JPH0325305A - Rotation restraint device - Google Patents

Abstract

PURPOSE:To support a body to be restrained so that its rotation is restrained and other motion is allowed by swinging 1st parallel links on pivot points on a fitting plate and swinging 2nd parallel links on pivot points on a rotary shaft. CONSTITUTION:The 1st parallel links 2 and 2 of this rotation restraint device can swing on pins 3 and 3 as shown by arrows 17 and 17 and the 2nd parallel links 9 and 9 can swing on pins 8 and 8 as shown by arrows 18 and 18 and rotate together with the rotary shaft 7 as shown by an arrow 19. The outside ring 14 of the holder 10 to be restrained can rotate on the rotary shaft 13 (rotating on a thetaZ axis) and the inside ring 16 can rotates on rotary shafts 15 and 15. Therefore, the body to be restrained which is held by the inside link 16 is restrained only from rotating on a thetaY axis perpendicular to a plane in a figure, but allowed to move freely in other directions.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a rotation restraint device that restrains the rotation of a restrained body and allows other interlocking movements.

[Problem to be solved by the invention]

There are cases where it is necessary to support a member that moves in various ways by restricting only its rotational movement. For example, to support the fixed case of an encoder for measuring the angle of rotation of an automobile axle, to support parts supplied to moving equipment, or to support cables or fibers attached to moving equipment. This is the case when retaining the information.

Therefore, the present invention aims to provide a rotation restraint device that restrains the rotation of a restrained body and allows other interlocking movements.

(Means for Solving the Problem) This problem is solved according to the present invention by a first parallel link having one end attached and the other end pivotally connected to an angle changing plate;
Pivotally mounted on a rotating shaft rotatably bearing on the angle change plate,
a second parallel link whose other end is pivotally connected to the support member of the restrained body holder; the first parallel link is swingable about a pivot point on the mounting plate; The link is swingable about a pivot point on the rotation axis and rotatable together with the rotation axis, and the restrained object holder is formed as a gimbal mechanism, and this gimbal mechanism is connected to the second parallel link. an outer ring rotatably supported on the support member that pivotally holds the other end; and an inner ring rotatably supported on the outer ring and holding the restrained body; This problem is solved by having the rotation axes orthogonal to each other.

Preferably, at least one of the swinging motion or rotational motion of the first parallel link, the second parallel link, the outer ring, or the inner ring is restrained.

[Action of the invention]

With the above structure, the first parallel link allows movement of the restrained object in the X-axis direction, the second parallel link allows movement in the Y-axis direction and the Z-axis direction, and the inner ring and outer ring on the side of the gimbal machine allow movement around the θχ axis and θ2 axis, respectively. Therefore, only the rotation of the restrained body around the θγ axis is restrained.

〔Example〕

Next, embodiments of the present invention will be described in detail with reference to the drawings.

In Fig. 1, reference numeral 1 indicates a mounting plate that is fixed in an immovable place, and 2.2 indicates a first mounting plate that is pivotally connected to the mounting plate 1 with a pin 3.3.
is a parallel link. The other end of this parallel link 2.2 is pivotally connected to the angle changing plate 5 by a pin 4.4. A bearing bracket 6.6 is fixed to the angle changing plate 5, and a rotary shaft 7 is rotatably supported by the bearing brackets 6,6.

A second parallel link 9.9 is pivotally connected to both ends of the rotating shaft 7 via a pin 8.8. Second parallel link 9.9
The other end is pivotally connected via pins 12, 12 to the support member ILI1 of the restrained object holder 10, which is shaped as a gimbal mechanism. This Jinhal mechanism has a rotating shaft of 13.13
The outer ring 14 is rotatably supported on the support member 11.11 via the outer ring 14, and the restrained body (not shown), which is rotatably supported on the outer ring 14 via the rotation axis 15.15, is directly connected to the outer ring 14. It is provided with an inner ring 16 for holding. Rotating shafts 13, 13; 15 of the outer ring 14 and inner ring 16
, 15 are orthogonal to each other. In the case of the rotation restraint device of the above structure, the first parallel link 2.2 is swingable in the direction of the arrow 17.17 about the bin 3.3 (movement in the X-axis direction).

The second parallel link 9,9 is centered around the bins 8,8 with the arrow 18
．． It is swingable in 18 directions (interlocking in the Z-axis direction) and rotatable in the direction of arrow 19 together with the rotating shaft 7 (Y
axial movement). Outer ring 1 of restrained object holder 10
4 is rotatable around the rotation axis 13.13 (rotation around the θ2 axis), and the inner ring 16 is rotatable around the rotation axis 15.15 (rotation around the θχ axis). Therefore, the restrained body held by the inner ring 16 is restrained only in its rotational movement around the θy axis perpendicular to the plane of the drawing, and can freely move in other directions.

Next, an example of use of the rotation restraint device will be described with reference to FIG. 2. FIG. 2 shows an example of supporting a fixed case 20 of an encoder (rotation angle detector) attached to a force component force detector 21 of an automobile axle. That is, the inner ring 16 of the aforementioned restraint object holder holds the fixed case 20 of the encoder so as not to rotate. Encoder fixed case 20 and protruding shaft 22 of force component force detector 21
An encoder main body 23 is arranged between the two. Although the force component force detector 2l is not shown in detail, it is used to measure the external force from various directions received from the road surface and the component force of the tire driving force during driving using a built-in strain gauge. This force component force detector 2l is connected to a wheel 24 and an axle hub 25 of the automobile. In addition, in FIG. 2, 26 is a tire.

The strain gauge of the force component force detector 21 is, for example,
The component forces in the axial and Z-axis directions, and the component forces around the X-axis, Y-axis, and Z-axis are detected. Since the force component force detector 21 is rotating together with the tire 26, the signal of each component force is a signal in a rotating coordinate system. Therefore, it is necessary to convert this component force signal in the rotating coordinate system into a component force signal in the stationary coordinate system, and for this purpose, the rotation angle (phase angle) of the tire 26, etc. is detected by an encoder, and a calculation device (not shown) is used. is calculated together with the component force signal.

The axle hub 25, force component force detector 21, encoder, etc. are supported by a suspension system and a steering mechanism while the vehicle is running, so they move in various directions in response to external forces from the ground and steering forces. . Therefore, the encoder fixed case 20 must also move following this movement. However, in order to measure the rotation angle (phase angle) of the axle, it is necessary to hold the fixed case 20 of the encoder so that it does not rotate. Therefore, by using the rotation restraint device shown in FIG. 1, the encoder fixed case 20 is supported so that only its rotational movement is restrained and it can move freely in other directions. In this case, the mounting plate 1 of the rotation restraint device is fixed to the bumper, body, etc. of the automobile.

Although the embodiments of the present invention have been described above, the present invention is not limited to the above embodiments. For example, the rotational restraint device according to the present invention not only controls the rotational movement of the restrained object, but also
At least one movement in other directions may be restricted. Furthermore, the rotational restraint device according to the present invention can be used not only to support the fixed case of an encoder disposed coaxially with the axle of an automobile, but also to support parts supplied to a moving device, for example. It can also be used to hold cables and fibers attached to moving equipment.

〔Effect of the invention〕

As mentioned above, the rotational restraint device according to the present invention has the advantage that it can support a restrained object in a manner that restrains the rotation of the restrained object and allows other movements.

[Brief explanation of drawings]

FIG. 1 is a diagram showing a rotation restraint device according to an embodiment of the present invention;
FIG. 2 is a diagram showing an example of use of the rotation restraint device shown in FIG. 1. 2.2...Parallel link, 5...Angle change plate, 7
...Rotation axis, 9.9...Parallel link, 10.
...Restricted body holder 11, 11... Support member,
13.13... Rotating shaft for outer ring, 14.
... Outer ring, 15.15... Rotating shaft for inner ring, l6... Inner ring, 20... Constrained body (encoder fixed case)

Claims (1)

[Claims] 1. A first parallel link having one end pivotally connected to the mounting plate and the other end pivotally connected to the angle changing plate; and one end pivotally connected to a rotating shaft rotatably supported by the angle changing plate. and a second parallel link whose other end is pivotally connected to the support member of the restrained object holder, the first parallel link is swingable about a pivot point on the mounting plate, and the second parallel link is pivoted about a pivot point on the mounting plate; The parallel link is swingable about a pivot point on the rotation axis and rotatable together with the rotation axis, and the restrained body holder is formed as a gimbal mechanism, and this gimbal mechanism is connected to the second gimbal mechanism. an outer ring rotatably supported on the support member that pivotally holds the other end of the parallel link;
A rotational restraint device comprising an inner ring rotatably supported by the outer ring and holding a restrained object, the rotational axes of the outer ring and the inner ring being orthogonal to each other. 2. The rotational restraint device according to claim 1, wherein at least one of the swinging motion or rotational motion of the first parallel link, the second parallel link, the outer ring, or the inner ring is constrained.