JPH0778427B2 - Rotation restraint device - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a rotation restraint device that restrains rotation of a restrained body and permits other movements.

[Problems to be Solved by the Invention]

In some cases, it is necessary to support members that perform various movements by constraining only the movement in the rotational direction. For example, to support a fixed case of an encoder for measuring the rotation angle of the axle of a car, to support parts supplied to a moving device, or to attach a cable or fiber attached to a movable device. For example, when holding.

Therefore, the present invention provides a rotation restraint device that restrains the rotation of the restrained object and allows other movements.

[Means for Solving the Problems]

According to the present invention, a first parallel link having one end pivotally attached to a mounting plate and the other end to an angle changing plate, and one end
It is pivotally attached to a rotary shaft that is rotatably supported by an angle changing plate.
A second parallel link pivotally attached to the support member of the restrained body holder at the other end, the first parallel link being swingable about a pivot point on the mounting plate; The link is swingable around a pivot point on the rotary shaft and rotatable with the rotary shaft, and the restrained object holder is formed as a gimbal mechanism, and the gimbal mechanism is a second parallel link. Of the outer ring and the inner ring, the outer ring rotatably supported by the support member pivotally holding the other end of the outer ring and the inner ring rotatably supported by the outer ring for holding the constrained body. The solution is that the axes of rotation are orthogonal to each other.

Desirably, at least one of the oscillating or rotating movements of the first parallel link, the second parallel link, the outer ring or the inner ring is constrained.

[Operation of the invention]

With the above configuration, the first parallel link allows movement of the constrained body 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 the outer ring of the gimbal mechanism respectively Allows movement around the θx and θz axes. Therefore, only the rotation of the constrained body around the θy axis is constrained.

〔Example〕

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

In FIG. 1, 1 is a mounting plate fixed in a stationary position, and 2, 2 are first parallel links pivotally attached to the mounting plate 1 by pins 3, 3. The other ends of the parallel links 2, 2 are pivotally attached to the angle changing plate 5 by pins 4, 4. Bearing brackets 6,6 are fixed to the angle changing plate 5, and the bearing brackets 6,6 are fixed.
A rotary shaft 7 is rotatably supported on the shaft. Second parallel links 9, 9 are pivotally attached to both ends of the rotary shaft 7 via pins 8, 8. The other ends of the second parallel links 9, 9 are the supporting members 1 for the constrained body holder 10 formed as a gimbal mechanism.
It is pivotally attached to pins 1,11 via pins 12,12. The gimbal mechanism includes an outer ring 14 rotatably supported by the supporting members 11, 11 via rotary shafts 13, 13 and a restrained member rotatably supported by the outer ring 14 by rotary shafts 15, 15. It comprises an inner ring 16 which directly holds the body (not shown).
The rotating shafts 13, 13; 15, 15 of the outer ring 14 and the inner ring 16 are orthogonal to each other.

In the case of the rotation restraint device having the above structure, the first parallel link
The pins 2 and 2 can swing about the pins 3 and 3 in the directions of the arrows 17 and 17. (Motion in the X-axis direction). The second parallel link 9,9 is a pin
It can be swung in the directions of arrows 18 and 18 about the axes 8 and 8 (movement in the Z-axis direction) and can be rotated in the direction of arrow 19 together with the rotary shaft 7 (movement in the Y-axis direction). The outer ring 14 of the restrained body holder 10 is rotatable about the rotation shafts 13, 13 (θ
(rotation around the z-axis), and the inner ring 16 is rotatable about the rotation axes 15 and 15 (rotation around the θx axis). Therefore, the constrained body held by the inner ring 16 is constrained only in the rotational movement about 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. Figure 2 shows the force component detector on the axle of an automobile.
An example of supporting a fixed case 20 of an encoder (rotation angle detector) attached to 21 is shown. That is, the inner ring 16 of the constrained body holder described above holds the fixed case 20 of the encoder so as not to rotate. An encoder body 23 is arranged between the encoder fixing case 20 and the protruding shaft 22 of the force / component detector 21. Although not shown in detail, the force component force detector 21 is for measuring the component force of the tire driving force and the external force from various directions received from the road surface during traveling by a built-in strain gauge. The force component detector 21 is connected to a wheel 24 of an automobile and an axle hub 25. In FIG. 2, 26 is a tire.

The strain gauge of the force component detector 21 detects, for example, component force in the X-axis, Y-axis and Z-axis directions and component force around the X-axis, Y-axis and Z-axis. The signal of each component force is detected by the force component detector 21.
Is rotating with the tire 26, so this is a signal in the rotating coordinate system. Therefore, it is necessary to convert the component force signal of the rotating coordinate system into the component force signal of the stationary coordinate system. Therefore, the rotation angle (phase angle) of the tire 26 or the like is detected by the encoder, and the arithmetic unit (not shown) is used. Is calculated together with the component force signal.

The axle hub 25, force component detector 21, encoder, etc.,
Since the vehicle is supported by a suspension device and a steering mechanism while the vehicle is running, it moves in various directions by receiving external force and steering force from the ground. Therefore, the encoder fixed case 20 must also follow 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 as not to rotate. Therefore, by using the rotation restraint device shown in FIG. 1, the encoder fixing case 20 is supported so as to restrain only the rotational movement and move freely in other directions. In this case, the mounting plate 1 of the rotation restraint device is fixed to the bumper of the automobile, the vehicle body or the like.

Although the embodiments of the present invention have been described above, the present invention is not limited to the above embodiments. For example, the rotation restraint device according to the present invention is not limited to the rotational movement of the restrained body,
At least one of the movements in the other directions may be constrained. The rotation restraint device according to the invention can also be used not only for supporting the fixed case of an encoder arranged coaxially with the axle of a motor vehicle, but also for supporting, for example, parts supplied to a moving device. It can also be used to hold cables and fibers attached to movable equipment.

〔The invention's effect〕

As described above, the rotation restraint device according to the present invention has an advantage that the restrained body can be supported so as to restrain the rotation of the restrained body and allow other movements.

[Brief description of drawings]

FIG. 1 is a diagram showing a rotation restraint device according to an embodiment of the present invention,
FIG. 2 is a view showing an example of use of the rotation restraint device shown in FIG. 2,2 …… Parallel link, 5 …… Angle change plate, 7 …… Rotary axis, 9,9 …… Parallel link, 10 …… Restricted object holder, 11,
11 …… Support member, 13,13 …… Rotating shaft for outer ring, 14…
… Outer ring, 15,15 …… Rotating shaft for inner ring, 16 ……
Inner ring, 20 …… Restricted object (fixed encoder case)

Claims (2)

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