JP2887303B2 - Link mechanism for moving adjacent links separated by one and instrument apparatus having this link mechanism - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a novel link mechanism for moving adjacent links separated by one, and to a device having such a link mechanism.

[0002]

2. Description of the Related Art Conventionally, various link mechanisms exist, and various mechanical movements are configured based on the link mechanisms.

[0003]

SUMMARY OF THE INVENTION The inventor of the present invention has intensively studied a link mechanism which enables a novel movement based on a conventional link mechanism, and has completed the present invention. It is an object of the present invention to provide this new link mechanism.

[0004]

In order to achieve the above object, in a link mechanism according to the present invention, five or more links are rotatably connected in series, and each link swings with a link separated by one. It is possible to move the adjacent link which is separated by one, so that the link can be moved in the same direction and the swing in the opposite direction in the interlocking of the one link and the application movement. By appropriately selecting, it is possible to cause a series of link groups to make unique movements as a whole and to design various movements.

Another object of the present invention is to provide an appliance using the link mechanism according to the present invention.

In the present invention, in order to link each link with a link separated by one and swinging motion, a wire and a link are used.
A belt, a gear, an arcuate gear formed at an end of a link, or the like can be used.

As shown in FIG. 21, "a link separated by one" means that a link I is a pair with a link III with one link II separated, and a link II is a pair with an IV link with one link III separated. Means that a wire belt or a gear or the like having a circle or an arc as a pitch circle therebetween is connected to each other so as to rotate but not slip with each other. In FIG. 21, A and I ', B and B', and C and C 'are separately shown so as not to complicate the drawing, but are the same depending on the rotation centers (A), (B), and (C). Links I, I fit into the center of rotation
I, III, and IV are connected in a series. The mark in the figure indicates that a portion called a circle or an arc and the end of the link are fixed or the same.

FIG. 22 shows the relationship of each link when the dynamic coupling between the links is a gear. The links I, II, III, IV, V, and VI are successively arranged about the center of rotation. And a series of link yarns adjacent to the link, and the dynamic connection forms a pair with the next link separated by one adjacent link and is joined by a gear.

Further, in the present invention, "diversified movement" means, when designing a series of links connected by a number of links, when designing a series of links, the radius of gyration of the circle or arc at both ends of each link. Can change the movement of one link that is dynamically joined to it, so by incorporating many of these changes and changing the combination, various movements can be performed. This means that a simple link group can be designed.

[0010]

Since the link mechanism according to the present invention is constructed as described above, it can perform a unique mechanical motion which has not existed conventionally. Here, the “unique mechanical motion” is centered on a rotation center that connects two adjacent links (not two links with one link apart) having a series of link groups. If it is assumed that there is no mechanical clearance, slippage, elongation, etc. when moved by the angle θ, when the radius of the circle or arc at the end of each link is set to a certain value, it is moved by a certain angle θ. The movements of the n-th link counted from the linked links are strictly defined theoretically, and are unique movements constituted as a whole link group. For this reason, a link group designed based on a certain idea can exhibit a unique motion as a whole. In the text, the “unique mechanical movement” that appears afterwards
Has the same meaning as in such a case.

Further, since the apparatus having the link mechanism according to the present invention utilizes the above-mentioned link mechanism, it is possible to perform a unique mechanical movement which has not been conventionally provided.

[0012]

In FIG. 1, two pulleys A, B and 2 are attached to rotating shafts 1 and 2 at both ends of an arm C fixed to a base so as to be freely rotatable. The arms 3 and 4 are fixed to a part of the pulley, and the wire 5 is hung in parallel with the two pulleys.
A part of this wire is a part of 6,7, and each arm 3,
It is fixed to 4 and does not slip. When the right arm 3 fixed to the pulley is rotated counterclockwise by an angle θ, the pulley B is turned by the wire 5 on the left arm 4 and is rotated counterclockwise by θ. If the diameter of the pulley A is twice the diameter of the pulley B, it turns by 1 / 2θ, and if it is 1/2, 2θ
Just turn. Due to the diameter ratio of the pulley, the rotation rotates in the same direction by an angle inversely proportional to the diameter ratio.

When the wires are crossed as shown in FIG. 2, the rotation direction is opposite.

FIG. 3 shows a case where the pulley is replaced with a gear. The left and right gears mesh with each other via a central gear D attached to the rotating shaft 8 of the arm C. The rotation of the left and right arms rotates in the same direction by an angle inversely proportional to the diameter ratio of the pitch circle of each gear. Become. The diameter of the gear D is irrelevant.

As shown in FIG. 4, when the left and right gears are directly meshed, the operation is the same as that when the wires shown in FIG. 2 are crossed.

The gears are meshed directly or in the center, and the rotation direction of the driven side is the same as that of crossing wires when an even number of gears are interposed in series. When it is made to move, it moves in the same direction as the one that is hung in parallel.

The distance between the rotating shafts at both ends of the arm C can be shortened or lengthened by the length of the wire, the number of intervening gears, and the pitch circle diameter.

Now, these are ordinary link mechanisms,
In FIG. 5 (the circle portion is the pitch circle of the gears and is assumed to be meshed with each gear, the same applies hereinafter), the right arm 1 is fixed to the large gear 2 and the center of the gear is free rotation. It is joined by a shaft 3 to a link 4 having a platform. On the left side of the link 4, a large gear 5 is fixed and integrated. A small gear 7 is fixed to the right end of the link 6 adjacent to the left, and a large gear 8 is fixed to the left end, so as to be integrated. This link 6
Center of rotation of the small gear 7 and the large gear 5 on the left side of the mounted link 4
The center is the rotary shaft 9 and the small gear 7
Simultaneously meshes with the large gear 2 of the right arm 1. Further, a link 10 similar to the link 6 is engaged with the right end small gear 11 with the large gear 5 of the base link 4 and the rotation shaft 12 is connected to the link 6.
To the center of the left large gear 8 and rotate freely. At the center of the left end large gear of the link 10, a link 15 having a small gear 14 on the rotating shaft 13 is fitted, and this small gear 14 is simultaneously meshed with the left end gear 8 of the link 6 separated by one right link. Further, the left end of the link 15 has a rotating shaft 16, and a link 17 is spit on this, and the small gear 18 at the right end of the link 17 is a large gear 19 of
Is engaged with.

In FIG. 6, when the link 1 is displaced from the link 4 by a certain angle θ, the large gear 2 of the link 1 rotates around the rotation shaft 3 by θ degrees and the small gear 7 of the link 6 The link 6 is rotated by 2θ degrees around the rotation axis 9 of the link 4 by an angle 2θ degrees that is inversely proportional to the diameter ratio. Since the small gear 11 of the link 10 is engaged with the rotating shaft 12 of the link 6 and meshes with the large gear 5 of the link 4, when the link 6 rotates about the rotating shaft 9 with respect to the link 4 by 2θ degrees. The link 10 rotates around the rotation axis 12 by 4θ degrees.
This means that the link 1 that fits into the rotating shaft 13 of the link 10
The fifth small gear 14 rotates around the rotation shaft 12 by 4θ degrees, and the small gear 14 meshed with the large gear 8 rotates 8θ degrees around the center of the rotation shaft 13. Similarly, the link 17 is
Is rotated 16 ° around. Link 1 is θ
A series of links move at the same time as the rotation of FIG.

FIG. 7 shows a case where all the gear diameters are the same pitch circle diameter and the link 1 is rotated by θ degrees by the link connection of FIG.
It is. The rotation angle of each link is the same θ degree. In FIG. 7, θ is 15 °, and FIG. 8 shows only the points (including the rotation axis) of each link when the rotation angle of the link 1 is further increased and θ is 45 °. If the number of links is further increased, the point of each link forms a large equilateral polygon even at a small angle of θ.

FIG. 9 is different from FIG. 7 in that one small gear is meshed between the gears at both ends of each link and the gear of one link apart from each other. Since the tooth form is omitted, the circular part should be understood as a gear, and the figure is similarly drawn below.) The pitch circle diameter of the gears at both ends of each link is the same, and the distance between link points is also the same. The small gear is provided so that the rotation of the link apart by one is reversed, and is independent of the rotation angle. This pinion is held by a shaft at the center of the opposing adjacent link and freely rotates.

FIG. 10 shows that the angle θ between the links is 30 °,
FIG. 11 shows the position of each link point when θ is 90 °.

As shown in FIGS. 7 to 11, when the gears fixed to both ends of the link are engaged directly and when an even number of gears are interposed, the gears are engaged in the same rotational direction and an odd number of gears are interposed. , The rotation direction is reversed.

FIGS. 12 and 13 show a case where the meshed links alternately rotate in the same direction and rotate in the opposite direction. The link shown by the solid line is meshed with three small gears interposed, and the link shown by the chain line is meshed directly. The pinion is held by links 4,5,6,7 and rotates freely to determine the distance between the axes and the pitch circle diameter so as to be located between links 1,2,3,8,9. The pitch circle diameters of the gears facing each link are the same and the rotation angles are the same. Adjacent link, for example, cantilever link 8
Is fixed and the link 7 is rotated by θ degrees, each link is rotated by θ degrees alternately in the opposite direction and in the same direction, and turns in the direction of the arrow in FIG. Thus, the end cantilever link 9 moves parallel to the fixed link 8 in the upward direction of the arrow, and the axis of the gear center of the link 9 is Z
It does not move off the -Z 'line in a straight line.

Next, FIGS. 14 to 17 will be described.
FIG. 14 is a side view of FIG. Link piece 1 is fixed to be the gear 10 pitch diameter phi ₁ is fixed to the base. One axis of rotation of the link 2 is mounted so as to freely rotate around the gear 10, phi ₂ of the gear link the gears 12 of the other of the link 2 phi ₃ is fixed 3 1
1 is present me as mounting the gear 11 of the phi ₁ through the three small gear wheel 10 meshes with a rotating freely. φ ₂ is _１ ／ of φ ₁ , and the other φ ₃ , φ ₄ ,... have the same diameter as φ ₁ . As shown in FIG. 14, the small gear is rotatably mounted between the link 2 and the link 9. The link 9, the link 8, the link 7, and the link 6 hold a small gear, and are shown in FIGS.
Are omitted from the description. In this way, the axial center distance L = 4
Each link 2, 3, 4, 5 is meshed and connected by three small gears at 5 mm. If the link 2 is rotated counterclockwise around the center of the gear 10 so that the angle θ becomes 45 °, the pitch circle diameter φ ₂ of the gear 11 of the link 3 becomes φ ₁
, The link 3 rotates twice the angle and is positioned at 2θ = 90 ° with respect to the link 2. At the same time the other link phi ₃ and subsequent rotation in the opposite direction to the 2 [Theta] = 90 ° alternately for the same diameter, the position shown in FIG. 16. FIG. 17 shows θ =
This shows the position of each link when 15 ° is set. The link 2 is attached to the link 3 so as to be shifted to the left as shown in FIG. The same applies to other links. Thus, the rotation point at the other end of each link is changed to Z-Z 'by changing the angle θ.
It does not move off a straight line.

Further description will be made with reference to FIG.

FIG. 18 shows a link joint similar to that described with reference to FIGS. 14 to 17, but FIG. 16 and FIG.
While one axis of each link moves on −Z ′, FIG. 18 shows a case in which the link moves on a circumference having a radius of L = 33 mm.

As described with reference to FIGS. 14 and 15, φ ₁
The rotation angle of each link is determined by changing the diameter of the following gear pitch circle. In FIG. 18, when the angle between the right-angle line of the fixed link and link 1 is θ, link 2
And the angle 2β of the link 1 and the angle of the link 3 and the link 2 are 2
Set to be θ. In the case of FIG. 18, 2β = θ.

When the same angle is set by the ten links having the same L as described above, the links are arranged in five chevron shapes as shown by the chain line in FIG. 18 and the rotation axis points P ₁ ,
The odd-numbered points shown in P ₃ , P ₅ ,...
R are arranged at equal intervals on the circumference of the radius R. Here the θ θ '= 45 ° altered ask if each link end point P ₁₁ of the result links binding the position shown by dotted line P moves on the circumference of a radius R' to move to _11. If the angle is changed to θ ″ = 71 °, similarly, P ₁₁ moves on the circumference to P ″ ₁₁ . Each link at this time is at the position indicated by the double-dashed line. At this time, a central angle α formed by a straight line connecting the point of each link and the center of the circle is θ−β. FIG.
In the case of 8, α = β because 2β = θ is set.

Next, the description moves to FIG.

FIG. 19 is similar to FIG. 18 except that β and θ
Is set as 2β = 1.5θ, and L = 3
3 will be arranged on the circumference of the larger radius R even if it is as it is. In FIG. 19, eight chevrons are formed. When θ = 10 °, it is indicated by a chain line, and when θ = 50 °, it is indicated by a dotted line. The center angle α formed by a straight line connecting each point and the center of the circle is θ−β, but unlike FIG. 18, when θ changes, the center of the circle moves on the line AA ′ perpendicular to the fixed link, and FIG. In this case, details are omitted, but θ = 10 ° in calculation.
When R ≒ 98.72 mm, θ ′ = 50 ゜ When R′9
One point of the link moves on a circle with a radius of 2.81 mm. However, the variation in radius is not large, and each point may be considered to make a circular motion approximately.

In the case of FIG. 18, R =
Although moving on the L circumference, in FIG. 19, a link connection which moves in a substantially circular shape is formed although the center of the circle fluctuates. If this link mechanism is used, the axial center of the link changes, and the pitch circle fixed to each link end is changed. Various circular motions can be made by changing the diameter in various ways.

Finally, the case of link connection shown in FIG. 20 is added.

As described above with reference to FIG. 7, if the axial center distance L of the link is constant and the diameter of the pitch circle is equal so that each rotation angle θ is equal, the number of links is increased so that the link is close to a circle. FIG. 20 shows an example in which when the L of each link is gradually reduced and the number of teeth of the gear is gradually reduced one by one, the point of each link changes with the change of θ. Indicated. Each link is rotating in the same direction.

As described above with reference to FIGS. 1 to 20, the size and meshing of the gears are changed clockwise and counterclockwise, and L is variously changed by the link mechanism of the present invention. A series of link joints can be made to perform a certain movement.

Also, an example has been shown mainly by gear engagement, but this connection can be replaced by a parallel hook or a cross hook of a wire, a belt or the like as described above.

Furthermore, the diversity is further expanded by taking into account factors such as changing the formation of the pitch circle and the pulley from a circle to an eccentric circle, an ellipse or another curve. Even if the number of links is increased, there is no problem in accuracy, holding weight, and the like in the weightless space.

[0038]

According to the present invention, five or more links are rotatably connected in series, and each link is capable of interlocking the one link and the swinging motion. In this case, in the interlocking of the link and the rocking motion, the link in the one direction and the rocking in the opposite direction are appropriately selected to make the series of links have a unique motion as a whole. And various movements can be designed.

Therefore, the application value of this link mechanism is extremely high.

Further, since the apparatus having the link mechanism according to the present invention utilizes the above-described link mechanism, it is possible to perform a unique mechanical movement which has not existed conventionally.

[Brief description of the drawings]

FIG. 1 is a front view of a conventional link mechanism.

FIG. 2 is a front view of a conventional link mechanism.

FIG. 3 is a front view of a conventional link mechanism.

4A is a front view of a conventional link mechanism, and FIG. 4B is a plan view of the same.

FIG. 5A is a front view of the first embodiment of the present invention,
(B) is the same top view.

FIG. 6 is a front view showing the same operation state.

FIG. 7 is a front view showing the modification.

FIG. 8 is an explanatory diagram of the exercise state.

FIG. 9 (b) is a front view of a second embodiment of the present invention,
(A) is the same top view.

FIG. 10 is an explanatory diagram of the exercise state.

FIG. 11 is an explanatory diagram of one exercise state.

FIG. 12 (a) is a front view of a third embodiment of the present invention,
(B) is a partial enlarged view of (a).

FIG. 13 is a front view of the exercise state.

FIG. 14 is a front view of a fourth embodiment of the present invention.

FIG. 15 is a diagram showing the same operation state.

FIG. 16 is an operation state diagram of the same.

FIG. 17 is an operation state diagram of the same.

FIG. 18 is another operation state diagram.

FIG. 19 is another operation state diagram.

FIG. 20 is another operation state diagram.

FIG. 21 is an explanatory diagram of rotation of a link mechanism.

FIG. 22 is another explanatory view of the same.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Link 2 ... Link (large gear) 3 ... Link 4 ... Link 5 ... Link (large gear) 6 ... Link 7 ... Link (small gear) 8 ... Link (large gear) 9 ... Link 10 ... Link 11 ... Small gear 14 ... small gear 15 ... link 17 ... link 19 ... large gear D ... gear

Claims (2)

(57) [Claims] 1. Five or more links are connected so as to be rotatable in series, and each link is capable of interlocking a rocking motion with a link separated by one, and is capable of moving an adjacent link separated by one. Link mechanism to let. 2. Linking five or more links so as to be rotatable in series, each link being capable of interlocking one link with a rocking motion, wherein one link is adjacent to the movable link. Device having a link mechanism for causing