JPH0650402A - Link mechanism moving next link but one and apparatus, device and the like having this mechnism - Google Patents

Abstract

PURPOSE:To provide a unique mechanical motion which has never existed before by connectively providing a plurality of links having a pinion meshed with a gear of an adjacent link in joint structure and moving the link positioned in an end part of the side opposite to an arm through the operation of the arm provided on one end side. CONSTITUTION:A gear 2 integrally provided with an arm 1 is rotatively pivoted on a link 4 which is erected on a base stand and integrally provided with a gear 5, a link 6 integrally provided with a gear 8 is pivoted in the center of the gear 5 of the link 4, and a pinion 7 of a right end part of the link 6 is meshed with the gear 2. In the center of the gear 8 of the link 6, a link 10 provided with a gear 19 is pivoted, and a pinion 11 of a right end part of the link 10 is meshed with the gear 5. Further, a link 15 having a pinion 14 meshed with the gear 8 is pivoted in the center of the gear 19 of the link 10, a link 17 having a pinion 18 meshed with the gear 19 is pivoted on the other end of the link 15, and then the link 17 is moved and displaced by the operation of the arm 1.

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 from each other and an instrument device having the link mechanism.

[0002]

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

[0003]

The inventor has earnestly studied a link mechanism that enables a new movement based on the conventional link mechanism, and completed the present invention. An object of the present invention is to provide this novel link mechanism.

[0004]

In order to achieve the above object, in the link mechanism according to the present invention, a link or a circular arc centering on the rotation center is formed at the end of the link having a rotation center that can freely rotate. A part of the same body as that of the link is provided, and the rotation centers of four or more links are connected by pins or shafts so that they can be mutually rotated, and a series of link joints are formed to form a circle or arc of each end. A pair of circles or arcs at the ends of the links separated from each other and a wire belt or gears using the circles or the arcs as pitch circles or any other method of rotating between them do not slip. Mutual rotation of a pair of adjacent links in this series of links, which are connected as described above, causes rotational movement of the links separated by one.

The present invention also provides instrument devices using the link mechanism according to the present invention.

[0006]

Since the link mechanism according to the present invention is constructed as described above, it is possible to perform a unique mechanical motion which has not existed in the past.

Further, since the instrument device having the link mechanism according to the present invention uses the above-mentioned link mechanism, it is possible to perform a unique mechanical motion which does not exist in the past.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS In FIG. 1, two pulleys A and B are attached to rotating shafts 1 and 2 at both ends of an arm C fixed to a base so that they can freely rotate. Arms 3 and 4 are fixed to parts of the pulleys, and wires 5 are hung parallel to the two pulleys.
Part of this wire is 6, 7 and each arm 3,
It is fixed at 4 and does not slip. When the right arm 3 fixed to the pulley is rotated counterclockwise by an angle θ, the pulley 4 of the left arm 4 is rotated by the wire 5 and the counterclockwise rotation is θ. If the diameter of the pulley A is twice the diameter of the pulley B, it rotates by 1 / 2θ, and if it is 1/2, then 2θ.
Just turn around. Depending on the diameter ratio of the pulley, the rotation rotates in the same direction by an angle inversely proportional to the diameter ratio.

When the wire is hung on as shown in FIG. 2, the rotating directions are opposite to each other.

FIG. 3 shows the 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 rotary shaft 8 of the arm C, and the rotations of the left and right arms rotate in the same direction by an angle inversely proportional to the diameter ratio of the pitch circles of the respective gears. Become. The diameter of the gear D is irrelevant.

As shown in FIG. 4, when the left and right gears are directly meshed with each other, the movement is the same as when the wires in FIG.

The gear meshes directly with each other, or when the number of gears on the driven side is even in the center, the gears are in the same direction as when the gears are hooked in series, and an odd number of gears are interposed. When it is made to move, it will move in the same direction as when it is hung in parallel.

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

Now, while these are ordinary link mechanisms,
In FIG. 5 (the circled portions are the pitch circles of the gears, and the gears are engaged with each other, the same applies hereafter), the right arm 1 is fixed to the large gear 2, and the center of the gear rotates freely. It is joined by a shaft 3 to a link 4 having a base. 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 of the link 6 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 link with base 4
The center of the small gear 7 meshes with the rotating shaft 9 and freely rotates with each other.
Simultaneously meshes with the large gear 2 of the right arm 1. Further, in the link 10 similar to the link 6, the right end small gear 11 meshes with the large gear 5 of the table-attached link 4, and its rotation shaft 12 meshes with the center of the left large gear 8 of the link 6 to freely rotate. The center of the left end large gear of the link 10 is a link 15 having a small gear 14 on a rotating shaft 13.
The pinion 14 is simultaneously engaged with the left end gear 8 of the link 6 which is separated by one link on the right side. Further, the link 15 has a rotary shaft 16 at the left end thereof, and the link 17 is also supported by the rotary shaft 16, and a small gear 18 at the right end of the link 17 meshes with a large gear 19 of the link 10 which separates one link.

In FIG. 6, when the link 1 is displaced by a certain angle θ with respect to the link 4, the large gear 2 of the link 1 rotates about the rotating shaft 3 by θ degrees, and the small gear 7 of the link 6 meshing with the large gear 2 rotates. The link 6 is rotated about the rotation axis 9 of the link 4 by an angle 2θ degrees inversely proportional to its diameter ratio, and the link 6 is rotated about 2θ degrees. Since the small gear 11 of the link 10 meshes with the rotary shaft 12 of the link 6 and meshes with the large gear 5 of the link 4, the link 6
When is rotated about the rotation axis 9 by 2θ degrees with respect to the link 4, the link 10 is rotated about the rotation axis 12 by 4θ degrees. This means that the small gear 14 of the link 15 that engages with the rotating shaft 13 of the link 10 rotates about the rotating shaft 12 by 4θ degrees, and the small gear 14 meshed with the large gear 8 rotates about the rotating shaft 13 by 8θ degrees. Rotate. Similarly, the link 17 rotates about the rotation axis 16 by 16θ degrees. With the above movement, a series of links move at the same time when the link 1 rotates by θ degrees and the state shown in FIG. 6 is obtained.

When all the gear diameters are set to the same pitch circle diameter in the link connection of FIG. 5 and the link 1 is rotated by θ degrees, FIG.
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 points of each link form a large equilateral polygon even at a small angle of θ.

FIG. 9 shows a structure in which one small gear is meshed between the gears at both ends of each link and the gears of the links separated from each other with respect to FIG. Since the tooth profile is omitted, the circular part should be understood as a gear, and so on. The diameter of the pitch circles of the gears at both ends of each link is the same, and the distance between the link points is also the same. The small gears are inserted so that the rotations of the links separated by one are in opposite directions, and are independent of the rotation angle. The pinion gear is held by the shaft of the central portion of the adjoining adjoining link and is freely rotated.

FIG. 10 shows that the mutual angle θ of the links is 30 °, and FIG.
Indicates 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 mesh directly or when an even number of gears are interposed, the gears are meshed in the same rotation direction and an odd number of gears. When turned on, the direction of rotation is opposite.

FIG. 12 and FIG. 13 show the case where the meshed links are alternately connected to each other, rotating in the same direction and rotating 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 directly meshed. The pinion is held by the links 4,5,6,7 and freely rotates to determine the inter-axis distance and the pitch circle diameter so as to come between the links 1,2,3,8,9. The pitch circle diameters of the gears facing each other are the same, and the rotation angles are the same. When adjacent links, for example, the cantilevered links 8 are fixed and the links 7 are rotated by θ degrees, the respective links are in opposite directions,
Rotate θ degrees alternately with the same direction and rotate in the directions of the arrows in FIG. 13, respectively.
Thus, the cantilever link 9 at the end is translated in the arrow upward direction with respect to the fixed link 8, and the axis of the gear center of the link 9 is ZZ ′.
It moves straight on the line and never comes off.

Next, FIGS. 14 to 17 will be described. Figure 14
FIG. 16 is a side view of FIG. The link piece 1 is fixed to the base, and the gear 10 having a pitch circle diameter φ ₁ is also fixed to this. One of the rotation shafts of the link 2 is attached to the center of the gear 10 so as to freely rotate, and the other end of the link 2 is fixed with the gear 12 of φ ₃ and the shaft thereof has the rotation of the gear 11 of φ ₂ of the link 3. This gear 11 is a gear of φ ₁ through three small gears.
Mesh with 10. φ ₂ is 1/2 of φ ₁ , and the other φ ₃ , φ ₄ , ... Have the same diameter as φ ₁ . As shown in FIG. 14, the pinion gear is rotatably mounted between the link 2 and the link 9. The link 9, link 8, link 7, and link 6 hold small gears, and the description thereof is omitted in FIGS. 15, 16, and 17. In this way, each link 2, 3, 4, 5 with the axial center distance L = 45 mm
Are meshed and connected via three small gears. If the link 2 is rotated counterclockwise about the center of the gear 10 so that the angle θ is 45 °, the pitch circle diameter φ ₂ of the gear 11 of the link 3 is 1/2 of φ ₁ It rotates twice and it becomes a position of 2θ = 90 ° with respect to the link 2. At the same time, since the other links have the same diameter after φ _3, 2θ = 90 °
Alternately, it turns in the opposite direction to the position shown in FIG. Figure 17
Indicates the position of each link when θ = 15 °. It should be noted that the link 2 does not hit even if θ becomes relatively small.
As shown in (3), the link 3 is attached to the left side by being shifted. The same applies to other links. Thus, the rotation point at the other end of each link is Z-
It moves on the Z'straight line and does not come off.

Continuing the description with reference to FIG. 18,

FIG. 18 shows a link connection similar to that described with reference to FIGS. 14 to 17, but in FIGS. 16 and 17, one axis of each link moves on a straight line ZZ ′, while FIG. Then, the case where the link is moved on the circumference having a radius of L = 33 mm is shown.

As explained in FIGS. 14 and 15, the rotation angle of each link is determined by changing the diameter of the gear pitch circle of φ ₁ or less. In FIG. 18, the right angle line of the fixed link and the link 1 form When the angle is θ, the angle 2β between the link 2 and the link 1 and the angle between the link 3 and the link 2 are set to 2θ. In the case of FIG. 18, 2β = θ.

In this way, if the same angle is set by the ten links having the same L, as shown by the chain line in FIG.
Links are arranged in a mountain shape and the rotation axis point P ₁ ,
The odd-numbered points shown in P ₃ , P ₅ , ... L =
They are arranged at equal intervals on the circumference of radius R which is R. If θ is changed to θ ′ = 45 ° here, each link becomes the position shown by the dotted line, and the final point P ₁₁ of link connection moves on the circumference of radius R and moves to P ′ ₁₁ . Further, if θ ″ = 71 ° is changed, similarly P ₁₁ moves on the circumference to P ″ ₁₁ . At this time, each link is at the position shown by the double-dashed line. At this time, the central angle α formed by the straight lines connecting the points of each link and the center of the circle is θ-β. In the case of FIG. 18, 2
Since β = θ is set, α = β.

Next, description will be made regarding FIG.

FIG. 19 is similar to FIG. 18, but the relationship between β and θ is set to 2β = 1.5 θ, and even if L = 33 is left as it is on the circumference of a larger radius R. Will be lined up. In Fig. 19, eight chevrons are formed.
= 10 ° is shown by a chain line, and θ = 50 ° is shown by a dotted line. The central angle α formed by the straight line connecting each point and the center of the circle is θ
-Β, but unlike in Fig. 18, when θ changes, the center of the circle moves on the line AA 'perpendicular to the fixed link, and in the case of Fig. 19,
Details are omitted, but when calculating θ = 10 °, R ≈ 98.72 mm,
When θ ′ = 50 °, one point of the link moves on the circumference of a radius of R≈92.81 mm. However, the variation of the radius is not large, and it can be considered that each point approximately makes a circular motion.

In the case of FIG. 18, R = L regardless of the change of θ
Although it moves on the circumference, in Fig. 19, a link coupling that moves in a substantially circular shape is formed although the center of the circle fluctuates.If this link mechanism is used, the center of the link axis changes and the diameter of the pitch circle fixed at each link end. It is possible to make various circular motions by changing variously.

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

As described above with reference to FIG. 7, if the diameters of the pitch circles are made equal so that the axial distance L of the link is constant and the respective rotation angles θ are equal, the number of links increases and the number of links becomes closer to a circle. Fig. 20 shows an example in which the point of each link changes with the change of θ when L of each link is gradually reduced and the number of teeth of the gear is gradually reduced. Indicated. This is the case where all the links rotate in the same direction.

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

Also, although an example has mainly been shown in which gears are meshed with each other, as described at the beginning, this coupling can be replaced by parallel hanging or straddling of wires, belts and the like.

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

[0034]

The link mechanism for moving the adjacent links separated from each other, and this link mechanism are the same as the link formed of a circle or an arc centered on the rotation center at the end of the link having the rotation center that can freely rotate. The part of
The rotation centers of four or more links are connected by pins or shafts so that they can rotate relative to each other to form a series of link joints, and one end of the link is separated from the circle or arc portion of each end. This series of links is formed by forming a pair of circles or arcs into one another and connecting them to each other by wire belts or gears having the circles or arcs as pitch circles or by other means so that they do not slip even if they rotate with each other. Since the mutual rotation of the pair of adjacent links causes the rotational movement of the links separated by one, it is possible to perform a unique mechanical movement which does not exist in the past.

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

Further, since the instrument device having the link mechanism according to the present invention uses the above-mentioned link mechanism, it is possible to perform a unique mechanical motion which does not exist in the past.

[Brief description of 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.

5A is a front view of the first embodiment of the present invention, and FIG. 5B is a plan view of the same.

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

FIG. 7 is a front view showing the modification.

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

9B is a front view of the second embodiment of the present invention, and FIG. 9A is a plan view of the same.

FIG. 10 is an explanatory view of the same 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)
FIG. 7A is a partially enlarged view of (a).

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

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

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

FIG. 16 is a diagram showing the same operating state.

FIG. 17 is a diagram showing the same operating state.

FIG. 18 is another operational state diagram.

FIG. 19 is another operational state diagram.

FIG. 20 is another operational state diagram.

[Explanation 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)

[Claims] 1. A portion of a link having a center of rotation which can freely rotate is provided with a portion of the same body as a link consisting of a circle or an arc centering on the center of rotation, and the center of rotation of four or more links is provided. Pins, shafts, etc. are connected to each other so that they can rotate, and a series of link joints are formed to form a pair of circles or arcs at the ends of the links and circles or arcs at one end. One mutual rotation of a pair of adjacent links in this series of links that interconnect one another with a wire belt or its circles or gears with pitch circles of circular arcs or other means that do not rotate but rotate with respect to each other. A link mechanism that causes a series of links to move in a variety of ways by causing rotational movement of separated links. 2. An end portion of a link having a freely rotatable center of rotation is provided with a part which is the same body as a link consisting of a circle or an arc centered on the center of rotation, and the center of rotation of four or more links is provided. Pins, shafts, etc. are connected to each other so that they can rotate, and a series of link joints are formed to form a pair of circles or arcs at the ends of the links and circles or arcs at one end. One mutual rotation of a pair of adjacent links in this series of links that interconnect one another with a wire belt or its circles or gears with pitch circles of circular arcs or other means that do not rotate but rotate with respect to each other. An instrument device having a link mechanism that causes a series of links to have various movements by causing a rotational movement of separated links.