Reverse force mechanism

Abstract

In the inserted state, the spring shaft (12) is fixed at a position at which a base point on an extension line extending from the main shaft (11) to the movable shaft (13) is moved parallel to the slider (15) by a dimension set so that the total operating force becomes a fixed value other than zero. The operating angle of the operating link (22) and the slider (15) is set in the range of 25 DEG to 85 DEG. In a reverse force mechanism combined with a device having a positive spring constant, the structure can be simplified to realize miniaturization, the operation force can be reduced to be suitable for high-speed operation, and the total operation force can be set to a value other than zero to be suitable for high-precision control.

Description

Technical Field

[0001] The present invention relates to a reverse force mechanism which is combined with a device having a positive spring constant, has a negative spring constant, and applies a force acting in the opposite direction (hereinafter referred to as reverse force) to the same action point, thereby adjusting an operating force. Background Art

[0002] An example of a device with a positive spring constant is a variable vacuum capacitor. Fig.11 As shown, the variable vacuum capacitor 7 is formed by sealing both ends of a cylindrical body (eg, a ceramic tube) 72 having at least a portion of insulating properties with a fixed side conductor 73 and a movable side conductor 74 to form a vacuum container.

[0003] Reference numeral 75 denotes a fixed electrode provided inside the vacuum container of the fixed-side conductor 73. The fixed electrode 75 is formed by providing a plurality of substantially cylindrical electrode members having different inner diameters with a minute gap therebetween.

[0004] Reference numeral 77 denotes a movable support portion 77 that supports a movable electrode 76 described later. The movable support portion 77 is disposed opposite to the fixed-side conductor 73 and is configured to be movable in the axial direction Y (the direction of both ends of the cylindrical body 72) of the vacuum container via a movable rod 78 described later. Fig.11 In the case of the movable support portion 77 shown, it is formed in a flat plate shape extending in the radial direction of the vacuum container.

[0005] The movable electrode 76 is formed by providing a plurality of substantially cylindrical electrode components having different inner diameters with a small gap, similarly to the fixed electrode 75. The electrode components of the movable electrode 76 are arranged facing the fixed electrode 75 on the fixed-side conductor 73 side of the movable support portion 77 so that they can be inserted or pulled out relative to the fixed electrode 75 without contacting the fixed electrode 75 (inserted or pulled out between the electrode components of the fixed electrode 75 so as to cross each other), thereby forming an electrostatic capacitance between the movable electrode 76 and the fixed electrode 75.

[0006] Reference numeral 78 denotes a movable rod extending from the back side of the movable support portion 77 (the side of the movable conductor 74 where the movable electrode 76 is not provided) in the axial direction Y. Fig.11 In the embodiment, the movable rod 78 is extended so as to protrude on the movable-side conductor 74 side of the vacuum container.

[0007] Reference numeral 79 denotes a cylindrical (e.g., corrugated) bellows made of a flexible, thin, soft metal, which is a part of the current path of the variable vacuum capacitor 7. The bellows 79 is configured to keep the outer peripheral side of the bellows 79 in the vacuum container, that is, the space (hereinafter referred to as a vacuum chamber) 71 surrounded by the cylindrical body 72, the fixed side conductor 73, the movable side conductor 74, the movable support portion 77, and the bellows 79 in an airtight manner (maintained in an airtight manner to form a vacuum state), while allowing the movable electrode 76, the movable support portion 77, and the movable rod 78 to move in the axial direction Y. In addition, a space in an atmospheric pressure state (hereinafter referred to as an atmospheric chamber) is formed on the inner peripheral side of the bellows 79 in the vacuum container (the movable rod 78 side of the bellows 79).

[0008] Thus, a fixed electrode 75 and a movable electrode 76 having a small gap are provided in the vacuum portion 71. The movable electrode 76 is moved in the axial direction Y via the movable rod 78 and the movable support portion 77 by the driving source of the variable vacuum capacitor 7, and the electrostatic capacitance is made variable.

[0009] When the movable rod 78 is inserted or pulled out, a restoring force of displacement is generated by the spring constant 79a of the bellows 79, and vacuum pressure is applied. As a result, the variable vacuum capacitor 7 has an operating force characteristic with a linear positive spring constant: a positive pulling force is generated at the maximum insertion position, and the pulling force increases as the rod is pulled out.

[0010] The variable vacuum capacitor 7 has a disadvantage that the operating force cannot be reduced or fixed to a fixed value to be suitable for high-speed operation.

[0011] In these devices having a positive spring constant, a reverse force mechanism having a reverse force is sometimes combined as an adjustment means for reducing the absolute value, fluctuation range, etc. of the operating force.

[0012] Patent document 1 discloses an elastic mechanism as a mechanism for obtaining a reverse force. Patent document 1 combines two mechanisms, a positive elastic mechanism having a positive spring constant and a negative elastic mechanism having a negative spring constant, and the negative elastic mechanism is composed of two types of negative elastic parts, a primary and a secondary. With such a structure, it is possible to obtain any positive and negative spring constants, but there is a disadvantage that the structure is complicated and large.

[0013] In addition, a toggle force multiplication mechanism is known in the past. The toggle force multiplication mechanism includes two connecting rods (a main connecting rod and an action connecting rod), a slider, and three axes (a fixed main axis that becomes the axis of the two connecting rods, an unfixed movable axis, and an action axis linked to the slider), and a predetermined input is applied to the movable axis from a direction perpendicular to the slider.

[0014] In this mechanism, the action angle of the action link and the slider is mostly 0~60°. Among them, the acute angle range below 25° becomes a curve-like characteristic in which the ratio of output to input increases sharply, which is called a multiplying force mechanism. On the other hand, if it exceeds 85°, the ratio of output to input decreases sharply.

[0015] Even if a toggle force multiplication mechanism with a sharply increasing curved characteristic and a device with a linear characteristic based on a positive spring constant are combined, the absolute value of the total operating force can be reduced. However, there is a disadvantage that the fluctuation range of the operating force becomes larger due to the influence of the sharply increasing curved characteristic.

[0016] There is clearance and looseness required for the action in the mechanism. When it becomes zero value during operation, the direction of the force is reversed, and the action is momentarily stagnant due to the clearance and looseness, resulting in a discontinuous operation characteristic.

[0017] When this is combined with a device based on linear characteristics of a positive spring constant, there is a disadvantage that an operation instruction cannot be accurately output due to the discontinuous operation characteristics, and high-precision control cannot be performed.

[0018] As described above, in a counter force mechanism combined with a device having a positive spring constant, it is a problem to simplify the structure to achieve miniaturization, reduce the operating force to suit high-speed operation, and set the operating force to a value other than zero to suit high-precision control.

[0019] Prior art literature

[0020] Patent Literature

[0021] Patent Document 1: Japanese Patent No. 6774102 Summary of the invention

[0022] The present invention is proposed in view of the above-mentioned previous problems. One of its methods is a reverse force mechanism, which is combined with a device having a positive spring constant, has a negative spring constant, applies a reverse force to the same point of action, and adjusts the total operating force. The reverse force mechanism is characterized in that: a main shaft, both ends of which are supported and can rotate around the axis; a main connecting rod, the main shaft is inserted into a hole on one end side of the main connecting rod; a movable shaft, the movable shaft is inserted into a hole on the other end side of the main connecting rod and can move on a circular arc trajectory centered on the main shaft, and is arranged to be rotatable around the axis; an action connecting rod, the movable shaft is inserted into a hole on one end side of the action connecting rod; a slider, the slider extends in a direction perpendicular to the main shaft and is fixed at both ends; an action shaft, the action shaft is inserted into the hole on the other end side of the main connecting rod The spring shaft is inserted into the hole on the other end side of the spring link, and the spring shaft is fixed in the following position when the movable shaft is inserted farthest from the main shaft and the operating shaft: the spring shaft is moved in parallel with the slider from a base point on the extension line extending from the main shaft to the movable shaft by a dimension set in a manner that the total operating force becomes a fixed value other than zero, and the operating angle of the action link and the slider is set to a range of 25° to 85°.

[0023] In one embodiment thereof, the opposing force spring is a compression spring inserted into a portion of the spring link between the spring shaft and the movable shaft.

[0024] In another aspect, the spring link is extended at the other end, and the opposing force spring is a tension spring provided at a portion of the spring link closer to the other end than the spring axis.

[0025] In addition, as another embodiment, a reverse force mechanism is provided, which is combined with a device having a positive spring constant, has a negative spring constant, applies a reverse force to the same point of action, and adjusts the total operating force, and is characterized in that the reverse force mechanism comprises: a main shaft, both ends of which are supported and can rotate around the axis; a main connecting rod, the main shaft is inserted into a hole on one end side of the main connecting rod; a movable shaft, the movable shaft is inserted into a hole on the other end side of the main connecting rod and can move on a circular arc trajectory centered on the main shaft, and is arranged to be rotatable around the axis; an action connecting rod, the movable shaft is inserted into a hole on one end side of the action connecting rod; a slider, the slider extends in a direction perpendicular to the main shaft, and both ends are supported The invention relates to a method for producing a movable shaft having a plurality of movable parts, wherein the movable shaft is movable around an axis line of the movable shaft and the movable shaft is movable around an axis line of the movable shaft. The movable shaft is fixed to the movable shaft by inserting the movable shaft into the hole at the other end of the movable shaft. The movable shaft is fixed to the movable shaft by inserting the movable shaft into the hole at the other end of the movable shaft. The movable shaft is fixed to the movable shaft by inserting the movable shaft into the hole at the other end of the movable shaft. The movable shaft is fixed to the main shaft and the movable shaft by fixing the operating angle of the movable shaft and the movable shaft to a range of 25° to 85°. The total operating force is set to a value other than zero.

[0026] In addition, as one embodiment thereof, the device having a positive spring constant is a variable vacuum capacitor.

[0027] According to the present invention, in a counter force mechanism combined with a device having a positive spring constant, the structure can be simplified and miniaturized, the operating force can be reduced to suit high-speed operation, and the operating force can be set to a value other than zero to suit high-precision control. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a front view showing a combination of a counter force mechanism and a variable vacuum capacitor in an embodiment.

[0029] Figure 2 yes Figure 1 A-A' section view in.

[0030] Figure 3 yes Figure 2 B-B' section view in.

[0031] Figure 4 yes Figure 1 Exploded perspective view of the reverse force mechanism in FIG.

[0032] Figure 5 It is a cross-sectional view of the counter force mechanism in the inserted state.

[0033] Figure 6 It is a cross-sectional view of the counter force mechanism in the pulled-out state.

[0034] Figure 7 It is the force vector diagram of the insertion state of the counter force mechanism.

[0035] Figure 8 It is the force vector diagram of the pull-out state of the counter force mechanism.

[0036] Fig. 9 This is a graph showing the action angle characteristics of the counter force mechanism.

[0037] Fig.10 It is a graph of the operating force characteristics of the counter force mechanism.

[0038] Fig.11 is a cross-sectional view showing a conventional variable vacuum capacitor. DETAILED DESCRIPTION

[0039] The following is based on Figure 1 to Figure 10 Embodiments of the counter force mechanism in the present invention will be described in detail.

[0040] [Implementation Method]

[0041] Figure 1 is a front view showing a combination of a reverse force mechanism and a variable vacuum capacitor in an embodiment, Figure 2 yes Figure 1 The A-A' section view in Figure 3 yes Figure 2 The B-B' section view in Figure 1~Figure 3 As shown, the reverse force mechanism 1 is connected to the variable vacuum capacitor 7 via the mounting member 81. Fig.11 The variable vacuum capacitor 7 has a linear positive spring constant as follows: in the inserted state of the variable vacuum capacitor 7 at its maximum insertion (the state in which the movable rod 78, the movable support portion 77, and the movable electrode 76 are closest to the fixed side conductor 73), the operating force becomes a positive pulling force, and the pulling force increases as the variable vacuum capacitor 7 is pulled out.

[0042] The counter force mechanism 1 includes a pair of side plates 10 and an upper plate 8 and a lower plate 9 fixed to the upper and lower ends of the pair of side plates 10 by screws 10a, respectively. The direct-acting operating rod 3 protrudes from the upper plate 8. The direct-acting operating rod 3 is supported by a driving source not shown. The movable rod 78 of the variable vacuum capacitor 7 passes through the lower plate 9 and is supported by the counter force mechanism 1.

[0043] like Figure 2 , Figure 3As shown, the counter force mechanism 1 is a set of toggle mechanisms including at least two links (a main link 21 and an operating link 22 ), a slider 15 , and three shafts (a main shaft 11 , a movable shaft 13 , and an operating shaft 14 ).

[0044] like Figure 4 As shown, both ends of the main shaft 11 are supported by a pair of side plates 10. The main shaft 11 is vertically arranged relative to the pair of side plates 10, and is inserted into holes on one end side of a pair of plate-shaped main connecting rods 21 arranged on the inner side of the side plates 10. The main shaft 11 becomes the axis of the two connecting rods, the main connecting rod 21 and the operating connecting rod 22, and is supported to be rotatable around the axis.

[0045] The movable shaft 13 is provided inside a pair of side plates 10 so as to be perpendicular to the side plates 10 and rotatable around the axis, and is not fixed to the side plates 10. The movable shaft 13 is inserted through the long notch 2a of the movable metal fitting 2 inside the main connecting rod 21, and the movable shaft 13 and the movable metal fitting 2 do not contact during operation. In addition, the movable shaft 13 is inserted through the hole on the other end side of the main connecting rod 21 outside the movable metal fitting 2, and the hole on one end side of the plate-shaped operating link 22. Moreover, the movable shaft 13 is inserted through the long hole 23a on one end side of the spring link 23 provided outside the operating link 22, and can freely move in the axial direction of the spring link 23. The movable shaft 13 can move on an arc trajectory centered on the main shaft 11.

[0046] The operating shaft 14 is provided inside the pair of side plates 10 to be perpendicular to the side plates 10 and rotatable about the axis, and is not fixed to the side plates 10. The operating shaft 14 is inserted through the hole 2b of the movable metal fitting 2 and the hole on the other end side of the operating link 22 provided outside the movable metal fitting 2.

[0047] The slider 15 is fixed at both ends to the upper plate 8 and the lower plate 9, and is arranged perpendicularly to the upper plate 8 and the lower plate 9. That is, the slider 15 extends in a direction perpendicular to the main shaft 11. The movable metal fitting 2 has a linear bushing 2c fixed inside, and the slider 15 is inserted into the insertion hole of the linear bushing 2c. With such a structure, the slider 15 and the linear bushing 2c guide the operating shaft 14, and the operating shaft 14 moves parallel to the slider 15. Figure 7 In other words, the operating shaft 14 can move in a direction parallel to the slider 15 . The movable metal fitting 2 follows the operating shaft 14 .

[0048] The movable metal fitting 2 is provided with a notch 2d for avoiding contact with the main shaft 11, a hole 2e for fixing the linear motion operating rod 3 on the upper surface, and a fixing hole (not shown) for fixing the movable rod 78 on the lower surface.

[0049] The spring link 23 has a long hole 23 a through which the movable shaft 13 is inserted at one end, and has a hole through which the spring shaft 12 is inserted at the other end.

[0050] In this toggle mechanism, the interaxial distance between the main shaft 11 of the main link 21 and the movable shaft 13 is related to the action size S, the curved characteristics of the force F1 acting on the movable shaft 13, and the angle θ3 between the action link 22 and the slider 15. In addition, the interaxial distance between the movable shaft 13 and the action shaft 14 of the action link 22 is related to the action size S, the angle θ1 between the spring link 23 and the action link 22, the angle θ2 between the spring link 23 and the main link 21, and the angle θ3 between the action link 22 and the slider 15. The action size S will be described later.

[0051] Here, the insertion state a indicates a state in which the movable rod 78, the movable support 77, and the movable electrode 76 of the variable vacuum capacitor 7 are closest to the fixed side conductor 73. In the insertion state a, in the counter force mechanism 1, the movable shaft 13 is farthest from the line connecting the main shaft 11 and the operating shaft 14.

[0052] On the other hand, the pulled-out state b indicates a state in which the movable rod 78, the movable support 77, and the movable electrode 76 of the variable vacuum capacitor 7 are farthest from the fixed-side conductor 73. In the pulled-out state b, in the counter force mechanism 1, the movable shaft 13 is closest to the line connecting the main shaft 11 and the operating shaft 14.

[0053] It should be noted that the above-mentioned movement dimension S represents the movement distance of the movable rod 78, the movable support portion 77, and the movable electrode 76 of the variable vacuum capacitor 7 from the insertion state a. The movement dimension S is the smallest in the insertion state a and the largest in the removal state b.

[0054] In the inserted state a, the base point of the spring shaft 12 fixed on the extension line extending from the main shaft 11 to the movable shaft 13 is moved downward in parallel with the slider 15. Figure 7 The dimension 16 is located at a position where the opposing force spring 24 having a spring constant 24a can be inserted between the spring shaft 12 and the movable shaft 13. The dimension 16 will be described later.

[0055] exist Figure 5 , Figure 7 In the insertion state a, the movable shaft 13 of the counter force mechanism 1 is located at the initial position of the arc trajectory (the lower left position on the arc trajectory), and the operating shaft 14 is also located at the initial position of the sliding action (the lowermost position of the sliding action range). Since the movable shaft 13 is farthest from the line connecting the main shaft 11 and the operating shaft 14, the distance between the spring shaft 12 and the movable shaft 13 is the shortest, and the maximum force F1a of the counter force spring 24 is applied to the movable shaft 13.

[0056] The angle θ1a (about 18°) between the spring link 23 and the actuating link 22 and the angle θ2a (about 21°) between the spring link 23 and the main link 21 are determined by the positional relationship between the spring shaft 12 and the movable shaft 13. The maximum force F1a acting on the movable shaft 13 is divided into a force F2a acting on the actuating shaft 14 of the actuating link 22 and a force F2a acting on the main shaft 11 of the main link 21 according to the angle ratio of the angle θ1a and the angle θ2a.

[0057] According to the positional relationship between the spring shaft 12 and the movable shaft 13, the angle θ3a between the actuating link 22 and the imaginary slider line 15a is less than 85°. Figure 7 The reaction force F3a is the product of the force F2a acting on the operating shaft 14 and the cosine value of the angle θ3a. Since the cosine value of the angle θ3a (about 83°) is small, the reaction force F3a becomes the minimum value.

[0058] In the movable metal fitting 2, the difference between the reverse force F3a and the operating force F4a of the variable vacuum capacitor 7 is the total operating force F5a. Since the spring shaft 12 is fixed at a position 16 degrees downward from the base point, the total operating force F5a becomes a positive value on the insertion side.

[0059] exist Figure 6 , Figure 8 In the pulled-out state b, the movable shaft 13 of the reverse force mechanism 1 is located at the final position of the arc trajectory (the upper right position on the arc trajectory), and the action shaft 14 is also located at the final position of the slider action (the uppermost position of the slider action range).

[0060] Since the movable shaft 13 is closest to the line connecting the main shaft 11 and the operating shaft 14 , the distance between the spring shaft 12 and the movable shaft 13 is the longest, and the smallest force F1 b of the counter force spring 24 is applied to the movable shaft 13 .

[0061] The angle θ1b (about 57°) between the spring link 23 and the actuating link 22 and the angle θ2b (about 69°) between the spring link 23 and the main link 21 are determined by the positional relationship between the spring shaft 12 and the movable shaft 13. The minimum force F1b acting on the movable shaft 13 is divided into a force F2b acting on the actuating shaft 14 of the actuating link 22 and a force F2b acting on the main shaft 11 of the main link 21 according to the angle ratio of the angle θ1b to the angle θ2b.

[0062] According to the positional relationship between the spring shaft 12 and the movable shaft 13, the angle θ3b between the actuating link 22 and the imaginary slider line 15a becomes an angle exceeding 25°. Figure 8The reaction force F3b is the product of the force F2b acting on the operating shaft 14 and the cosine value of the angle θ3b. Since the cosine value of the angle θ3b (about 29°) is large, the reaction force F3b has the maximum value.

[0063] In the movable metal fitting 2 , the difference between the opposing force F3 b and the operating force F4 b of the variable vacuum capacitor 7 becomes the total operating force F5 b .

[0064] exist Fig. 9 In FIG. 1 , the horizontal axis represents the movement size S from the insertion state a to the removal state b of the variable vacuum capacitor 7, and the vertical axis represents the angle θ3 (0° to 90°). Fig.10 In the figure, the horizontal axis represents the movement size S between the insertion state a and the removal state b of the variable vacuum capacitor 7, the vertical axis is centered at point 0, the + side represents the pulling force into the variable vacuum capacitor, and the - side represents the pulling force out of the variable vacuum capacitor 7. The pulling force and the pulling force become larger values ​​as they are farther away from point 0.

[0065] The force F1 acting on the movable shaft 13 usually changes linearly according to the action size S due to the elastic force of the counter force spring 24 having a spring constant 24a, but in the present embodiment, the movable shaft 13 moves on an arc trajectory between the initial position of the insertion state a and the final position of the extraction state b, and thus the force F1 acting on the movable shaft 13 changes in a curve according to the action size S. That is, the force F1a acting on the movable shaft 13 in the insertion state a and the force F1b acting on the movable shaft 13 in the extraction state b are curved in the downward direction (direction in which the pulling force is large), and the overall characteristic becomes a curve-shaped characteristic in which the extraction state b is smaller than the insertion state a.

[0066] By moving the movable shaft 13 on the arc trajectory, the angle θ1 between the spring link 23 and the operating link 22 is expanded while bending downward (in the direction of a smaller angle) from the angle θ1a (about 18°) in the insertion state a to the angle θ1b (about 57°) in the withdrawal state b. Similarly, the angle θ2 between the spring link 23 and the main link 21 is also expanded while bending downward (in the direction of a smaller angle) from the angle θ2a in the insertion state a to the angle θ2b in the withdrawal state b.

[0067] At this time, the ratio of the angle θ2 is higher than the angle θ1, and the force F1 acting on the movable shaft 13 is distributed in conjunction with the ratio of the angle θ2 to the force F2 acting on the operating shaft 14 and the force acting on the main shaft 11. The force F2 acting on the operating shaft 14 is slightly bent in the direction of decrease (the direction of small pulling force) from the insertion state a to the withdrawal state b, and as a whole, it has the characteristic of increasing more slowly in the withdrawal state b than in the insertion state a.

[0068] That is, according to the change in the angular ratio of the angle θ1 and the angle θ2, the force F1 acting on the movable shaft 13 has a characteristic of decreasing as it moves from the inserted state a toward the removed state b, and becomes a characteristic of slowly increasing (reverse force) in the force F2 acting on the action shaft 14, and the change in the direction of the force is reversed, generating a reverse force.

[0069] According to the arc trajectory of the fixed spring shaft 12, the movable shaft 13 and the inter-axial distance of the actuating link 22, the angle θ3 between the actuating link and the imaginary slider line 15a decreases approximately linearly from the maximum angle θ3a (less than 85°, approximately 83° in the present embodiment) in the insertion state a to the intermediate level, and decreases while bending slightly in the increasing direction (the direction of the larger angle) from the intermediate level to the minimum angle θ3b (an angle exceeding 25°, approximately 29° in the present embodiment) in the withdrawal state b.

[0070] The reverse force F3 is the product of the force F2 acting on the operating shaft 14 and the cosine value of the angle θ3. Therefore, the characteristic of the force F2 acting on the operating shaft 14, which is slightly bent in the decreasing direction and slowly increased, is corrected by the product of the cosine value of the angle θ3 slightly bent in the increasing direction. As a result, the reverse force F3 becomes a reverse force characteristic in which the pulling force increases linearly from the reverse force F3a of the insertion state a to the reverse force F3b of the extraction state b. It should be noted that the slope of the reverse force F3 increases due to the force F2 acting on the operating shaft 14.

[0071] In the movable metal fitting 2 , the reaction force F3 and the operating force F4 of the variable vacuum capacitor 7 cancel each other out to form a total operating force F5 , which has an operating characteristic of a fixed value of operating force in which the direction of the force does not reverse during operation.

[0072] In the movement from the insertion state a to the extraction state b, the movable shaft 13 of the main link 21 describes an arc trajectory. The dimension between the spring shaft 12 and the movable shaft 13 changes from the shortest in the insertion state a to the longest in the extraction state b, and the force F1 acting on the movable shaft 13 by the reverse force elastic force according to the spring constant 24a is less in the extraction state b than in the insertion state a.

[0073] The minimum elastic force F1b (the force of the counter force spring 24 acting on the movable shaft 13 in the pulled-out state b) affects the counter force F3b acting on the actuating shaft 14, and the counter force F3b affects the total operating force F5. The spring constant 24a of the counter force spring 24 is adjusted so that the gradient (slope) of the increase in the operating force F4 relative to the actuating dimension S of the device (variable vacuum capacitor 7) having the positive spring constant 1a matches the gradient (slope) of the increase in the counter force F3 of the actuating shaft 14 relative to the actuating dimension S. By matching the gradient of the operating force F4 of the variable vacuum capacitor 7 with the gradient of the counter force F3, the total operating force F5 becomes a fixed value.

[0074] In the counter force mechanism combined with a device having a positive spring constant, the elastic mechanism of Patent Document 1 is composed of two kinds of negative elastic parts, primary and secondary, and a counter force (force having a negative spring constant) is obtained by opposing each other. In contrast, the present embodiment is a mechanism that obtains a counter force from a negative elastic part by utilizing a change in force corresponding to the rotation angle of the connecting rod.

[0075] In a set of toggle mechanisms that utilize the change in force corresponding to the rotation angle of the link, the output changes sharply relative to the input at both ends (0° to 90°) of the angle θ3 between the operating link 22 and the slider 15, but the output is equal to or less than the input in the middle, which becomes a reverse force (force with a negative spring constant) characteristic. Focusing on this characteristic, the angle θ3 between the operating link 22 and the slider 15 is set in the range of 25° to 85°, the angle 25° side is set as the extraction state, the maximum reverse force value, and the minimum input value, and the other angle 85° side is set as the insertion state, the minimum reverse force value, and the maximum input value.

[0076] In the insertion state a, if the spring shaft 12 is fixed at a position on the extension line extending from the main shaft 11 to the movable shaft 13, the angle θ2 between the spring link 23 and the main link 21 becomes 180°, which is a straight line, and the force F1 acting on the movable shaft 13 by the reverse elastic force is all applied to the main shaft 11, and the force F2 acting on the actuating shaft 14 is zero. Moreover, in the insertion state a, if the fixed position of the spring shaft 12 is moved upward, the force on the actuating shaft 14 is reduced, and if the fixed position of the spring shaft 12 is moved downward, the force on the actuating shaft 14 is increased. In this way, the force F2 acting on the actuating shaft 14 is adjusted by fixing the position of the spring shaft 12.

[0077] The dimension 16 is related to the angle θ1 between the spring link 23 and the operating link 22, the angle θ2 between the spring link 23 and the main link 21, and the angle θ3 between the operating link 22 and the slider 15. The counter force F3 is adjusted by moving the base point on the extension line of the spring shaft 12 extending from the main shaft 11 to the movable shaft 13 downward by the dimension 16 in a direction parallel to the slider 15 so that the difference between the operating force F4 and the counter force F3 of the variable vacuum capacitor 7, that is, the total operating force F5, becomes a fixed value other than zero. In other words, the dimension 16 is set so that the total operating force F5 becomes a fixed value other than zero.

[0078] Since clearance and looseness are required in the operation of the mechanism, the change of force in the operation is predicted, and the value of the total operating force F5 is set to a positive or negative value, so that the total operating force F5 is not zero, in other words, a value other than zero. As a result, the parts of the mechanism slide on the same surface, and the influence of clearance and looseness required for the operation of the mechanism disappears, preventing the operation from being temporarily stopped and causing a decrease in the accuracy of the operation.

[0079] The operating force characteristics are adjusted by combining the counter force mechanism 1 with a device having a positive spring constant. Furthermore, by operating the direct-acting operating rod 3 by a driving source (not shown), the movable rod 78, the movable support portion 77, and the movable electrode 76 are moved in the axial direction Y via the counter force mechanism 1, and the electrostatic capacitance of the variable vacuum capacitor 7 is operated to a desired value.

[0080] As described above, according to the present embodiment, in the opposing force mechanism combined with a device having a positive spring constant, by using a mechanism composed of one type of negative elastic portion, it is possible to simplify the structure and achieve miniaturization.

[0081] In addition, by combining the opposing force mechanism with a device having a positive spring constant, the absolute value of the operating force can be reduced to be suitable for high-speed operation.

[0082] Furthermore, by setting the value of the total operation force F5 to a larger value other than zero, an operation instruction can be accurately output, and control can be performed with high accuracy.

[0083] Furthermore, by setting the angle θ3 between the operating link 22 and the slider 15 to be in the range of 25° to 85°, the output and the input can be made equal to or less than the input, thereby achieving a reaction force characteristic.

[0084] Furthermore, by adjusting the fixing position of the spring shaft 12 , the force applied to the operating shaft 14 and the total operating force F5 can be arbitrarily set, and a linear reaction force characteristic can be obtained.

[0085] Furthermore, by matching the slopes of the opposing force F3 and the operating force F4 of the variable vacuum capacitor 7 , the total operating force F5 can be made a fixed value.

[0086] "Other Implementation Methods"

[0087] In the embodiment, a compression spring is used for the counter force spring 24 passing through the spring link 23, but the spring link 23 may be extended from the movable shaft 13 to the opposite side of the spring shaft 12, and a tension spring may be used in the extended portion (the portion of the spring link 23 closer to the other end than the spring shaft 12).

[0088] In addition, in the insertion state a where the movable shaft 13 is farthest from the line connecting the main shaft 11 and the actuating shaft 14, the spring shaft 12 may be fixed on the opposite side of the extension line extending from the main shaft 11 of the main connecting rod 21 to the movable shaft 13, in other words, fixed between the main shaft 11 of the main connecting rod 21 and the movable shaft 13. However, in this case, the angle θ1 between the spring connecting rod 23 and the actuating connecting rod 22, the angle θ2 between the spring connecting rod 23 and the main connecting rod 21, and the angle θ3 between the actuating connecting rod 22 and the slider 15 change, and correction such as the product of the cosine value of the angle θ3 cannot be performed, and the output of the counter force mechanism cannot be made linear. Therefore, the total operating force F5 cannot be set to a fixed value. However, the total operating force F5 can be set to a value other than zero.

[0089] In the above, in the present invention, only the specific examples described are described in detail, but it is obvious to those skilled in the art that various modifications and corrections can be made within the scope of the technical idea of ​​the present invention, and such modifications and corrections naturally fall within the scope of protection of the claims.

Claims

1. A reverse force mechanism, in combination with a device having a positive spring constant, having a negative spring constant, exerting a reverse force on the same point of action, adjusting the total operating force, characterized in that, The reverse force mechanism comprises: A main shaft, both ends of which are supported and rotatable about an axis; A main connecting rod, wherein the main shaft is inserted through a hole at one end of the main connecting rod; A movable shaft, the movable shaft is inserted into the hole on the other end side of the main connecting rod and can move on a circular arc trajectory centered on the main shaft, and is arranged to be rotatable around an axis; an action connecting rod, wherein the movable shaft is inserted through a hole at one end of the action connecting rod; A slider, the slider extending in a direction perpendicular to the main axis and having both ends fixed; an operating shaft, the operating shaft being inserted into the hole on the other end side of the operating link, being guided by the slider so as to be movable in a direction parallel to the slider, and being arranged to be rotatable around an axis; a spring link having a long hole at one end thereof through which the movable shaft is inserted; a spring shaft, the spring shaft being inserted into a hole on the other end side of the spring link; as well as a reverse force spring, wherein the reverse force spring is arranged on the spring connecting rod, In the inserted state where the movable shaft is farthest from the line connecting the main shaft and the operating shaft, the spring shaft is fixed in a position where the spring shaft is moved parallel to the slider by a dimension set so that the total operating force becomes a fixed value other than zero from a base point on an extension line extending from the main shaft to the movable shaft, The action angles of the action link and the slider are set to a range of 25° to 85°.

2. The reverse force mechanism according to claim 1, characterized in that: The counter force spring is a compression spring inserted into a portion of the spring link between the spring shaft and the movable shaft.

3. The reverse force mechanism according to claim 1, characterized in that: The spring connecting rod extends the other end side. The opposing force spring is a tension spring provided at a portion of the spring link closer to the other end side than the spring shaft.

4. A reverse force mechanism, in combination with a device having a positive spring constant, having a negative spring constant, exerting a reverse force on the same point of action, adjusting the total operating force, characterized in that, The reverse force mechanism comprises: A main shaft, both ends of which are supported and rotatable about an axis; A main connecting rod, wherein the main shaft is inserted through a hole at one end of the main connecting rod; A movable shaft, the movable shaft is inserted into the hole on the other end side of the main connecting rod and can move on a circular arc trajectory centered on the main shaft, and is arranged to be rotatable around an axis; an action connecting rod, wherein the movable shaft is inserted through a hole at one end of the action connecting rod; A slider, the slider extending in a direction perpendicular to the main axis and having both ends fixed; an operating shaft, the operating shaft being inserted into the hole on the other end side of the operating link, being guided by the slider so as to be movable in a direction parallel to the slider, and being arranged to be rotatable around an axis; a spring link having a long hole at one end thereof through which the movable shaft is inserted; a spring shaft, the spring shaft being inserted into a hole on the other end side of the spring link; as well as a counter force spring inserted into a portion of the spring link between the spring shaft and the movable shaft, The spring shaft is fixed between the main shaft and the movable shaft, The operating angles of the operating link and the slider are set to a range of 25° to 85°, and the value of the total operating force is set to a value other than zero.

5. The reverse force mechanism according to any one of claims 1 to 4, characterized in that: The device having a positive spring constant is a variable vacuum capacitor.

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