanging down from the end of the first connection portion 66a. It has the 2nd connection part 66b connected with one end side, and the 1st connection part 66a and the 2nd connection part 66b have comprised the reverse L-shaped form.

In addition, one end side of the fifth link 70 is connected to the other end side of the fourth link 68. The fifth link 70 is rotatably connected at one end side in the vertical direction so that one end side thereof is in contact with and away from the body portion 30.

  On the other hand, the other end side of the fifth link 70 is fixed to a front / rear rotation member 72 that is pivotally supported on the left side of the body 30.

  The link mechanism 60 for swinging back and forth configured in this way is connected to the five links from the first to the fifth, and the operation at the time of connection with each other is restricted as described above, so that the head 20 is moved. It can be reliably swung back and forth.

  Further, in particular, the three places of the connection place between the head 20 and the first link 62, the connection place between the second link 64 and the third link 66, and the connection place between the third link 66 and the fourth link 68 are 360 degrees. Since the link is movably connected, the movement between the links ensures that the force from the oblique direction caused by the rotation of the rotation member 72 pivotally supported on the left side surface of the trunk portion 30 is ensured. It can be replaced by exercise.

  Here, for example, when the head 20 is tilted from the rear to the front, in the left side view from the left side view shown in FIG. By rotating it (toward the front), as shown in FIG. 5B, the side of the fifth link 70 connected to the fourth link 68 is moved obliquely upward, thereby connecting to the fifth link 70. The fourth link 68, the third link 66 connected to the fourth link 68, the second link 64 connected to the third link 66, and the first link 62 connected to the second link 64 are The head 20 finally connected to the first link 62 is tilted forward.

  At this time, since the second link 64 connected to the third link 66 rotates at the first connecting portion 66a of the third link 66, the force pushed up obliquely from the position of the rotating member 72 is It is reliably transmitted to the first link 62 via the second link 64.

  In the three-dimensional motion mechanism structure 10 of the present invention, as shown in FIG. 1B, among the five links constituting the longitudinal swing link mechanism 60, in particular, the third link 66 is the second link 64. Since the shaft 84 is pivotally supported by 360 degrees about the vertical axis 84, the front-rear rotation member 72 is displaced in the left-right direction from the vertical axis 78 of the head 20, thereby the second Even if the link 64 and the third link 66 are arranged obliquely, the head 20 can be swung in the front-rear direction only by the rotation of the front-rear rotation member 72.

  Further, as shown in FIG. 2B, a substantially vertical distance L1 from the connecting portion of the second link 64 to the first link 62 to the connecting portion of the fourth link 68 to the third link 66 is The distance L2 in the substantially vertical direction from the axis 80 in the front-rear direction of the head 20 to the center of the axis on which the front-rear rotating member 72 is pivotally supported is preferably set to be substantially the same distance.

  Setting the distance in this way is suitable for tilting the head 20 to the same extent in the front-rear direction by rotating the front-rear rotation member 72 left and right.

  Further, the lengths of the second link 64 and the third link 66 are preferably set to substantially the same length. However, for example, the length may be set to 2: 8 or may be set to 8: 2. Is. These lengths are preferably set and changed as appropriate depending on the degree of interference between the links and the degree of interference between the link and the trunk 30.

Such a forward / backward swing link mechanism 60 is composed of a combination of a plurality of links that move two-dimensionally in the three-dimensional movement of the head 20, and is rigid in that accurate movement is possible. It is preferable to consist of these materials. As the hard material, for example, a metal material, a resin molding material, wood, or the like can be used, and in view of durability and ease of processing, it is more preferably made of a metal material.

  As described above, the three-dimensional motion mechanism structure 10 according to the present embodiment uses the left-right swinging parallel link mechanism 40 and the front-rear swinging link mechanism 60 having the above-described structure, so that the head 20 Can be swung three-dimensionally back and forth and left and right.

  Next, when the head 20 is moved by operating the left / right swinging parallel link mechanism 40 and the front / rear swing link mechanism 60, an appropriate angle is taken as an example of how each link mechanism moves. explain.

<The state in which the head 20 is tilted by X (left-right direction) = 20 ° and Y (front-back direction) = 0 °>
In this state, as shown in FIGS. 3A to 3C, the left and right turning member 52 of the left and right swinging parallel link mechanism 40 is turned from the right side to the left side. Caused by

  When the left and right rotating member 52 is rotated from the right side to the left side as indicated by the arrow A1, the lower link 44 connected to the left and right rotating member 52 is centered on the axis of the left and right rotating member 52. As a result, the left link 46 is inclined downward as indicated by an arrow A2 and the right link 48 is increased upward as indicated by an arrow A3.

Further, the upper link 42 connected to the left link 46 and the right link 48 is inclined downward on the left side, whereby the head 20 is inclined to the left side.
At this time, since the inclination of the head 20 depends on the rotation angle of the left and right rotation member 52, the inclination of the head 20 in the left and right direction is controlled by controlling the rotation of the left and right rotation member 52. It can be changed as appropriate.

<Head 20 tilted in X (left-right direction) = − 20 °, Y (front-back direction) = 0 °>
In this state, as shown in FIG. 4A to FIG. 4C, the left and right turning member 52 of the left and right swinging parallel link mechanism 40 is turned from the left side to the right side. Caused by

When the left / right rotation member 52 is rotated from the left side toward the right side as indicated by an arrow B <b> 1, the lower link 44 connected to the left / right rotation member 52 is centered on the axis of the left / right rotation member 52. As a result, the left link 46 is inclined upward as indicated by an arrow B2 and the right link 48 is lowered downward as indicated by an arrow B3.
Further, the upper link 42 connected to the left link 46 and the right link 48 is inclined downward on the right side, and thereby the head 20 is inclined to the right side.

<The state in which the head 20 is tilted by X (left-right direction) = 0 °, Y (front-back direction) = 30 °>
As shown in FIGS. 5A to 5C, this state is generated by rotating the front / rear rotation member 72 of the front / rear swing link mechanism 60 from the rear side toward the front side.

  When the front / rear rotation member 72 is rotated from the rear side toward the front side as indicated by the arrow C1, first, the fifth link 70 connected to the front / rear rotation member 72 is inclined upward.

  In accordance with this, the fourth link 68, the third link 66, and the second link 64 move upward as indicated by an arrow C2. At this time, the second link 64 connected to the third link 66 is slightly rotated from the right side to the left side as indicated by an arrow C3, so that the second link 64 is connected to the second link 64. The first link 62 also moves upward as indicated by an arrow C4.

Further, in accordance with the operation of the first link 62, the head 20 connected thereto is inclined from the rear side to the front side as indicated by an arrow C5.
At this time, since the inclination of the head 20 depends on the rotation angle of the front / rear rotation member 72, the inclination of the head 20 in the front / rear direction is controlled by controlling the rotation of the front / rear rotation member 72. It can be changed as appropriate.

<The state in which the head 20 is inclined by X (left-right direction) = 0 °, Y (front-back direction) = − 30 °>
In this state, as shown in FIGS. 6 (a) to 6 (c), the front / rear rotation member 72 of the front / rear swing link mechanism 60 is rotated from the front side toward the rear side as indicated by the arrow D1. Caused by

  When the front / rear rotation member 72 is rotated from the front side toward the rear side, first, the fifth link 70 connected to the front / rear rotation member 72 is inclined downward as indicated by an arrow D2.

In accordance with this, the fourth link 68, the third link 66, and the second link 64 move downward. At this time, since the second link 64 connected to the third link 66 is slightly rotated from the left side to the right side as indicated by the arrow D3, the second link 64 is connected to the second link 64. The first link 62 also moves downward as indicated by the arrow D4.
Further, in accordance with the operation of the first link 62, the head 20 connected thereto is inclined from the front side to the rear side as indicated by an arrow D5.

<A state in which the head 20 is tilted by X (left-right direction)=20° and Y (front-back direction)=30°>
In this state, as shown in FIGS. 7A to 7C, the left and right pivoting member 52 of the left and right swinging parallel link mechanism 40 is moved from the right side to the left side as indicated by an arrow E1. This is caused by rotating the front / rear rotating member 72 of the front / rear swing link mechanism 60 from the rear side toward the front side as indicated by an arrow E2.

  First, when the left / right turning member 52 of the left / right swinging parallel link mechanism 40 is turned from the right side to the left side as indicated by an arrow E1, the lower link 44 connected to the left / right turning member 52 is The left side link 46 is lowered downward as shown by an arrow E3 and the right side link 48 is raised upward as shown by an arrow E4. It becomes.

  Further, the upper link 42 connected to the left link 46 and the right link 48 is inclined downward on the left side.

  On the other hand, when the front-rear rotation member 72 of the front-rear swing link mechanism 60 is rotated from the rear side toward the front side as indicated by the arrow E2, the fifth link 70 connected to the front-rear rotation member 72 is first moved to the arrow. Tilt upward like E5.

In accordance with this, the fourth link 68, the third link 66, and the second link 64 move upward. At this time, the second link 64 connected to the third link 66 is slightly rotated from the right side to the left side as indicated by an arrow E6, so that the second link 64 is connected to the second link 64. The first link 62 also moves upward as indicated by an arrow E7.
Due to the functions of the left-right swinging parallel link mechanism 40 and the front-rear swinging link mechanism 60, the head 20 connected thereto tilts leftward and forward.

<Head 20 tilted in X (left-right direction) = 20 °, Y (front-back direction) =-30 °>
In this state, as shown in FIGS. 8A to 8C, the left and right pivoting member 52 of the left and right swinging parallel link mechanism 40 is moved from the right side to the left side as indicated by an arrow F1. It is generated by rotating and further rotating the front / rear rotation member 72 of the front / rear swing link mechanism 60 from the front side toward the rear side as indicated by an arrow F2.

  First, when the left / right turning member 52 of the left / right swinging parallel link mechanism 40 is turned from the right side to the left side as indicated by the arrow F1, the lower link 44 connected to the left / right turning member 52 is The left link 46 is lowered downward as indicated by the arrow F3 and the right link 48 is elevated upward as indicated by the arrow F4. It becomes.

  Further, the upper link 42 connected to the left link 46 and the right link 48 is inclined downward on the left side.

  On the other hand, when the front / rear turning member 72 of the front / rear swing link mechanism 60 is turned from the front side toward the rear side as indicated by the arrow F2, the fifth link 70 connected to the front / rear turning member 72 is first moved to the arrow. Tilt downward like F5.

In accordance with this, the fourth link 68, the third link 66, and the second link 64 move downward. At this time, the second link 64 connected to the third link 66 is slightly rotated from the left side to the right side as indicated by an arrow F6, and thus is connected to the second link 64. The first link 62 also moves downward as indicated by an arrow F7.
Due to the action of the left-right swinging parallel link mechanism 40 and the front-rear swinging link mechanism 60, the head 20 connected thereto tilts leftward and rearward.

<Head 20 tilted in X (left-right direction) = − 20 °, Y (front-back direction) = 30 °>
In this state, as shown in FIGS. 9A to 9C, the left and right pivoting member 52 of the left and right swinging parallel link mechanism 40 is moved from the left side to the right side as indicated by an arrow G1. This is caused by rotating and further rotating the front / rear rotation member 72 of the front / rear swing link mechanism 60 from the rear side toward the front side as indicated by an arrow G2.

  First, when the left / right turning member 52 of the left / right swinging parallel link mechanism 40 is turned from the left side to the right side as indicated by an arrow G1, the lower link 44 connected to the left / right turning member 52 is The left link 46 is tilted downward as indicated by an arrow G3 and the right link 48 is lowered as indicated by an arrow G4. It becomes.

  Further, the upper link 42 connected to the left link 46 and the right link 48 is inclined downward on the right side.

  On the other hand, when the front / rear rotation member 72 of the front / rear swing link mechanism 60 is rotated from the rear side toward the front side as indicated by the arrow G2, the fifth link 70 connected to the front / rear rotation member 72 is first moved to the arrow. Tilt upward like G5.

In accordance with this, the fourth link 68, the third link 66, and the second link 64 move upward. At this time, the second link 64 connected to the third link 66 is slightly rotated from the left side to the right side as indicated by an arrow G6, so that the second link 64 is connected to the second link 64. The first link 62 also moves upward as indicated by an arrow G7.
Due to the functions of the left-right swinging parallel link mechanism 40 and the front-rear swinging link mechanism 60, the head 20 connected thereto tilts rightward and forward.

<Head 20 tilted in the X (left-right direction) = − 20 °, Y (front-back direction) = − 30 °>
In this state, as shown in FIGS. 10A to 10C, the left and right pivoting member 52 of the left and right swinging parallel link mechanism 40 is moved from the left side to the right side as indicated by an arrow H1. It is generated by rotating and further rotating the front / rear rotating member 72 of the front / rear swing link mechanism 60 from the front side toward the rear side as indicated by an arrow H2.

  First, when the left / right turning member 52 of the left / right swinging parallel link mechanism 40 is turned from the left side to the right side as indicated by an arrow H1, the lower link 44 connected to the left / right turning member 52 is The left link 46 is inclined upward as indicated by an arrow H3 and the right link 48 is lowered downward as indicated by an arrow H4. It becomes.

  Further, the upper link 42 connected to the left link 46 and the right link 48 is inclined downward on the right side.

  On the other hand, when the front / rear rotating member 72 of the front / rear swing link mechanism 60 is rotated from the front side toward the rear side as indicated by the arrow H2, the fifth link 70 connected to the front / rear rotation member 72 is first moved to the arrow. Tilt downward like H5.

  In accordance with this, the fourth link 68, the third link 66, and the second link 64 move downward. At this time, the second link 64 connected to the third link 66 is slightly rotated from the right side to the left side as indicated by an arrow H6, so that the second link 64 is connected to the second link 64. The first link 62 also moves downward as indicated by an arrow H7.

  Due to the functions of the left-right swinging parallel link mechanism 40 and the front-rear swinging link mechanism 60, the head 20 connected thereto tilts rightward and rearward.

  As described above, the three-dimensional motion mechanism structure 10 of the present invention rotates the left and right pivoting member 52 of the left and right pivoting parallel link mechanism 40 and the front and rear pivoting member 72 of the front and rear pivoting link mechanism 60 a predetermined number of times. By moving it, the head 20 can be freely moved in three dimensions.

  When controlling such a three-dimensional motion mechanism structure 10, the left / right rotation member 52 and the front / rear rotation member 72 are gears (not shown), for example, this gear is provided with another gear. The position of the head 20 can be controlled by rotating the electric motor (not shown) and controlling the rotation speed and the number of rotations of the electric motor.

  Here, the electric motor is preferably prepared separately for each of the left and right rotating member 52 and the front and rear rotating member 72, and is preferably controlled. In addition, the electric motor is preferably disposed in the body portion 30, and in this way, the three-dimensional motion mechanism structure 10 is not increased more than necessary.

Further, the three-dimensional motion mechanism structure 10 of the present invention has good maintainability because the number of parts constituting the mechanism is small, and is easy to handle. In particular, the inside of the doll toy, the wrist part of the robot hand, Or it is suitable as a structure disposed on the camera platform.
However, such a three-dimensional operation mechanism structure 10 can be used for a structure having a part that is desired to be operated three-dimensionally, and its usage is not particularly limited.

[Example 2]
Next, a second embodiment of the three-dimensional motion mechanism structure 10 of the present invention will be described with reference to the rear view shown in FIG.

  The three-dimensional motion mechanism structure 10 shown in FIG. 11 is basically the same as the three-dimensional motion mechanism structure 10 of the first embodiment shown in FIGS. Constituent members are assigned the same reference numerals, and detailed descriptions thereof are omitted.

In the three-dimensional motion mechanism structure 10 in the present embodiment, the length of the first connecting portion 66a in the third link 66 of the forward / backward swing link mechanism 60 is equal to the length of the first connecting portion 66a in the first embodiment. In comparison, it is different in that it is configured longer.
Thus, even if the length of the first connecting portion 66a is long, the forward / backward swing link mechanism 60 can function without any problem.

[Example 3]
Next, a third embodiment of the three-dimensional motion mechanism structure 10 of the present invention will be described with reference to the rear view shown in FIG.

  The three-dimensional motion mechanism structure 10 shown in FIG. 12 is basically the same as the three-dimensional motion mechanism structure 10 of the first embodiment shown in FIGS. Constituent members are assigned the same reference numerals, and detailed descriptions thereof are omitted.

In the three-dimensional motion mechanism structure 10 in the present embodiment, the second link portion 66b of the third link 66 of the forward / backward swing link mechanism 60 is the second link like the second link portion 66b in the first embodiment. The difference is that it is not provided in parallel with the vertical axis 84 of 64.
Thus, even if the second connecting portion 66b is configured to have an angle without being parallel to the vertical axis 84 of the second link 64, the forward and backward swing link mechanism 60 can function without any problem. .

[Example 4]
Next, a fourth embodiment of the three-dimensional motion mechanism structure 10 of the present invention will be described with reference to the rear view shown in FIG.

  The three-dimensional motion mechanism structure 10 shown in FIG. 13 is basically the same as the three-dimensional motion mechanism structure 10 of the first embodiment shown in FIGS. Constituent members are assigned the same reference numerals, and detailed descriptions thereof are omitted.

  In the three-dimensional motion mechanism structure 10 according to the present embodiment, the first connection portion 66a of the third link 66 of the forward / backward swing link mechanism 60 is formed in an inverted U shape, and the second connection portion 66b is the second connection portion 66b. The second embodiment differs from the first embodiment in that it is on the same axis as the vertical axis 84 of the two links 64.

  Thus, even if the first connecting portion 66a is formed in an inverted U shape and the second connecting portion 66b is configured to be substantially on the same axis as the vertical axis 84 of the second link 64, there is no problem. The forward / backward swing link mechanism 60 can be functioned.

  The reason why the first connecting portion 66a is formed in an inverted U shape is that it is necessary to give the first connecting portion 66a a certain thickness in terms of strength. The shape as shown in FIG.

  In the present embodiment, the first connecting portion 66a is not particularly limited to a U shape or U shape other than the inverted U shape.

  In short, the first connecting portion 66a is connected to be rotatable about the vertical axis 84 of the second link 64, and thereafter, the same as the vertical axis 84 of the second link 64, As long as the second connecting portion 66b is connected to the first connecting portion 66a, any form may be used.

[Example 5]
Next, a fifth embodiment of the three-dimensional motion mechanism structure 10 of the present invention will be described with reference to the rear view shown in FIG.

  The three-dimensional motion mechanism structure 10 shown in FIG. 15 is basically the same as the three-dimensional motion mechanism structure 10 of the first embodiment shown in FIGS. Constituent members are assigned the same reference numerals, and detailed descriptions thereof are omitted.

  In the three-dimensional motion mechanism structure 10 according to the present embodiment, an opening 94 is provided in the lower middle part of the rear of the trunk portion 30, and the fifth link 70 of the forward / backward swing link mechanism 60 projects from the opening 94. It is different in that it is configured as follows.

  Even if comprised in this way, the link mechanism 60 for back and forth rocking | fluctuation can be functioned without any problem.

  In addition, since this shape can accommodate the 5th link 70 in the trunk | drum 30, the three-dimensional motion mechanism structure 10 itself can be made smaller.

  In addition, when the fifth link 70 is housed in the trunk portion 30 in this way, the back-and-forth swing link mechanism 60 is linearly arranged, so that the right and left balance of the three-dimensional motion mechanism structure 10 is good. Thus, not only the stability of the three-dimensional operation mechanism structure itself but also the operation stability of the link mechanism can be enhanced.

[Example 6]
Next, a sixth embodiment of the three-dimensional motion mechanism structure 10 of the present invention will be described with reference to the left side view shown in FIG.

  The three-dimensional motion mechanism structure 10 shown in FIG. 16 has basically the same configuration as the three-dimensional motion mechanism structure 10 of the first embodiment shown in FIGS. Constituent members are assigned the same reference numerals, and detailed descriptions thereof are omitted.

  In the three-dimensional motion mechanism structure 10 in the present embodiment, the second connecting portion 66b of the third link 66 of the forward / backward swing link mechanism 60 is linearly formed like the second connecting portion 66b in the first embodiment. They are not configured, but differ in that they are configured in steps.

  Thus, even if the second connecting portion 66b is configured in a stepped shape, the forward / backward swing link mechanism 60 can function without any problem.

  In addition, this shape is for arrange | positioning the 1st connection part 66a and the 2nd link 64 in the 3rd link 66 in substantially perpendicular | vertical form, and if comprised in this way, the 2nd link 64 and the 3rd link 66 will be made. It can be brought closer to the body 30. For this reason, it is particularly suitable when the three-dimensional motion mechanism structure 10 is disposed in a structure that is desired to be downsized.

As mentioned above, although the preferable form of the three-dimensional movement mechanism structure in this invention was demonstrated, this invention is not limited to said form.

  For example, in the above-described embodiment, the left and right turning member 52 is provided in the front-rear direction of the body portion 30 and the front and rear turning member 72 is provided on either the left or right side of the body portion 30. May be provided on either the left or right side of the body 30, and the front-rear rotation member 72 may be provided in the front-rear direction of the body 30. Further, the left and right turning member 52 and the front and rear turning member 72 may be provided on the same surface of the body portion 30. In such a case, it is possible to easily cope with this by adding a gear separately or changing the configuration slightly.

  Furthermore, when the trunk portion 30 has a certain size, the left and right pivoting member 52 and the front and rear pivoting member 72 can be disposed inside the trunk portion.

  In short, as long as the left / right turning member 52 and the front / rear turning member 72 are pivotally supported by the body portion 30, they may be located outside or inside the body portion 30. is there.

  Thus, the three-dimensional motion mechanism structure of the present invention can be variously modified without departing from the object of the present invention.

DESCRIPTION OF SYMBOLS 10 ... Three-dimensional motion mechanism structure 20 ... Head 30 ... Body 40 ... Parallel link mechanism for right-and-left swing 42 ... Upper link 44 ... Lower link 46 ... Left side Link 48... Right link 50... Intermediate link 52. Left and right pivoting member 60. Forward / backward swing link mechanism 62 ... First link 64 ... Second link 66 ... Third Link 66a .. First connection portion 66b .. Second connection portion 68... Fourth link 70... Fifth link 72. ..Axis in the left-right direction of the head 82 ... Axis in the front-rear direction of the head 84 ... Axis in the vertical direction of the second link 86 ... Axis in the vertical direction of the third link 88 ... Third A longitudinal axis approximately perpendicular to the vertical axis of the link 90 ... A longitudinal axis of the first link 94 ... opening

Claims (15)

A three-dimensional motion mechanism structure that mimics the movement of the head,
The three-dimensional motion mechanism structure is
The head,
A trunk disposed to be located below the head;
Connected to the head and connected to a left and right rotating member pivotally supported on the body, and rotating the left and right rotating member to swing the head left and right. A link mechanism;
A forward / backward swing link mechanism that is connected to either the front or rear of the head and swings the head back and forth by rotating a front / rear rotation member pivotally supported by the body. When,
With
A three-dimensional motion mechanism structure characterized in that the head is moved three-dimensionally by rotating the left-right rotation member and the front-rear rotation member. The left and right pivoting member of the left and right swinging parallel link mechanism is
The three-dimensional motion mechanism structure according to claim 1, wherein the three-dimensional motion mechanism structure is pivotally supported in the front-rear direction of the body portion. The left and right swing parallel link mechanism is
An upper link connected to the head so that the head can be rotated in the front-rear direction around the left-right axis of the head;
A lower link coupled to the left and right pivot member and connected to follow the left and right pivot member;
A left link connecting the left end of the upper link and the left end of the lower link;
A right link connecting the right end of the upper link and the right end of the lower link;
Vertical holding means for holding the left link and the right link substantially vertically;
With
2. The head is configured to swing left and right along the lower link, the left link, the right link, and the upper link by rotating the left and right rotating member. Or the three-dimensional motion mechanism structure of 2. The vertical holding means;
4. The three-dimensional motion mechanism structure according to claim 3, wherein both end portions are intermediate links that are connected to the left link and the right link and are pivotally supported in the front-rear direction of the body portion. The longitudinal pivoting member of the longitudinal swing link mechanism is
The three-dimensional motion mechanism structure according to any one of claims 1 to 4, wherein the three-dimensional motion mechanism structure is pivotally supported in a left-right direction of the body portion. The front and rear swing link mechanism is
A first link having one end connected to either the front or the rear of the head so that the head can be rotated about the front-rear direction axis;
A second link having one end connected to the other end of the first link so as to be able to rotate in the vertical direction so as to be in contact with and away from the body part;
A third link having one end connected to the other end of the second link so that the second link can rotate about the vertical axis of the second link;
A fourth link having one end connected to the other end of the third link so as to be able to rotate about a longitudinal axis substantially perpendicular to the vertical axis of the third link;
One end side is connected to the other end side of the fourth link, and the other end side is fixed to the front-rear rotating member so that the one end side can be turned up and down so that one end side of the barrel portion is in contact with and separated from the body portion. The fifth link made,
With
The head is configured to swing back and forth through the fifth link, the fourth link, the third link, the second link, and the first link by rotating the front / rear rotating member. The three-dimensional motion mechanism structure according to any one of claims 1 to 5. The third link is
A first connecting portion in which the other end side of the second link and one end side thereof are connected;
A second connection part that is suspended from the other end side of the first connection part and connected to one end side of the fourth link;
The three-dimensional motion mechanism structure according to claim 6, wherein: The horizontal axis of the first connecting portion of the third link is
The three-dimensional motion mechanism structure according to claim 7, wherein the three-dimensional motion mechanism structure is configured to be orthogonal to the vertical axis of the second link. The vertical axis of the second connecting portion of the third link is
9. The three-dimensional motion mechanism structure according to claim 7, wherein the three-dimensional motion mechanism structure is configured to be parallel to an axis in a vertical direction of the second link. The vertical axis of the second connecting portion of the third link is
The three-dimensional motion mechanism structure according to claim 7 or 8, wherein the three-dimensional motion mechanism structure is on the same axis as the vertical axis of the second link.   The three-dimensional motion mechanism structure according to any one of claims 1 to 10, wherein the left-right rotation member and the front-rear rotation member are gears.   The three-dimensional motion mechanism structure according to claim 10, further comprising an electric motor that rotates a gear of the left-right swinging parallel link mechanism.   The three-dimensional motion mechanism structure according to claim 11 or 12, further comprising an electric motor that rotates a gear of the forward / backward swing link mechanism.   The three-dimensional motion mechanism structure according to claim 12 or 13, wherein the electric motor is disposed in the body portion. The three-dimensional motion mechanism structure is
The three-dimensional motion mechanism structure according to any one of claims 1 to 14, wherein the three-dimensional motion mechanism structure is a structure disposed on the inside of a doll toy, a wrist portion of a robot hand, or a camera platform.

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