JPS60260720A - Joint - Google Patents

Abstract

PURPOSE:To enable the track on the sphere to be moved freely in a system having to two axial degree of freedom maintaining the ends of the aixs in a constant position, by mounting the sliding plates onto the opposing ends of two rotation spindles with predetermined angles, and further by joining the sliding plates so that they will intersect each other at a specified point. CONSTITUTION:Sliding plates 40, 50 are mounted to each of the opposing ends of two rotation spindles 4, 5 at a constant specified angle. For the formation of a joint, the sliding plates 40, 50 are joined by a bearing 6 as the joining means, so that they will intersect each other at the intersection point P of the central lines 4C, 5C of the rotation spindles as 4, 5. In use, the other end of the rotation spindles 4, 5 are connected to the output spindles 70, 80 of motors 7, 8 respectively. At the same time, a universal joint 9 is fixed to the motor frame. According to this construction, the end of the motor 7 can be driven so that a marking F will be maintained at a constant position. Furthermore, only two motors 7, 8 are required as the driving source, and as the joint is bent only at one point, it can be used in small sized devices.

Description

[Detailed description of the invention] (Industrial application field) This is about purchasing India.

(Prior art and its problems) Conventionally, in order for the shaft end to move along an arbitrary trajectory on a spherical surface and to maintain the attitude of the shaft end, the first shaft 1 is moved as shown in FIG.
Generally, rotation A of the second shaft 2, rotation B of the second shaft 2, and rotation C of the third shaft are combined so as to operate using a drive device such as a motor.

That is, the rotation A of the first axis l and the second axis 2 in FIG.
, B, the shaft end of the third shaft 3 moves along an arbitrary trajectory on the spherical surface. Further, the posture of the shaft end of the third shaft 3 can also be maintained by the rotation C of the third shaft 3. For example, in Figure 2, only the first shaft 1 is rotated without rotating the third shaft 3 and the second shaft 2, and the movement of the mark F attached to the tip of the third shaft 3 is observed from the direction above the first shaft 1. The state of the landmark F and the trajectory F' of the landmark F is shown when viewed. At this time, if the second axis 2 is rotated until it becomes on a straight line with respect to the first axis 1, the direction of the mark F will not change as shown in FIG. Next, in order to rotate each axis shown in FIG. 1 so as to maintain the posture of the mark F as shown in FIG. 3, it was necessary to also rotate the third axis 3.

However, in such a structure, a rotating shaft with three degrees of freedom is required, and a drive device such as a motor is also required depending on the degree of freedom of the rotating shaft, which has the disadvantage of being large and complicated. .

(Object of the invention) The object of the present invention is to eliminate the drawbacks of the conventional table as described above,
To provide a novel joint whose structure is simple and compact, in which the shaft end moves along an arbitrary trajectory on a spherical surface and maintains the posture of the shaft end in two degrees of freedom due to two axes.

(Structure of the Invention) According to the present invention, there is provided a sliding plate attached to one end of each of the two rotating shafts at a constant angle with respect to the rotating shaft, and a center of the two rotating shafts. A joint is obtained, which includes a connecting means that allows only mutual rotational movement by arranging the lines so that they always intersect and by arranging the sliding surfaces of the two sliding plates to slide on each other.

(Detailed explanation of the configuration) The joint of the present invention is attached to the two rotating shafts within the spherical movement range determined by the mounting angle of the sliding plate. An arbitrary trajectory on a spherical surface whose ends are centered at the intersection of the center lines of the two rotational axes and whose radius is the length of the rotational axes is determined by the speed and rotation angle determined by the rotational speed of the two rotational axes. It can move in a fixed direction. Further, the orbit length on the spherical surface of the shaft end, in other words, the angle formed by the two rotation axes can be determined by the rotation angle of the two rotation axes.

(Example) The present invention will be described below with reference to drawings shown in Examples.

FIG. 4 is a diagram for explaining the structure of the joint in the present invention. A sliding plate 40.50 is attached to one end of each of the two rotating shafts 4.5 at a constant angle with respect to the rotating shaft.
It consists of FIG. 5 is a side view of FIG. 4, partially broken away, for explaining the operation. The sliding plates 40.50 are connected using the bearing 6 as a connecting means so that the center lines 4C and sC of the two rotating shafts 4.5 intersect at the intersection P. Further, in the figure, the state of the rotating shaft 4' and the center line 4'C when the rotating shaft 4 rotates is shown by a two-dot chain line.

As is clear from FIG. 5, since the sliding plate 40.50 has an angle with respect to the rotation shaft 4.5, the rotation angle of each rotation shaft 4.5 depends on the rotation angle of the rotation shaft 4.5. The angle and direction at which the center lines 4C and 50 intersect are determined.

FIG. 6 is a diagram showing an embodiment of the present invention shown in FIG.
Simindo of the present invention and known universal joint 9
It is a polyacid made from Mori 7.8. Referring to FIG. 6, the output shafts 70 and 80 of the motors are connected to the shaft ends on which the sliding plates 40 and 50 of the rotating shafts 4 and 5 are not attached, respectively, and the universal joint 9 is connected to the shaft ends of the motors 7 and 8. This shows the case where it is fixed to the motor frame on the output side. Now, fix the motor frame of motor 8 to the base (not shown),
When the output shafts of the motors 7.8 are rotated, as shown in FIG.
．． Depending on the angle of the sliding plate 40.50 attached to the rotating shaft 40, 50, the center is the intersection point P of the center lines of the rotating shafts 4 and 5, and the radius is the sum of the length of the rotating shaft 4 and the length of the motor 7. It is possible to move on any trajectory on the 5-spherical surface within the spherical motion range 10 in a direction determined by the speed and rotation angle determined by the rotational speed of the two rotating shafts 4.5.

(Effects of the Invention) As described above, according to the present invention, since the universal joint 9 and the motors 7 and 8 are fixed as shown in FIG. 7
Since the universal joint 9 bends freely without twisting, the motor 7 is moved so that the mark F is maintained in the position shown in Fig. 3 using the conventional method shown in Fig. 1.
The tip of the can be moved. In addition, only two motors are required as a driving source, and since the bending portion is concentrated at one point, a compact joint can be obtained, which has great effects.

[Brief explanation of the drawing]

FIG. 1 is a perspective view showing an example of a conventional joint, FIGS. 2 and 3 are views showing the state of the mark F, and FIG. 4 is a sixth view for explaining the configuration of the joint in the present invention. 5 is a side view of FIG. 4 and is a diagram for explaining the present invention in detail, FIG. 6 is a diagram showing an embodiment of the present invention, and FIG. 7 is a diagram for explaining the operation of FIG. 6. Illustration for. In the figure, 1...first axis 2...second axis 3-third axis 4, 4', 5...rotation axis 6...
Hair ring 7.8...Motor 9...Universal joint 10...Operating locus 4C, 4C', 5C...Center line 40.50...Sliding plate 70,80...Motor output Axes A, B... Rotation direction P of the 1st and 2nd axes - Intersection point F of the center lines of each rotation axis... Marker F F'... Trajectory of mark F. Attorney Ben Uchihara, 7- Figure 1-Scream-A Figure 2 Figure 3 Figure 4 Figure 5 Figure 4 Figure 7

Claims (1)

[Claims] A sliding plate is attached to one end of each of the two rotating shafts at a constant angle with respect to the rotating shaft, and the center lines of the two rotating shafts always intersect, and 1. A joint plate characterized in that the two sliding plates are arranged so as to slide on each other, and include coupling means that allows only mutual rotational movement.