JPS6316620B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention is based on an intermittent motion transmission mechanism using only a link mechanism.

Conventionally, as one of the complex motion transmission mechanisms applied to automatic machines, etc., when transmitting the reciprocating motion of the prime mover to the driven body, intermittent motion is used to stop the movement of the driven body during half of the movement stroke of the prime mover. Some transmission mechanisms utilized a cam mechanism. but,
Those using this cam mechanism had problems such as poor transmission efficiency due to large frictional resistance, accuracy errors due to slippage, and not being suitable for transmitting large amounts of power.

In view of the above-mentioned drawbacks, the present invention aims to improve the transmission efficiency, increase precision, and transmit even larger power by transmitting the reciprocating motion of the driving body using only the link mechanism. The present invention is intended to provide a motion transmission mechanism, and the present invention will be explained in detail below with reference to the drawings.

The drawings show one embodiment of the present invention, and in the drawings 1
0 is a driving lever, 20 is a motion transmission lever, and 30 is a driven lever. The driving lever 10 swings around a first fixed shaft 11 near the middle thereof, and a driving arm 10a;
The driving arm 10a and the operating arm 10b are bent slightly downward in the drawing (at an angle of 15 degrees in this embodiment) about the first fixed shaft 11.
The tip 12 of the driving arm 10a is the point of force, and the tip 13 of the action arm 10b is the point of action. The motion transmission lever 20 is composed of a first arm 20a and a second arm 20b, with a second fixed shaft 21 located near the middle thereof as a swing center. It is slightly bent to the left (an angle of 30° in this example) when facing the figure. The tips of each are a first arm end 22 and a second arm end 23. Here, the driving lever 10 and the motion transmission lever 20 connect the action point portion 13 of the driving lever 10 and one end of the first connecting rod 15 to the first pin by means of a first connecting rod 14 having approximately the same length as the operating arm 10b. 15, and the other end of the first connecting rod 14 and the first arm end 2 of the motion transmission lever 20
2 are connected by a second pin 16, and the first pin 15 and the second pin 16 are movable within the same plane. The connection positional relationship at this time is that when the operating arm 10b of the driving lever 10 reaches the 1/4 point of the arc drawn, the first
The angle formed by the working arm 10b connected to the pin 15 and the first connecting rod 14 is 180°, that is, a straight line, and the starting and ending points of the arc drawn by the first arm 20a of the motion transmission lever 20 are on the straight line. This is how it was done. The driven lever 30 swings around the third fixed shaft 31 near the middle thereof, and the first arm 30a and the driven arm 3.
0b, and the first arm 30a and the driven arm 30b are in a linear relationship. The tip of each is the first arm end 3
2. The driven arm end 33. The motion transmission lever 2
0 and the driven lever 30 are connected to the second arm end 23 of the motion transmitting lever 20 and the second arm end 23 of the motion transmitting lever 20, respectively, by a second connecting rod 24 having approximately the same length as the second arm 20b of the motion transmitting lever 20.
One end of the connecting rod 24 is connected by a third pin 25, and the other end of the second connecting rod 24 and the first arm end 32 of the driven lever 30 are connected by a fourth pin 26. and the fourth pin 26 are movable within the same plane. Moreover, the connection positional relationship at this time is that the motion transmission lever 20 is connected to the third pin 25 at a point slightly inside the arc drawn by the second arm 20b of the motion transmission lever 20.
The angle between the second arm 20b of the driven lever 30 and the first arm 30a of the driven lever 30 is 180 degrees, that is, a straight line, and the starting and ending points of the arc drawn by the first arm 30a of the driven lever 30 are on the straight line. This is what I did.

Next, its operation will be explained. Assuming that the arc drawn by the force point portion 12 of the driving lever 10 centered on the first fixed shaft 11 is a, the starting point on the arc a is a1, the turning point is a4,
The intermediate point is a3, the intermediate point between the intermediate point a3 and the starting point a1 is a2, and the operating arm 10b of the driving lever 10 is
The arc drawn by the first pin 15 connected to the first connecting rod 14 is b, the point corresponding to the a1 position of the force point part 12 on the arc b is b1, and the point corresponding to the a2 position is b.
2. The point corresponding to the a3 position is b3, the point corresponding to a4 is b4, and the second pin 1 connects the subsequent first connecting rod 14 and the first arm 20a of the motion transmission lever 20.
The arc drawn by 6 is c, the point corresponding to b1 on the arc c is c1, the point corresponding to b2 is c2, the point corresponding to b3 is c3, the point corresponding to b4 is c4, and the following motion transmission lever 20 second arm 20b
Let d be the circular arc drawn by the third pin 25 that connects the third pin 25 and the second connecting rod 24, and on the circular arc d, the point corresponding to c1 is d1, the point corresponding to c2 is d2, and the points corresponding to c3 are d3, c4. Point d4 corresponds to the point d4, and the second connecting lever 24 and the first arm 3 of the driven lever 30 follow.
0a is the arc drawn by the fourth pin 26, and the points corresponding to d1 on the arc e are e1 and d2.
The point corresponding to d3 is e2, the point corresponding to d3 is e3,
Let the point corresponding to d4 be e4, and furthermore, let the arc drawn by the driven arm end 33 be f, the point corresponding to e1 on the arc f be f1, and the points corresponding to e2 be f2, e3.
If the point corresponding to e4 is determined as f3, and the point corresponding to e4 is determined as f4, the figure shows that the force point 12 is the starting point a1, and b1, c1, d1, and e1 are interlocked to move the driven arm end 3.
3 indicates the state at point f1 pointing upward. Next, when the force point part 12 moves to point a2, b2, c2,
Movement is transmitted to the driven arm end 33 in conjunction with d2 and e2, but at this time, the driving arm 10a swings greatly in the vertical direction from a1 to a2 and the working arm 1.
The first arm 20a of the movement transmission lever 20 moves the movement from b1 to b2, which also swings greatly, in the horizontal direction as shown in the figure.
moves from c1 to c2, which swings slightly, and the second arm 20b also swings slightly from d1 to d2, and further changes to a movement in which the first arm 30a of the driven lever 30 swings in the vertical direction toward the figure. From e1 to e
2, it is almost stopped, so the position between f1 and f2 of the driven arm end 33 is almost the same,
That is, the driven arm end 33 is in a stopped state. Subsequently, when the force point part 12 moves to point a3, the motion is transmitted to the driven arm end part 33 in conjunction with c3, which is in the same position as b3, c1, and d3, e3, which is in the same position as d1. The first arm 20a of the motion transmission lever 20 swings slightly in the horizontal direction in the direction of the figure. c3 moves from c2 to c3, and the second arm 20b also swings slightly d
When the first arm 30a of the driven lever 30 swings in conjunction with the movement from 2 to d3 and further changes to the movement shown in the figure, it is almost at a standstill between e2 and e3, and the f2 of the driven arm end 33 and f3 are at almost the same position, that is, the driven arm end 33 is in a stopped state. Further, the emphasis part 12 is the turning point a4
When moving to point f4, the driven arm end 33 moves at once to point f4 pointing downward in conjunction with b4, c4, d4, and e4. At this time, the driving arm 10a is moved vertically toward the figure.
The first arm 20a of the motion transmission lever 20 swings horizontally from c3 to c4, the second When the arm 20b is also linked to the movement from d3 to d4 in which it swings greatly, and further in conjunction with the movement from e3 to e4 in which the first arm 30a of the driven lever 30 swings in the vertical direction in the vertical direction, the end of the driven arm The section 33 moves from f3 to f4 at once. Furthermore, the point of effort 12 is a double path a4→a3
When moving in the order of → a2 → a1, the driven arm end 33 moves from f4 to f3 only in the section where the force point part 12 moves halfway from a4 to a3, and the force point part 12 moves from a3 to a1. In the half section, the driven arm end 33 is in a stopped state. This means that in the stroke section where the reciprocating movement of the force point 12 of the driving lever 10 is half of the stroke, the driven arm end 3 of the driven lever 30
3 moves, but it is converted into an intermittent motion in which it stands still for the remaining half of the stroke.

In this embodiment, the drive lever 10 and the motion transmission lever 20 have slightly bent shapes, but levers having a linear relationship may also be used. In addition, when the arc movement of the power point 12 of the driving lever 10 is performed by rotational movement by a crank, the driven arm end 33 stops during the half rotation of the crank by 180 degrees, and the driven arm end 33 is rotated in an arc only during the subsequent half rotation. It is also possible to apply it to exercise. Furthermore, b1 on the b arc, the first fixed shaft 11, and b
If the angle formed by 3, b3, and the angle formed by the first fixed shafts 11 and b4 are changed from the same state and only the former is increased, the driven arm end 33 is in a stopped state in a stroke section that is more than half of the force point part 12. On the other hand, if only the latter is increased, it is possible to make the stroke section less than half of the force point portion 12. However, b1 and the first
When increasing the angle formed by the fixed shaft 11 and b3, the driven arm end 33 will swing while moving between the arcs a1 and a3, so it is necessary to select the angle according to the accuracy of the intended use. . Furthermore, although the swinging surfaces of each lever and connecting rod are on the same plane in this embodiment, it is also possible to move the swinging surfaces in parallel by using wheels on each pin portion or each fixed shaft.

As explained above, the present invention has a driving lever, a motion transmission lever, and a driven lever, each of which swings in a parallel plane around a fixed axis. The working arm of the driving lever is placed in a positional relationship such that the extension line connecting the fixed axis of the motor and the extension line connecting the midpoint of the arc drawn by the first arm of the motion transmission lever and the fixed axis of the motion transmission lever are almost perpendicular. Connect the end and the end of the first arm of the motion transmission lever with a connecting rod, and connect the extension line and the fixed axis of the motion transmission lever to the arc point slightly inside from the end of the arc drawn by the second arm of the motion transmission lever. The end of the second arm of the motion transmission lever and the end of the first arm of the driven lever are placed in a positional relationship such that the extended line connecting the midpoint of the arc drawn by the first arm of the lever and the fixed axis of the driven lever is approximately perpendicular. Because they are connected by a connecting rod, the driven lever stops during half of the stroke section during the reciprocating movement of the driving lever, and the driven lever moves during the remaining half of the stroke section, creating an intermittent motion mechanism with good transmission efficiency and high precision. It can be realized by using only a link mechanism that can transmit even greater power, and by incorporating it into the mechanism of robot walking that applies automatic machines, it is possible to save transmission energy, transmit accurate motion, and transmit large force. It has remarkable practical effects, such as being able to be used in machines that use robots to lift objects and stop them at a certain angle.

[Brief explanation of the drawing]

The drawing is an explanatory diagram of an intermittent motion transmission mechanism showing an embodiment of the present invention. 10...Motive force lever, 10a...Motive force arm, 10b
...Action arm, 11...First fixed shaft, 12...Forcing point part, 13...Action point part, 14...First connecting rod, 1
5...First pin, 16...Second pin, 20...Motion transmission lever, 20a...First arm, 20b...Second
Arm, 21... second fixed shaft, 22... first arm end,
23...Second arm end, 24...Second connecting rod, 25
...3rd pin, 26...4th pin, 30...driven lever, 30a...first arm, 30b...driven arm, 3
1... Third fixed shaft, 32... First arm end, 33...
...Driver arm end.

Claims (1)

[Claims] 1 It has a driving lever, a motion transmission lever, and a driven lever, each of which swings in a parallel plane around a fixed axis, and connects the 1/4 point of the arc drawn by the working arm of the driving lever and the fixed axis of the driving lever. The working arm end of the driving lever and the motion transmitting lever are connected in a positional relationship such that the extension line and the extension line connecting the midpoint of the arc drawn by the first arm of the motion transmitting lever and the fixed axis of the motion transmitting lever are almost perpendicular. The first arm ends are connected by a connecting rod, and the extension line connecting the arc point slightly inside from the end of the arc drawn by the second arm of the motion transmission lever and the fixed axis of the motion transmission lever and the first arm of the driven lever. The second arm end of the motion transmission lever and the first arm end of the driven lever are connected by a connecting rod in a positional relationship such that the extended line connecting the midpoint of the drawn arc and the fixed axis of the driven lever is almost perpendicular. An intermittent motion transmission mechanism characterized by: