Reverse force mechanism

Abstract

In the inserted state, the spring shaft (12) is fixed at a position where the base point on the 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 action link (22) and the slider (15) is set in the range of 25° to 85°. In a reverse 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 total operating force can be set to a value other than zero to suit high-precision control.

Description

Technical Field

[0001] The present invention relates to a reverse force mechanism that combines a device having a positive spring constant with a device having 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. Figure 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 forming a plurality of substantially cylindrical electrode members having different inner diameters with minute gaps 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 of the vacuum container (the direction of both ends of the cylindrical body 72) via a movable rod 78 described later. Figure 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] Like the fixed electrode 75, the movable electrode 76 is constructed by interposing a plurality of substantially cylindrical electrode components having different inner diameters with minute gaps therebetween. Each electrode component of the movable electrode 76 is disposed opposite the fixed electrode 75 on the fixed-side conductor 73 side of the movable support 77 so that it can be inserted into or removed from the fixed electrode 75 without contact with the fixed electrode 75 (inserting or removing between the electrode components of the fixed electrode 75 so as to intersect with each other). This allows for the formation of 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-side conductor 74 where the movable electrode 76 is not provided) in the axial direction Y. Figure 11 In the embodiment, the movable rod 78 is extended so as to protrude toward the movable-side conductor 74 of the vacuum container.

[0007] Reference numeral 79 denotes a flexible, thin, cylindrical (e.g., corrugated) bellows made of soft metal, serving as part of the current path of the variable vacuum capacitor 7. The bellows 79 maintains the outer periphery of the bellows 79 within the vacuum container, i.e., the space (hereinafter referred to as the vacuum chamber) 71 enclosed by the cylindrical body 72, the fixed-side conductor 73, the movable-side conductor 74, the movable support 77, and the bellows 79, airtight (maintaining a vacuum state) while enabling movement of the movable electrode 76, the movable support 77, and the movable rod 78 in the axial direction Y. Furthermore, a space at atmospheric pressure (hereinafter referred to as the atmospheric chamber) is formed within the vacuum container on the inner periphery of the bellows 79 (on the movable rod 78 side of the bellows 79).

[0008] Thus, a fixed electrode 75 and a movable electrode 76 with 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, thereby making the capacitance variable.

[0009] When the movable rod 78 is inserted or removed, the spring constant 79a of the bellows 79 generates a restoring force to compensate for the displacement, thereby applying vacuum pressure. This gives the variable vacuum capacitor 7 an operating force characteristic with a linear, positive spring constant: a positive pulling force at the maximum insertion position, which increases as the rod is removed.

[0010] The variable vacuum capacitor 7 has a disadvantage in 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 generating a counterforce. Patent Document 1 combines a positive elastic mechanism with a positive spring constant and a negative elastic mechanism with a negative spring constant. The negative elastic mechanism comprises a primary and a secondary negative elastic portion. While this structure allows for arbitrary positive and negative spring constants, it has the disadvantage of being complex and bulky.

[0013] A toggle force-multiplying mechanism is also known. This mechanism includes two links (a main link and an actuating link), a slider, and three axes (a fixed main axis that serves as the axis of the two links, a non-fixed movable axis, and an actuating axis that is linked to the slider). A predetermined input is applied to the movable axis from a direction perpendicular to the slider.

[0014] In this mechanism, the operating angle of the actuating link and slider is typically between 0 and 60 degrees. Within the acute angle range of 25 degrees or less, the ratio of output to input increases sharply, resulting in a curved characteristic known as a force-multiplying mechanism. On the other hand, if the angle exceeds 85 degrees, the ratio of output to input decreases sharply.

[0015] Even if a toggle force multiplication mechanism with a sharply increasing curved characteristic is combined with a device with a linear characteristic based on a positive spring constant, 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 reaches zero value during operation, the direction of the force is reversed, and the action is momentarily stopped due to the clearance and looseness, resulting in discontinuous operation characteristics.

[0017] When this is combined with a device having linear characteristics based on a positive spring constant, there is a problem in that the 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 counterforce mechanism combined with a device having a positive spring constant, the challenges are 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 the main shaft 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; the 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 away from the main shaft and the operating shaft: the spring shaft is moved parallel to the slider from a base point on the extension line extending from the main shaft to the movable shaft by a dimension set so 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 counterforce spring is a compression spring inserted into a portion of the spring link between the spring shaft and the movable shaft.

[0024] In another embodiment, the spring link is extended at the other end, and the counterforce 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 cam is fixed to the drive shaft, the cam being guided by the slider and movable in a direction parallel to the slider and being rotatable around an axis; a spring link having a long hole at one end for inserting the movable shaft; a spring shaft being inserted into the hole at the other end of the spring link; and a counter force spring being inserted into a portion of the spring link between the spring shaft and the movable shaft, the spring shaft being fixed between the main shaft and the movable shaft, the action angle of the action link and the slider being set to a range of 25° to 85°, and the value of the total operating force being set to a value other than zero.

[0026] In one embodiment, 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 BB' section view in.

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

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

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

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

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

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

[0037] Figure 10 This is a graph showing the operating force characteristics of the counter force mechanism.

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

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

[0040] [Implementation Method]

[0041] Figure 1 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 BB' section view in Figures 1 to 3 As shown, the reverse force mechanism 1 is connected to the variable vacuum capacitor 7 via the mounting member 81. Figure 11 The variable vacuum capacitor 7 has a linear positive spring constant such that when the variable vacuum capacitor 7 is in its fully inserted state (when the movable rod 78, movable support 77, and 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 counterforce 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 side plates 10 with screws 10a, respectively. A linear operating rod 3 protrudes from the upper plate 8. The linear operating rod 3 is supported by a drive source (not shown). The movable rod 78 of the variable vacuum capacitor 7 passes through the lower plate 9 and is supported by the counterforce mechanism 1.

[0043] like Figure 2 、 Figure 3As shown, the counter force mechanism 1 is a toggle mechanism having 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 disposed perpendicularly to the pair of side plates 10 and is inserted into holes formed at one end of a pair of plate-shaped main links 21 disposed on the inner sides of the side plates 10. The main shaft 11 serves as the axis for both the main link 21 and the actuating link 22 and is supported so as to be rotatable about its axis.

[0045] The movable shaft 13 is disposed perpendicularly to the side plates 10 and rotatable about its axis, but is not fixed to the side plates 10. The movable shaft 13 is inserted through a long notch 2a in the movable metal fitting 2, located inside the main connecting rod 21. During operation, the movable shaft 13 and the movable metal fitting 2 do not contact each other. Furthermore, the movable shaft 13 is inserted through a hole on the other end of the main connecting rod 21, located outside the movable metal fitting 2, and a hole on one end of the plate-shaped operating link 22. Furthermore, the movable shaft 13 is inserted through a long hole 23a on one end of the spring link 23, located outside the operating link 22, allowing for free movement in the axial direction of the spring link 23. The movable shaft 13 is movable along a circular arc centered on the main shaft 11.

[0046] The operating shaft 14 is provided on the inner side of the pair of side plates 10 so as to be perpendicular to the side plates 10 and rotatable about its axis, but 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 on the outer side of 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 this 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 The movable metal fitting 2 moves up and down on the imaginary slider line 15a shown. That is, 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 to avoid contact with the main shaft 11, a hole 2e on the upper surface for fixing the linear motion operating rod 3, and a fixing hole (not shown) on the lower surface for fixing the movable rod 78.

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

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

[0051] Here, the insertion state a indicates a state in which the movable rod 78, movable support 77, and movable electrode 76 of the variable vacuum capacitor 7 are closest to the fixed-side conductor 73. Furthermore, in the insertion state a, in the counter force mechanism 1, the movable shaft 13 is furthest away 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, movable support 77, and movable electrode 76 of the variable vacuum capacitor 7 are furthest away from the fixed-side conductor 73. Furthermore, 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] The movement dimension S represents the movement distance of the movable rod 78, movable support 77, and movable electrode 76 of the variable vacuum capacitor 7 from the insertion state a. The movement dimension S is smallest in the insertion state a and 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 position of dimension 16 is such that 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 inserted state a, the movable shaft 13 of the counterforce mechanism 1 is at the initial position of the arc trajectory (the lower leftmost position on the arc trajectory), and the actuating shaft 14 is also at the initial position of the sliding motion (the lowest position in the sliding range). Because the movable shaft 13 is farthest from the line connecting the main shaft 11 and the actuating shaft 14, the distance between the spring shaft 12 and the movable shaft 13 is the shortest, and the maximum force F1a of the counterforce spring 24 is applied to the movable shaft 13.

[0056] The positional relationship between the spring shaft 12 and the movable shaft 13 determines the angle θ1a (approximately 18°) between the spring link 23 and the actuating link 22, as well as the angle θ2a (approximately 21°) between the spring link 23 and the main link 21. 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 angular ratio of the two angles θ1a and 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 counterforce 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 (approximately 83°) is small, the counterforce F3a is minimized.

[0058] In the movable metal fitting 2, the difference between the counterforce 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 meters below 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 minimum force F1b of the counter-force spring 24 is applied to the movable shaft 13 .

[0061] The positional relationship between the spring shaft 12 and the movable shaft 13 determines the angle θ1b (approximately 57°) between the spring link 23 and the actuating link 22, as well as the angle θ2b (approximately 69°) between the spring link 23 and the main link 21. 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 ratio of angles θ1b and 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 counterforce F3b is the product of the force F2b acting on the actuating shaft 14 and the cosine value of the angle θ3b. Since the cosine value of the angle θ3b (approximately 29°) is large, the counterforce F3b reaches its 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 Figure 9 In the figure, 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°). Figure 10 In the figure, the horizontal axis represents the movement dimension S from the inserted state a to the removed state b of the variable vacuum capacitor 7. The vertical axis is centered at point 0, with the positive side representing the pulling force into the variable vacuum capacitor 7 and the negative side representing the pulling force out of the variable vacuum capacitor 7. The farther away from point 0 the pulling force and the pulling force are, the larger the values ​​become.

[0065] While the force F1 acting on the movable shaft 13 normally varies linearly with the movement dimension S due to the elastic force of the opposing force spring 24 having a spring constant 24a, in this embodiment, the movable shaft 13 moves along an arcuate trajectory between its initial position in the inserted state a and its final position in the removed state b. As a result, the force F1 acting on the movable shaft 13 varies in a curved manner with the movement dimension S. Specifically, the force F1a acting on the movable shaft 13 in the inserted state a curves downward (in the direction of greater extraction force) to the force F1b acting on the movable shaft 13 in the removed state b, resulting in an overall curved characteristic in which the force in the removed state b decreases compared to the inserted state a.

[0066] As the movable shaft 13 moves along the arcuate trajectory, the angle θ1 between the spring link 23 and the actuating link 22 increases while bending downward (in the direction of a smaller angle) from the angle θ1a (approximately 18°) in the inserted state a to the angle θ1b (approximately 57°) in the removed state b. Similarly, the angle θ2 between the spring link 23 and the main link 21 also increases while bending downward (in the direction of a smaller angle) from the angle θ2a in the inserted state a to the angle θ2b in the removed state b.

[0067] At this time, the ratio of angle θ2 is higher than that of angle θ1, and the force F1 acting on movable shaft 13 is distributed in conjunction with the ratio of angle θ2 to force F2 acting on actuating shaft 14 and force acting on main shaft 11. Force F2 acting on actuating shaft 14 curves slightly toward a decreasing direction (awarding a smaller pullout force) from insertion state a to removal state b, while generally increasing more slowly in removal state b than in insertion state a.

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

[0069] Based on the arcuate trajectories of the fixed spring shaft 12 and the movable shaft 13 and the interaxial 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 inserted state a to the intermediate level, and decreases while curving 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 removed state b.

[0070] The counterforce F3 is the product of the force F2 acting on the operating shaft 14 and the cosine of the angle θ3. Therefore, the characteristic of the force F2 acting on the operating shaft 14, which gradually increases while slightly curving in the decreasing direction, is corrected by the product of the force F2 and the cosine of the angle θ3, which slightly curvatures in the increasing direction. As a result, the counterforce F3 exhibits a counterforce characteristic in which the extraction force increases linearly from the counterforce F3a in the inserted state a to the counterforce F3b in the removed state b. It should be noted that the slope of the counterforce 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 operating force in which the direction of the force does not reverse during operation.

[0072] During the movement from the inserted state a to the removed state b, the movable shaft 13 of the main link 21 traces an arc. The distance between the spring shaft 12 and the movable shaft 13 changes from the shortest in the inserted state a to the longest in the removed state b. The force F1 acting on the movable shaft 13 due to the opposing spring force, based on the spring constant 24a, is smaller in the removed state b than in the inserted state a.

[0073] Minimum spring force F1b (the force exerted by the counterforce spring 24 on the movable shaft 13 in the removed state b) influences counterforce F3b acting on the actuating shaft 14, which in turn influences the total operating force F5. The spring constant 24a of the counterforce spring 24 is adjusted so that the gradient (slope) of the increase in operating force F4 relative to the actuation dimension S of the device (variable vacuum capacitor 7) with a positive spring constant 1a matches the gradient (slope) of the increase in counterforce F3 on the actuating shaft 14 relative to the actuation dimension S. By matching the gradient of the operating force F4 and the gradient of the counterforce F3 on the variable vacuum capacitor 7, the total operating force F5 remains constant.

[0074] In a counterforce mechanism combined with a device having a positive spring constant, the elastic mechanism of Patent Document 1 comprises two negative elastic parts, a primary and a secondary one, which counteract each other to produce a counterforce (a force having a negative spring constant). In contrast, the present embodiment utilizes a mechanism that produces a counterforce from a single negative elastic part, utilizing changes in force corresponding to the rotation angle of the link.

[0075] In a toggle mechanism that utilizes force changes associated with the rotation angle of a link, the output changes dramatically relative to the input at both ends of the angle θ3 between the operating link 22 and the slider 15 (between 0° and 90°). However, in the middle, the output is equal to or less than the input, resulting in a reaction force characteristic (a force with a negative spring constant). Focusing on this characteristic, the angle θ3 between the operating link 22 and the slider 15 is set within a range of 25° to 85°. The 25° angle is used for the removed state, with the maximum reaction force and minimum input value, while the 85° angle is used for the inserted state, with the minimum reaction force and maximum input value.

[0076] In the inserted state a, if the spring shaft 12 is fixed at a position on an extension line from the main shaft 11 to the movable shaft 13, the angle θ2 between the spring link 23 and the main link 21 is aligned at 180°. The force F1 acting on the movable shaft 13 due to the opposing elastic force is entirely applied to the main shaft 11, and the force F2 acting on the actuating shaft 14 is zero. Furthermore, in the inserted state a, if the fixed position of the spring shaft 12 is moved upward, the force acting on the actuating shaft 14 decreases, while if the fixed position of the spring shaft 12 is moved downward, the force acting on the actuating shaft 14 increases. 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 mentioned above is related to the angle θ1 between the spring link 23 and the actuating link 22, the angle θ2 between the spring link 23 and the main link 21, and the angle θ3 between the actuating link 22 and the slider 15. By moving the base point of the spring shaft 12 on the extension line extending from the main shaft 11 to the movable shaft 13 downward by the dimension 16 in a direction parallel to the slider 15, the counterforce F3 is adjusted so that the difference between the operating force F4 and the counterforce F3 of the variable vacuum capacitor 7, i.e., 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] Because the mechanism requires clearance and play during operation, the force changes during operation are predicted and the total operating force F5 is set to either a positive or negative value, ensuring that the total operating force F5 is non-zero, in other words, a value other than zero. This allows the components of the mechanism to slide on the same surface, eliminating the effects of clearance and play required for the mechanism's operation, and preventing momentary pauses in operation that could reduce operational accuracy.

[0079] The operating force characteristics are adjusted by combining this opposing force mechanism 1 with a device having a positive spring constant. Furthermore, by operating the linear operating rod 3 using a drive source (not shown), the movable rod 78, movable support 77, and movable electrode 76 are moved in the axial direction Y via the opposing force mechanism 1, thereby adjusting the capacitance of the variable vacuum capacitor 7 to a desired value.

[0080] As described above, according to this embodiment, in the opposing force mechanism combined with a device having a positive spring constant, by using a mechanism composed of a single 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 operating force F5 to a larger value other than zero, an operation instruction can be accurately output, and control can be performed with high precision.

[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 equal to achieve a reaction force characteristic.

[0084] Furthermore, by adjusting the fixing position of the spring shaft 12 , the force applied to the actuating 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 constant 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. However, 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] Alternatively, in the inserted state a, where the movable shaft 13 is furthest from the line connecting the main shaft 11 and the actuating shaft 14, the spring shaft 12 can be fixed on the opposite side of the line extending from the main shaft 11 of the main link 21 toward the movable shaft 13—in other words, fixed between the main shaft 11 and the movable shaft 13 of the main link 21. However, in this case, the angle θ1 between the spring link 23 and the actuating link 22, the angle θ2 between the spring link 23 and the main link 21, and the angle θ3 between the actuating link 22 and the slider 15 change. Corrections such as the product of the angle θ3 with the cosine of the angle θ3 cannot be performed, and the output of the counterforce 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 having a negative spring constant in combination with a device having a positive spring constant, which applies a reverse force to the same point of action and adjusts 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 into a hole at one end of the main connecting rod; a movable shaft inserted into the hole on the other end side of the main connecting rod and capable of moving on a circular arc trajectory centered on the main shaft, and arranged to be rotatable around an axis; an operating link having a hole at one end thereof through which the movable shaft is inserted; a slider extending in a direction perpendicular to the main axis and having both ends fixed; an operating shaft inserted into the hole on the other end side of the operating link, guided by the slider so as to be movable in a direction parallel to the slider, and provided so as to be rotatable about 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, the reverse force spring being arranged on the spring connecting rod, In the inserted state where the movable shaft is furthest away from the line connecting the main shaft and the actuating 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 be in the range of 25° to 85°.

2. The reverse force mechanism according to claim 1, wherein: 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, wherein: The spring link extends the other end side, The counterforce spring is a tension spring provided at a portion of the spring link closer to the other end than the spring shaft.

4. A reverse force mechanism having a negative spring constant in combination with a device having a positive spring constant, which applies a reverse force to the same point of action and adjusts 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 into a hole at one end of the main connecting rod; a movable shaft inserted into the hole on the other end side of the main connecting rod and capable of moving on a circular arc trajectory centered on the main shaft, and arranged to be rotatable around an axis; an operating link having a hole at one end thereof through which the movable shaft is inserted; a slider extending in a direction perpendicular to the main axis and having both ends fixed; an operating shaft inserted into the hole on the other end side of the operating link, guided by the slider so as to be movable in a direction parallel to the slider, and provided so as to be rotatable about 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 angle of the operating link and the slider is 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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