Linking mechanism and transfer device

Abstract

A transfer device is provided that includes a linking mechanism for moving a supported object along a two-dimensional plane relative to a support. [Solution] The connecting mechanism 1 of the transfer device comprises: a first track section 10 having a first guide member 15 with a guide portion along a circle C1; a first running body 12 that runs while being guided by the first guide member 15 and is rotatable around a tangent to the circle C1; a second track section 20 having a second guide member 25 with a guide portion along a circle C2; ​​and a second running body 22 that runs while being guided by the second guide member 25 and is rotatable around a tangent to the circle C2; ​​a connecting section 30 having a connecting body 31 that connects the first running body 12 and the second running body 22 so as to maintain the distance between them, and to which the first running body 12 and / or the second running body 22 are rotatably connected about the central axis of the connecting body 31; and an angle adjustment section 40 for changing the angle between the central axis of the circle C2 and the central axis of the circle C1 as a reference straight line.

Description

[Technical Field]

[0001] The present invention relates to a coupling mechanism that is disposed between a support and a supported object supported by the support, and that moves the supported object along a two-dimensional plane relative to the support in response to an external force applied to the support or the supported object, and to a transfer device that uses this coupling mechanism. Here, "two-dimensional plane" refers to a spherical surface (spherical crown) or a plane that extends in two dimensions. Also, "moving along a two-dimensional plane" means moving the supported object so that an arbitrarily selected point is always located on the two-dimensional plane. [Background technology]

[0002] Rocking chairs and seismic isolation devices for lateral motion have been proposed that include a connecting mechanism for moving a supported object relative to a supporting object in response to an external force applied to the supporting object or the supported object.

[0003] For example, Patent Document 1 (Patent Publication No. 6925006) proposes a transport device suitable for use with rocking chairs and lateral vibration isolation devices, which comprises a support, a supported object, and at least three connecting mechanisms provided between the support and the supported object.

[0004] The coupling mechanism in this transfer device is composed of a circular track section for causing a running body to make circular motion, a linear track section for causing another running body to make linear reciprocating motion, and a coupling section for interlocking the running body performing circular motion with the running body performing linear reciprocating motion. The coupling section is provided with a coupling body to which at least one of a holder holding the running body performing circular motion and a holder holding the running body performing linear reciprocating motion is rotatably coupled, and the running body performing circular motion and the running body performing linear reciprocating motion move interlocked via this coupling body. By connecting the supported body and the support using at least three coupling mechanisms having the above configuration, the supported body can be moved along a predetermined two-dimensional plane relative to the support in response to an external force applied to the support or the supported body. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Patent No. 6925006 Summary of the Invention [Problem to be solved by the invention]

[0006] Although the transfer device described in Patent Document 1 has a simple structure and can be manufactured inexpensively, the two-dimensional plane along which the supported object moves relative to the support when subjected to an external force is determined by the shape of a guide member for guiding a traveling object that performs linear reciprocating motion. For example, Figures 6 to 13 of Patent Document 1 disclose a transfer device that moves the supported object along a plane relative to the support, but a rail that extends linearly along the plane is used as a guide member for guiding the traveling object that performs linear reciprocating motion. Furthermore, Figures 19 to 28 of Patent Document 1 disclose a transfer device that moves the supported object along a spherical surface (spherical crown) relative to the support, but a rail that is shaped along the spherical surface and extends linearly when viewed from a direction parallel to the central axis of the circle along which the traveling object that performs circular motion travels is used as a guide member for guiding the traveling object that performs linear reciprocating motion.

[0007] However, the two-dimensional surface along which the supported object moves relative to the support when subjected to an external force may be desired to be either flat or spherical. Even if the two-dimensional surface is spherical, the slope of the movement of the supported object along the spherical surface may be desired to be gentle or steep. For example, when using a transfer device for a rocking chair, the desired shape of the two-dimensional surface will differ depending on whether the chair is used for relaxation or as a substitute for a balance ball. The desired shape of the two-dimensional surface will also differ depending on the physique, physical condition, mood, etc. of the person sitting in the chair. Similarly, when using a transfer device for a lateral vibration isolation device, the preferred shape of the two-dimensional surface will change depending on the shape, size, center of gravity, etc. of the object to be protected from vibration, or the seismic intensity experienced by the transfer device. Therefore, a transfer device capable of changing the shape of the two-dimensional surface is needed. However, in order to meet this demand using the transfer device of Patent Document 1, multiple guide members with different shapes must be prepared in advance as guide members for guiding the moving body that moves back and forth in a linear manner, and these must be replaced as needed, which is time-consuming and incurs additional costs.

[0008] Therefore, the object of the present invention is to provide a transfer device that can be manufactured inexpensively with a simple structure, and that can change the shape of the two-dimensional surface along which the supported object moves relative to the support in response to an external force applied to the support or the supported object without providing any additional structural members, and also to provide a connecting mechanism that can be used to realize this transfer device. [Means for solving the problem]

[0009] The above-mentioned problem is solved by the following problem between the support and the supported: a first attachment member fixed to one of the supporting body and the supported body; Two first running bodies; a first guide member connected to the first mounting member, the first guide member having a guide portion for causing one of the first running bodies to run along one of two arcs that form a part of a first circle and are plane-symmetrical with respect to a reference plane including a central axis of the first circle, and a guide portion for causing the other of the first running bodies to run along the other arc that forms a part of the first circle; a first track portion, wherein both of the first running bodies are rotatable around a tangent to the first circle; a second attachment member fixed to the other of the supporting body and the supported body; two second running bodies; a second guide member connected to the second mounting member, the second guide member having a guide section for causing one of the second running bodies to run along one of two arcs that form a part of a second circle and that are plane-symmetrical with respect to a plane that includes the central axis of the second circle and is located in the reference plane at a neutral position, and a guide section for causing the other of the second running bodies to run along the other of the arcs that form a part of the second circle, wherein, when viewed from a direction along the central axis of the first circle at the neutral position, the arc along which the one of the first running bodies runs intersects with the arc along which the one of the second running bodies runs, and the arc along which the other of the first running bodies runs intersects with the arc along which the other of the second running bodies runs; a second track portion, wherein both of the second running bodies are rotatable around a tangent to the second circle; a connecting section for interlocking the running of the first running body with the running of the second running body, the connecting section including a connecting body connecting one of the first running body and one of the second running body, and a connecting body connecting the other of the first running body and the other of the second running body, wherein a distance between the first running body and the second running body connected to these connecting bodies is maintained at a predetermined length, and at least one of the first running body and the second running body is rotatable around a central axis of the connecting body; an angle adjustment unit including at least an adjustment member for changing the angle between a reference line located in the reference plane and the central axis of the second circle at a neutral position, and may include another adjustment member for changing the angle between the reference line and the central axis of the first circle; This is achieved by disposing a connecting mechanism comprising: a connecting member having: a first connecting member and a second connecting member; and a second connecting member and a second connecting member. Therefore, the present invention first relates to the connecting mechanism. Note that the "neutral position" refers to a position occupied by each member included in the connecting mechanism when a plane including the central axis of a second circle that constitutes a plane of symmetry of two arcs that constitute a part of the second circle is located within a plane (reference plane) that includes the central axis of a first circle that constitutes a plane of symmetry of two arcs that constitute a part of the first circle; when no external force is applied to either the supporting member or the supported member, each member included in the connecting mechanism is normally in the neutral position.

[0010] There are no limitations on the shapes of the supporting body and the supported body to which the connecting mechanism of the present invention is to be attached. For example, when the transfer device of the present invention is used for a rocking chair, the seat on which the user sits can be the supported body, and the legs that support the seat can be the supporting body. When the transfer device of the present invention is used for a lateral vibration seismic isolation device, the supported body can be a platform on which an object to be protected from vibration is placed, or the object itself, and the supporting body can be a floor, ground, table, base, etc. that supports the platform or the object itself.

[0011] Furthermore, the angle adjustment unit essentially includes an adjustment member for changing the angle between a reference line located in a reference plane and the central axis of the second circle at the neutral position, and may also include a separate adjustment member for changing the angle between the reference line and the central axis of the first circle. The reference line only needs to be located in the reference plane, and if no separate adjustment member is provided, the central axis of the first circle can also be used as the reference line. Note that the change in the angle between the reference line and the central axis of the second circle at the neutral position by the adjustment member, and the change in the angle between the reference line and the central axis of the first circle by the separate adjustment member, do not need to be performed at the neutral position and may be performed, for example, when an external force is applied to the supporting body or the supported object.

[0012] Furthermore, one guide section and the other guide section of the first guide member each cause a single first running body to run along an arc that is plane-symmetrical with respect to a reference plane, and the positions and lengths of these arcs on the first circle can be set in consideration of the ratio between the diameter of the first circle and the diameter of the second circle, the relative positional relationship between the first circle and the second circle, and the desired range of movement of the supported body relative to the support. Similarly, one guide section and the other guide section of the second guide member each cause a single second running body to run along an arc that is plane-symmetrical with respect to a plane that includes the central axis of the second circle, and the positions and lengths of these arcs on the second circle can also be set in consideration of the ratio between the diameter of the first circle and the diameter of the second circle, the relative positional relationship between the first circle and the second circle, and the desired range of movement of the supported body relative to the support.

[0013] In the connecting mechanism of the present invention, the above-mentioned problems are solved by using all of the following features (i) to (iv). (i) In the first track section, two first running bodies are used, and these running bodies are configured to run along a first circle and to be able to rotate around a tangent to the first circle. (ii) In the second track section, two second running bodies are used, and these running bodies are made to run along the second circle and are configured to be rotatable around the tangent to the second circle. (iii) In the connecting section for linking the movement of the first running body and the movement of the second running body, two connecting bodies are used, and one first running body and one second running body are connected to these connecting bodies so that the distance between the first running body and the second running body is maintained at a predetermined length and at least one of the first running body and the second running body can rotate around the central axis of the connecting body. (iv) The angle adjustment unit can change the angle between the reference line located in the reference plane and the central axis of the second circle in the neutral position.

[0014] According to the connection mechanism of the present invention, when the central axis of the first circle and the central axis of the second circle in the neutral position are parallel, the central axes of the two connecting bodies are also parallel to the central axis of the first circle, allowing the supported body to move along a plane relative to the support body in response to an external force applied to the supporting body or the supported body. When the angle between the central axis of the first circle and the central axis of the second circle in the neutral position is greater than 0°, the central axes of the two connecting bodies pass through the intersection of the central axis of the first circle and the central axis of the second circle, allowing the supported body to move along a spherical surface centered on the intersection relative to the support body in response to an external force applied to the supporting body or the supported body. As the angle between the central axis of the first circle and the central axis of the second circle in the neutral position increases, the distance between the intersection of the central axis of the first circle and the central axis of the second circle and any point on the supported body becomes shorter, allowing the supported body to move along a sphere with a smaller diameter relative to the support body.

[0015] The structure of the adjustment member is not particularly limited as long as it can change the angle between the reference line located in the reference plane and the central axis of the second circle at the neutral position. The shape of the second guide member is also not particularly limited as long as it has a guide portion for running one of the second runners and a guide portion for running the other of the second runners. The second guide member can be easily formed by forming it from a tube having an arc shape that has both of these guide portions. The adjustment member in the angle adjustment unit is connected to a second mounting member, and the apex and / or end point of the tube is supported by the adjustment member so that the apex of the tube can rotate about the center of the second circle within a plane including the central axis of the second circle. This makes it easy to change the angle between the reference line and the central axis of the second circle at the neutral position.

[0016] Similarly, the structure of the other adjustment member is not particularly limited as long as it can change the angle between the reference line and the central axis of the first circle, and the shape of the first guide member is not particularly limited as long as it has a guide portion for running one of the first runners and a guide portion for running the other of the first runners. The first guide member can be easily formed by forming it from a tube having an arc shape that has both of these guide portions. Then, by connecting the other adjustment member in the angle adjustment unit to the first mounting member and supporting the apex and / or end point of the tube on this other adjustment member so that the apex of the tube can rotate around the center of the first circle within the reference plane, the angle between the reference line and the central axis of the first circle can be easily changed.

[0017] There are no limitations on the structure of the second running body, as long as it is guided by the second guide member and can run along an arc that is a part of the second circle and rotate around a tangent to the second circle. However, if the second running body is equipped with a grooved roller and the second guide member is formed from a tube with a circular cross section that fits into the groove of the grooved roller, the second running body can easily be given the ability to run along an arc that is a part of the second circle and rotate around a tangent to this circle.

[0018] Similarly, there are no limitations on the structure of the first running body, as long as it is guided by a first guide member and can run along an arc that is a part of the first circle and rotate around a tangent to the first circle. However, if the first running body is equipped with a grooved roller and the first guide member is formed from a tube with a circular cross section that fits into the groove of the grooved roller, the first running body can easily be given the ability to run along an arc that is a part of the first circle and rotate around a tangent to this circle.

[0019] The present invention also provides a transfer device including a support, a supported object, and a transfer mechanism provided between the support and the supported object for moving the supported object along a two-dimensional plane relative to the support in response to an external force applied to the support or the supported object, the transfer mechanism has at least two of the above-described coupling mechanisms of the present invention; These connecting mechanisms must satisfy the following conditions (R1) to (R3): (R1) A first attachment member in all of the connecting mechanisms is fixed to one of the supporting body and the supported body, and a second attachment member in all of the connecting mechanisms is fixed to the other of the supporting body and the supported body; (R2) The reference planes in all of the linking mechanisms are located in the same plane, and the central axes of the first circles in all of the linking mechanisms are parallel to each other; (R3) The angle adjustment unit in each connecting mechanism adjusts the angle so that the central axis of the first circle in all connecting mechanisms is parallel to the central axis of the second circle in the neutral position, or the intersection of the central axis of the first circle in all connecting mechanisms and the central axis of the second circle in the neutral position is located on a straight line perpendicular to the central axis of the first circle. The present invention relates to a transfer device characterized by satisfying all of the above.

[0020] In this transfer device, when an external force is applied to the supporting body or the supported body, all of the connecting mechanisms operate in cooperation. When the central axes of the first circles in all of the connecting mechanisms and the central axis of the second circle in the neutral position are parallel, the supported body can be moved along a plane relative to the supporting body in response to the external force applied to the supporting body or the supported body. When the intersection of the central axes of the first circles in all of the connecting mechanisms and the central axis of the second circle in the neutral position is located on a straight line perpendicular to the central axis of the first circle, an arbitrarily selected point on the supported body can be moved relative to the supporting body so as to be located within a spherical surface whose center is the intersection of a straight line on which the intersection of the central axes of the first circles in all of the connecting mechanisms and the central axis of the second circle in the neutral position is located, and a straight line that is perpendicular to this line and passes through the arbitrarily selected point.

[0021] In this transfer device, if the diameters of the first circles in all connecting mechanisms are made the same length, the centers of the first circles in all connecting mechanisms are positioned in a plane perpendicular to the central axis of the first circle, the diameters of the second circles in all connecting mechanisms are made the same length, and the centers of the second circles in all connecting mechanisms are positioned in another plane perpendicular to the central axis of the first circle in the neutral position, and the angle adjustment unit in each connecting mechanism is used to adjust the angles between the central axes of the first circles in all connecting mechanisms and the second central axis in the neutral position so that they are the same, it becomes easy to change the shape of the two-dimensional surface along which the supported object moves relative to the support.

[0022] The present invention also provides a transfer device including a support, a supported object, and a transfer mechanism provided between the support and the supported object for moving the supported object along a two-dimensional plane relative to the support in response to an external force applied to the support or the supported object, the transfer mechanism has at least two of the above-described coupling mechanisms of the present invention; These connecting mechanisms must satisfy the following conditions (R4) to (R6). (R4) A first attachment member in all of the connecting mechanisms is fixed to one of the supporting body and the supported body, and a second attachment member in all of the connecting mechanisms is fixed to the other of the supporting body and the supported body; (R5) The first circles in all of the linkage mechanisms are configured as a single common circle; (R6) The angle adjustment unit in each of the linking mechanisms adjusts the central axis of the second circle in the neutral position of all of the linking mechanisms so that it is parallel to the central axis of the common circle, or so that the second central axis in the neutral position of all of the linking mechanisms intersects with the central axis of the common circle at a single point. The present invention relates to a transfer device characterized by satisfying all of the above.

[0023] In this transfer device, when an external force is applied to the supporting body or the supported body, all of the connecting mechanisms operate in cooperation. When the central axes of the second circles in the neutral positions of all the connecting mechanisms are parallel to the central axis of the common circle, the supported body can be moved along a plane relative to the supporting body in response to the external force applied to the supporting body or the supported body. When the second central axes of all the connecting mechanisms in the neutral positions intersect at a point on the central axis of the common circle, the supported body can be moved along a spherical surface centered on the intersection point of the central axis of the common circle and the central axis of the second circle in the neutral position.

[0024] In this transfer device, if the diameters of the second circles in all of the connecting mechanisms are made the same length, and the centers of the second circles in all of the connecting mechanisms are positioned in a plane perpendicular to the central axis of the common circle in the neutral position, and the angle adjustment unit of each connecting mechanism is adjusted so that the angle between the central axis of the common circle in all of the connecting mechanisms and the second central axis in the neutral position is the same, it becomes easy to change the shape of the two-dimensional surface along which the supported object moves relative to the support.

[0025] The present invention also provides a transfer device including a support, a supported object, and a transfer mechanism provided between the support and the supported object for moving the supported object along a two-dimensional plane relative to the support in response to an external force applied to the support or the supported object, the transfer mechanism has at least two of the above-described coupling mechanisms of the present invention; These connecting mechanisms must satisfy the following conditions (R7) to (R9): (R7) A first attachment member in all of the connecting mechanisms is fixed to one of the supporting body and the supported body, and a second attachment member in all of the connecting mechanisms is fixed to the other of the supporting body and the supported body; (R8) The angle adjustment parts in all of the connecting mechanisms include both the adjustment member and the separate adjustment member. (R9) The angle adjustment unit in each connecting mechanism adjusts the center axis of the first circle in all connecting mechanisms to the center axis of the second circle in the neutral position so that the center axis of the first circle in all connecting mechanisms is parallel to the center axis of the second circle in the neutral position, or the center axis of the first circle in all connecting mechanisms to the center axis of the second circle in the neutral position so that they intersect at one point; The present invention relates to a transfer device characterized by satisfying all of the above.

[0026] In this transfer device, when an external force is applied to the supporting body or the supported body, all of the connecting mechanisms operate in cooperation. When the central axes of all the first circles and the central axis of the second circle in the neutral position are parallel, the supported body can be moved along a plane relative to the supporting body in response to the external force applied to the supporting body or the supported body. Furthermore, when the central axes of the first circles in all of the connecting mechanisms are adjusted so that they intersect at a single point, the supported body can be moved along a spherical surface centered at the intersection of the central axis of the first circle and the central axis of the second circle in the neutral position relative to the supporting body.

[0027] In this transfer device, the reference lines located within the reference plane in all of the connecting mechanisms are configured as a single common reference line, the diameters of the first circles in all of the connecting mechanisms are made the same length, the centers of the first circles in all of the connecting mechanisms are positioned within a plane perpendicular to the single common reference line, the diameters of the second circles in all of the connecting mechanisms are made the same length, and the centers of the second circles in all of the connecting mechanisms are positioned within another plane perpendicular to the single common reference line in the neutral position, and the angle adjustment unit in each connecting mechanism is adjusted so that the angle between the single common reference line and the central axis of the first circle in all of the connecting mechanisms is the same and the angle between the single common reference line and the central axis of the second circle in the neutral position is the same, making it easy to change the shape of the two-dimensional surface along which the supported object moves relative to the support. [Effects of the Invention]

[0028] The connecting mechanism of the present invention is a connecting mechanism that can be manufactured inexpensively with a simple structure, and can be easily incorporated between a support and a supported object. By connecting the support and the supported object using at least two of these connecting mechanisms, the object of changing the shape of the two-dimensional surface along which the supported object moves relative to the support in response to an external force applied to the support or the supported object can be easily achieved. [Brief explanation of the drawings]

[0029] [Figure 1] 1 is a schematic front view showing a state in which a connecting mechanism according to an embodiment of the present invention is disposed between a supporting body and a supported body. FIG. [Figure 2] FIG. 2 is a schematic right side view corresponding to FIG. 1. [Figure 3] FIG. 2 is a schematic cross-sectional view taken along line II in FIG. [Figure 4] 10 is a schematic explanatory diagram of a connecting body at a connecting portion of a connecting mechanism and a traveling body connected to the connecting body. FIG. [Figure 5] 10 is an explanatory diagram illustrating a schematic configuration of an adjustment member in an angle adjustment unit. FIG. [Figure 6] 10A and 10B are explanatory views showing the operation of the connecting mechanism when the central axis of the first circle and the central axis of the second circle are parallel to each other. [Figure 7] FIG. 10 is another explanatory view showing the operation of the connecting mechanism when the central axis of the first circle and the central axis of the second circle are parallel to each other. [Figure 8] 10 is an explanatory diagram showing the operation of the connecting mechanism when the angle formed between the central axis of the first circle and the central axis of the second circle is 45°. FIG. [Figure 9] 10 is another explanatory view showing the operation of the connecting mechanism when the angle formed between the central axis of the first circle and the central axis of the second circle is 45°. FIG. [Figure 10] 10 is an explanatory diagram showing the operation of the connecting mechanism when the angle formed between the central axis of the first circle and the central axis of the second circle is 90°. FIG. [Figure 11]10 is an explanatory diagram showing the operation of the connecting mechanism when the angle formed between the central axis of the first circle and the central axis of the second circle is −45°. FIG. [Figure 12] 1 is a schematic front view of one embodiment of a transfer device of the present invention; [Figure 13] FIG. 13 is a schematic right side view of the transfer device shown in FIG. 12. [Figure 14] FIG. 13 is a schematic cross-sectional view taken along line III-III in FIG. [Figure 15] 13 is an explanatory view showing the operation of the transfer device shown in FIG. 12 when the angle formed between the central axis of the first circle and the central axis of the second circle is 45°. FIG. [Figure 16] FIG. 13 is a schematic plan view of a variation of the transfer device shown in FIG. 12. [Figure 17] FIG. 10 is a schematic front view of another embodiment of the transfer device of the present invention. [Figure 18] FIG. 18 is a schematic right side view of the transfer device shown in FIG. 17. [Figure 19] FIG. 18 is a schematic cross-sectional view taken along line VV in FIG. [Figure 20] 18 is an explanatory view showing the operation of the transfer device shown in FIG. 17 when the angle formed between the central axis of the first circle and the central axis of the second circle is 45°. FIG. [Figure 21] FIG. 18 is a schematic plan view of a variation of the transfer device shown in FIG. 17. [Figure 22] FIG. 10 is a schematic front view of yet another embodiment of the transfer device of the present invention. [Figure 23] FIG. 23 is a schematic right side view of the transfer device shown in FIG. 22. [Figure 24] FIG. 23 is a schematic cross-sectional view taken along line VII-VII in FIG. 22. [Figure 25] 23 is an explanatory diagram showing the operation of the transfer device shown in FIG. 22 when the angle between the reference line and the center axis of the second circle is 45°. FIG. [Figure 26] FIG. 23 is a schematic plan view of a variation of the transfer device shown in FIG. 22. [Figure 27] 10 is a schematic front view of another form of an adjustment member in the angle adjustment portion. FIG. [Figure 28] FIG. 10 is a schematic front view of another embodiment of the first track portion. DETAILED DESCRIPTION OF THE INVENTION

[0030] The connecting mechanism of the present invention, which is disposed between the support and the supported object, comprises a first track portion, a second track portion, a connecting portion, and an angle adjusting portion. By using at least two of these connecting mechanisms, the transfer device of the present invention achieves the object of changing the shape of the two-dimensional surface along which the supported object moves relative to the support in response to an external force applied to the support or the supported object.

[0031] Below, embodiments of the connecting mechanism and the transfer device of the present invention will be described. In the following description, the support is formed of a cylindrical or rectangular plate, and the supported object is formed of a rectangular plate. However, these are adopted for the purpose of explanation only, and as mentioned above, the supporting object and the supported object are selected according to the application. Furthermore, in the following description, the first track portion of the connecting mechanism is provided on the supporting object side, and the second track portion of the connecting mechanism is provided on the supported object side. However, even if the first track portion of the connecting mechanism is provided on the supported object side and the second track portion of the connecting mechanism is provided on the supporting object side, no problems will arise in the operation of the connecting mechanism and the transfer device of the present invention. Furthermore, the member for attaching the first track portion or the second track portion to the supporting object or the supported object can be replaced by a part of the supporting object or the supported object.

[0032] (1) Connection mechanism An embodiment of the coupling mechanism of the present invention will be described with reference to FIGS. 1 to 11. FIG. 1 is a schematic front view showing a state in which a coupling mechanism 1 is attached between a support LB consisting of a pair of horizontally arranged cylinders and a rectangular supported object UB also arranged horizontally. FIG. 2 is a schematic right side view corresponding to FIG. 1, and FIG. 3 is a schematic cross-sectional view taken along line II in FIG. 1, corresponding to a plan view of the supported object UB removed. These figures show the neutral positions of a first rail (first guide member) 15 shaped along a first circle C1 (described later) and a second rail (second guide member) 25 shaped along a second circle C2 (described later) both horizontally arranged. Note that the posture of the supported object UB is not maintained by a single coupling mechanism 1 alone; however, for the purpose of explaining the structure and operation of the coupling mechanism 1, it is assumed here that the posture of the supported object UB is maintained.

[0033] The connecting mechanism 1 has a first track portion 10, a second track portion 20, a connecting portion 30, and an angle adjusting portion 40. The connecting mechanism 1 of this embodiment is configured so that the central axis L1 of the first circle C1 maintains the vertical direction even when an external force is applied to the supporting body LB or the supported body UB, and a plane FP1 including the central axis L1 of the first circle C1 serves as a reference plane, and the central axis L1 of the first circle C1 located within this plane FP1 serves as a reference straight line (see FIG. 3).

[0034] The first track section 10 includes a pair of legs (first mounting members) 11 (see FIGS. 1 and 3). The base end 11a of each leg 11 is used for fixing to the support LB, and a first rail 15 having a shape that conforms to a first circle C1 (described later) is fixed to the tip 11b of the leg 11 so that the central axis L1 of the first circle C1 faces vertically. The first track section 10 also includes two first roller sets (first running members) 12 (see FIGS. 2 and 3). While FIG. 4 shows the structure of one of the two first roller sets 12, the other roller set 12 has the same structure. The first roller set 12 includes first rollers 13 each having an R-shaped, U-shaped, or other groove, and a first holder 14 that rotatably holds the shafts 13a of the first rollers 13. The first holding body 14 is connected to a connecting body 31 of a connecting portion 30, which will be described later.

[0035] The first track section 10 further includes a first rail 15 that passes between the first rollers 13 of the first roller sets 12 and the first holder 14 and allows both first roller sets 12 to run along a first circle C1. The first rail 15 is formed into an annular shape by a tube with a circular cross section that fits into the grooves of the first rollers 13 (see FIGS. 3 and 4), and a portion of the first rail 15 serves as a guide for allowing the first roller sets 12 to run along an arc that is a part of the first circle C1. The portions indicated by arc-shaped double arrows G1 in FIG. 3 are the arcs along which each first roller set 12 runs. The arc G1 along which one first roller set 12 runs and the arc G1 along which the other first roller set 12 runs are symmetrical with respect to a plane FP1 that includes the central axis L1 of the first circle C1.

[0036] The combination of the first rail 15, which is formed from a tube with a circular cross section, and the grooved first rollers 13 allows both of the first roller sets 12, which run along the first circle C1, to rotate around a tangent line T1 (see FIGS. 3 and 4) to the first circle C1. The right side of FIG. 4 shows the state in which the first roller sets 12 have rotated around the first rail 15. In addition, because the first rail 15 passes between the first rollers 13 and the first holder 14, it is possible to prevent the first rollers 13 from falling off the first rail 15.

[0037] The second track section 20 first has a pair of supports (second mounting members) 21 (see Figs. 2 and 3). The supports 21 are formed from plates bent into an L shape, with a base end 21a of the supports 21 being used for fixing to the supported object UB, and a second rail 25 having a shape that follows a second circle C2 (described later) being connected to the opposing surface 21b of the supports 21 via a connector 42 and a support shaft 43 that also serve as part of the angle adjuster 40 (see Fig. 2).

[0038] The second track section 20 also has two second roller sets (second running bodies) 22 (see FIGS. 2 and 3). While FIG. 4 shows the structure of one of the second roller sets 22, the other roller set 22 has the same structure. The second roller set 22 has second rollers 23 each having an R-shaped, U-shaped, or other groove, and a second holder 24 that rotatably holds the shafts 23a of the second rollers 23. The second holder 24 is connected to a connecting body 31 of the connecting section 30, which will be described later.

[0039] The second track section 20 further includes a second rail 25 that passes between the second rollers 23 of the second roller set 22 and the second holder 24, and that allows the second roller set 22 to run along a second circle C2. The second rail 25 is formed in an arc shape by a tube with a circular cross section that fits into the groove of the second roller 23 (see FIGS. 3 and 4), and a portion of the second rail 25 serves as a guide for allowing the second roller set 22 to run along an arc that is part of the second circle C2. The portions indicated by the arc-shaped double arrows G2 in FIG. 3 are the arcs along which each second roller set 22 runs. The arc G2 along which one second roller set 22 runs and the arc G2 along which the other second roller set 22 runs are symmetrical with respect to a plane FP2 that includes the central axis L2 of the second circle C2. As shown in Figure 3, the plane FP2 including the central axis L2 of the second circle C2 is located within the plane FP1 including the central axis L1 of the first circle C1 in the neutral position, and when viewed from a direction along the central axis L1 of the first circle C1, the arc G1 along which one first roller set 12 runs intersects with the arc G2 along which one second roller set 22 runs, and the arc G1 along which the other first roller set 12 runs intersects with the arc G2 along which the other second roller set 22 runs.

[0040] The combination of the second rail 25, which is formed from a tube with a circular cross section, and the grooved second rollers 23 allows both of the second roller sets 22, which run along the second circle C2, to rotate around a tangent T2 (see FIGS. 3 and 4) to the second circle C2. In addition, because the second rail 25 passes between the second rollers 23 and the second holder 24, it is possible to prevent the second rollers 23 from falling off the second rail 25.

[0041] The connecting portion 30 includes two connecting bodies 31 disposed between the first roller set 12 and the second roller set 22. Each connecting body 31 is connected to one of the first roller sets 12 and one of the second roller sets 22 at its opposite ends (see FIG. 2). While FIG. 4 shows one of the two connecting bodies 31, the other connecting body 31 has the same structure. In the connecting mechanism 1 of this embodiment, as shown in the left diagram of FIG. 4, the first holding body 14 of the first roller set 12 and the second holding body 24 of the second roller set 22 are connected to each other so as to be rotatable around the connecting body 31. However, if only one of the first holding body 14 and the second holding body 24 is rotatably connected to the connecting body 31, the operation of the connecting mechanism 1 will not be affected. The center diagram of FIG. 4 shows the second holding body 24 rotated around the connecting body 31. Also, as shown in the left diagram of Figure 4, the central part of the connecting body 31 is made thicker than the ends, which ensures that the distance between the first roller set 12 and the second roller set 22 is always maintained at a predetermined length.

[0042] In the connecting mechanism 1 of this embodiment, the angle adjuster 40 has a pair of adjustment members 41 for changing the angle between the central axis L1 of the first circle C1, which serves as a reference line, and the central axis L2 of the second circle C2 at the neutral position. FIG. 5 is an explanatory diagram schematically illustrating the configuration of one of the adjustment members 41, where symbol FS1 indicates a plane including the first circle C1 and symbol FS2 indicates a plane including the second circle C2. The other adjustment member 41 is plane-symmetrical to the illustrated adjustment member 41 with respect to a plane FP2 including the central axis L2 of the second circle C2. The adjustment member 41 first has a connector 42 formed of an oval plate, and an end of the second rail 25 is fixed to the connector 42. The base end of the connector 42 is rotatably connected to the opposing support 21 via a support shaft 43.

[0043] The adjustment member 41 further includes an arc-shaped hole 21c drilled in the support 21 along a circle C3 centered on the support shaft 43, a hole 42a drilled at the tip of the connector 42, and a fastener 44 for aligning the hole 42a with any location on the hole 21c to fix the connector 42. As described above, because the end of the second rail 25, which has a shape that follows the second circle C2, is fixed to the connector 42, the angle between the central axis L1 of the first circle C1 and the central axis L2 of the second circle C2 is adjusted depending on which location on the hole 21c the hole 42a is aligned with. The angle between the central axis L1 of the first circle C1 and the central axis L2 of the second circle C2 coincides with the angle between a plane FS1 including the first circle C1 and a plane FS2 including the second circle C2.

[0044] The angle between the central axis L1 of the first circle C1 and the central axis L2 of the second circle C2 is anywhere in the range of 0° to 90°. However, for the purpose of distinction in this specification, the angle between the central axis L1 of the first circle C1 and the central axis L2 of the second circle C2 when the connector 42 is rotated from the position where the angle between the central axis L1 of the first circle C1 and the central axis L2 of the second circle C2 is 0° (Figure 5(a)) so that the apex of the second rail 25 having an arc shape moves away from the plane FS1 including the first circle C1 will be expressed as a positive value, and the angle between the central axis L1 of the first circle C1 and the central axis L2 of the second circle C2 when the connector 42 is rotated so that the apex of the second rail 25 moves closer to the plane FS1 including the first circle C1 will be expressed as a negative value. 5(b) shows a state in which the angle between the central axis L1 of the first circle C1 and the central axis L2 of the second circle C2 is 45°, and FIG. 5(c) shows a state in which the angle between the central axis L1 of the first circle C1 and the central axis L2 of the second circle C2 is -45°. Note that the holes drilled in the support 21 do not need to be arc-shaped; instead, multiple holes may be drilled along a circle C3 centered on the support shaft 43, and the angle between the central axis L1 of the first circle C1 and the central axis L2 of the second circle C2 may be determined by aligning one of the holes with hole 42a and fixing it. Furthermore, the angle between the central axis L1 of the first circle C1 and the central axis L2 of the second circle C2 can be adjusted within a range of -90° to 90° depending on the desired range of movement of the supported object relative to the support.

[0045] Next, the operation of the connecting mechanism 1 will be described. First, a case where the angle between the central axis L1 of the first circle C1, which serves as a reference line, and the central axis L2 of the second circle C2 at the neutral position is 0° will be described using Figures 6 and 7. Figure 6 shows the neutral position arrangement under this condition in a cross-sectional view taken along line II-II in Figure 2. Furthermore, the distance d between the supported object UB and the first circle C1 is determined depending on the vertical distance between the first roller 13 and the second roller 23 and the distance between the hole 42a drilled in the connector 42 and the supported object UB.

[0046] The first roller set 12, the second roller set 22, and the connecting body 31 connecting them assume their most stable state. If the central axis L1 of the first circle C1 and the central axis L2 of the second circle C2 at the neutral position are parallel, the central axis L3 of the connecting body 31 will also be parallel to the central axis L1 of the first circle C1 and the central axis L2 of the second circle C2. When an external force is applied to the supported object UB, the first roller set 22, which is constrained by the first circle C1, moves along the first circle C1 while rotating around the central axis L3 of the connecting body 31. The second roller set 22, which is constrained by the second circle C2, moves along the second circle C2 while rotating around the central axis L3 of the connecting body 31, and the connecting body 31 maintains its posture. The distance between the first roller 13 and the second roller 23 remains unchanged. Therefore, for example, when an external force is applied to the supported object UB from the left side of Figure 6, the supported object UB, the support 21 fixed to the supported object UB, and the second rail 25 connected to the support 21 via the connector 42 are supported by the first roller set 12, the second roller set 22, and the connecting body 31 connecting them, and move horizontally along the plane S1 as shown by the virtual line.

[0047] FIG. 7 schematically shows the positions of the first roller set 12 and the second roller set 22 as viewed from the supported object UB. In the present invention, the movements of the first roller set 12, the second roller set 22, and the connecting body 31 along the first circle C1 and the second circle C2 are important. Therefore, in addition to the first circle C1 and the second circle C2, FIG. 7 only shows the first rollers 13 in the first roller set 12 and the second rollers 23 in the second roller set 22, and the second rollers 23 are colored. For ease of distinction, one of the two first rollers 13 is labeled 13-1 and the other is labeled 13-2, and one of the two second rollers 23 is labeled 23-1 and the other is labeled 23-2. Furthermore, for ease of understanding, the supported object UB is shown as transparent.

[0048] The lower center of Figure 7 shows the first roller 13 and the second roller 23 in the neutral position, but as described above, the central axis L3 of the connecting body 31 is aligned parallel to the central axis L1 of the first circle C1 and the central axis L2 of the second circle C2, so the first roller 13-1 and the second roller 23-1 and the connecting body (not shown) connecting them, and the first roller 13-2 and the second roller 23-2 and the connecting body (not shown) connecting them, are overlapped.

[0049] The lower left side of Figure 7 shows the positions of the first roller 13-1 and second roller 23-1, which move in conjunction with each other, and the positions of the first roller 13-2 and second roller 23-2, which move in conjunction with each other, when an external force is applied to the supported object UB from the right side of Figure 7. The first rollers 13-1 and 13-2, which were in the neutral position, move in the directions of arrows a1 and a2 while being guided by the first rail 15 and rotating around the central axis of the connecting body, and the second rollers 23-1 and 23-2, which were in the neutral position, move in the directions of arrows a3 and a4 while being guided by the second rail 25 and rotating around the central axis of the connecting body. However, the central axis of the connecting body remains parallel to the central axis of the first circle C1 and the central axis of the second circle C2.

[0050] The lower right side of Figure 7 shows the positions of the first roller 13-1 and second roller 23-1, which move in conjunction with each other, and the positions of the first roller 13-2 and second roller 23-2, which move in conjunction with each other, when an external force is applied to the supported body UB from the left side of Figure 7. The first rollers 13-1 and 13-2, which were in the neutral position, move in the directions of arrows a5 and a6 while being guided by the first rail 15 and rotating around the central axis of the connecting body, and the second rollers 23-1 and 23-2, which were in the neutral position, move in the directions of arrows a7 and a8 while being guided by the second rail 25 and rotating around the central axis of the connecting body. However, the central axis of the connecting body remains parallel to the central axis of the first circle C1 and the central axis of the second circle C2.

[0051] The upper part of Fig. 7 shows the positions of the first roller 13-1 and the second roller 23-1, which move in conjunction with each other, and the positions of the first roller 13-2 and the second roller 23-2, which move in conjunction with each other, when an external force is applied to the supported body UB from the lower side of Fig. 7. The first rollers 13-1 and 13-2, which were in the neutral position, are guided by the first rail 15 while rotating around the central axis of the connecting body and move in the directions of arrows a9 and a10, while the second rollers 23-1 and 23-2, which were in the neutral position, are guided by the second rail 25 while rotating around the central axis of the connecting body and move in the directions of arrows a11 and a12. However, the central axis of the connecting body remains parallel to the central axis of the first circle C1 and the central axis of the second circle C2. When an external force is applied to the supported body UB from the upper side of Figure 7, the positions of the first roller 13-1 and the second roller 23-1, which move in conjunction with each other, and the positions of the first roller 13-2 and the second roller 23-2, which move in conjunction with each other, are simply symmetrical to the positions in the upper diagram of Figure 7, so explanations will be omitted.

[0052] Next, a case where the angle between the central axis L1 of the first circle C1 and the central axis L2 of the second circle C2 at the neutral position is adjusted to 45° by the adjustment member 41 of the angle adjustment unit 40 will be described with reference to Figures 8 and 9. Figure 8 shows the arrangement of the neutral position under this condition in a cross-sectional view taken along line II-II in Figure 2. Under this condition, the central axis L1 of the first circle C1 and the central axis L2 of the second circle C2 at the neutral position intersect at point P1 located above the supported object UB.

[0053] The first roller set 12, the second roller set 22, and the connecting body 31 connecting them assume the most stable state they can assume, but when the angle between the central axis L1 of the first circle C1 and the central axis L2 of the second circle C2 at the neutral position is adjusted to 45°, the first roller 13 of the first roller set 12 rotates around the tangent to the first circle C1 and tilts toward the center of the first circle C1, and the second roller 23 of the second roller set 22 rotates around the tangent to the second circle C2, causing the second holder 24 to tilt toward the center of the second circle C2, and the central axis L3 of the connecting body 31 passes through the intersection point P1. In addition, the distance d between the supported object UB and the first circle C1 is longer than when the angle between the central axis L1 of the first circle C1 and the central axis L2 of the second circle C2 at the neutral position is 0°.

[0054] The distance between this intersection point P1 and any point on the circumference of the first circle C1 is constant. The distance between the first roller 13, which travels along the first circle C1, and the second roller 23, which travels along the second circle C2, is also constant. Therefore, when an external force is applied to the supported object UB, the first roller 13, which is constrained by the first circle C1, moves along the first circle C1 while rotating around the central axis L3 of the connecting body 31. The second roller 23, which is constrained by the second circle C2, moves along the second circle C2 while rotating around the central axis L3 of the connecting body 31. The central axis L3 of the connecting body 31 moves so as to always pass through point P1. As a result, the supported object UB moves along a spherical surface S2 centered on the intersection point P1 relative to the support LB. For example, when an external force is applied to the supported object UB from the left side of Figure 8, the supported object UB, the support 21 fixed to the supported object UB, and the second rail 25 connected to the support 21 via the connector 42 are supported by the first roller set 12, the second roller set 22, and the connecting body 31 connecting them, and move along the spherical surface S2 as shown by the virtual line.

[0055] 9 shows the schematic positions of the first roller set 12 and the second roller set 22 as viewed from the supported object UB side. Similar to FIG. 7, in addition to the first circle C1 and the second circle C2, only the first rollers 13 in the first roller set 12 and the second rollers 23 in the second roller set 22 are shown, and the second rollers 23 are colored. For the purpose of distinction, one of the two first rollers 13 is labeled 13-1 and the other is labeled 13-2, one of the two second rollers 23 is labeled 23-1 and the other is labeled 23-2, and one of the two connecting bodies 31 is labeled 31-1 and the other is labeled 31-2. Furthermore, for ease of understanding, the supported object UB is shown as transparent.

[0056] The lower center of Figure 9 shows the first rollers 13-1, 13-2, second rollers 23-1, 23-2, and connecting bodies 31-1, 31-2 in the neutral position. However, as described above, since the central axis L3 of connecting body 31 passes through intersection point P1, compared to when the angle between the central axis L1 of the first circle C1 and the central axis L2 of the second circle C2 in the neutral position is 0°, the first rollers 13-1, 13-2 are inclined toward the center of the first circle C1, and the second rollers 23-1, 23-2 are inclined toward the outside of the second circle C2 (the second holder is inclined toward the center of the second circle), and the connecting bodies 31-1, 31-2 are inclined between the first roller 13 and the second roller 23 so that their central axes L3-1, L3-2 pass through intersection point P1.

[0057] The lower left side of Figure 9 shows the positions of first roller 13-1 and second roller 23-1, and the positions of first roller 13-2 and second roller 23-2, which are connected to connecting bodies 31-1 and 31-2 and move in conjunction with each other, when an external force is applied to supported body UB from the right side of Figure 9. The first rollers 13-1 and 13-2, which were in the neutral position, are guided by first rail 15 while rotating around central axes L3-1 and L3-2 of connecting bodies 31-1 and 31-2, and move in the directions of arrows a13 and a14, while the second rollers 23-1 and 23-2, which were in the neutral position, are guided by second rail 25 while rotating around central axes L3-1 and L3-2 of connecting bodies 31-1 and 31-2, and move in the directions of arrows a15 and a16. The central axes L3-1 and L3-2 of the connecting bodies 31-1 and 31-2 pass through the intersection point P1.

[0058] The lower right side of Figure 9 shows the positions of the first roller 13-1 and the second roller 23-1, and the positions of the first roller 13-2 and the second roller 23-2, which are connected to the connecting bodies 31-1 and 31-2 and move in conjunction with each other, when an external force is applied to the supported body UB from the left side of Figure 9. The first rollers 13-1 and 13-2, which were in the neutral position, are guided by the first rail 15 while rotating around the central axes L3-1 and L3-2 of the connecting bodies 31-1 and 31-2, and move in the directions of arrows a17 and a18, while the second rollers 23-1 and 23-2, which were in the neutral position, are guided by the second rail 25 while rotating around the central axes L3-1 and L3-2 of the connecting bodies 31-1 and 31-2, and move in the directions of arrows a19 and a20. The central axes L3-1 and L3-2 of the connecting bodies 31-1 and 31-2 pass through the intersection point P1.

[0059] The upper part of Figure 9 shows the positions of the first roller 13-1 and the second roller 23-1, and the positions of the first roller 13-2 and the second roller 23-2, which are connected to the connecting bodies 31-1 and 31-2 and move in conjunction with each other when an external force is applied to the supported body UB from the lower side of Figure 9. The first rollers 13-1 and 13-2, which were in the neutral position, are guided by the first rail 15 while rotating around the central axes L3-1 and L3-2 of the connecting bodies 31-1 and 31-2, and move in the directions of arrows a21 and a22. The second rollers 23-1 and 23-2, which were in the neutral position, are guided by the second rail 25 while rotating around the central axes L3-1 and L3-2 of the connecting bodies 31-1 and 31-2, and move in the directions of arrows a23 and a24. The central axes L3-1 and L3-2 of the connecting bodies 31-1 and 31-2 pass through the intersection P1. When an external force is applied to the supported body UB from the upper side of Figure 9, the positions of the first roller 13-1 and the second roller 23-1, which are connected to the connecting bodies 31-1 and 31-2 and move in conjunction with each other, and the positions of the first roller 13-2 and the second roller 23-2, which are connected to the connecting bodies 31-1 and 31-2 and move in conjunction with each other, are simply symmetrical to the positions in the upper diagram of Figure 9, so explanation will be omitted.

[0060] Next, a case where the angle between the central axis L1 of the first circle C1 and the central axis L2 of the second circle C2 at the neutral position is adjusted to 90° by the adjustment member 41 of the angle adjustment unit 40 will be described with reference to Fig. 10. Fig. 10 shows the arrangement of the neutral position under this condition in a cross-sectional view taken along line II-II in Fig. 2. Under this condition, the central axis L1 of the first circle C1 and the central axis L2 of the second circle C2 at the neutral position intersect at point P2 located above the supported object UB.

[0061] The first roller set 12, the second roller set 22, and the connecting member 31 connecting them are in the most stable state they can assume. However, when the angle between the central axis L1 of the first circle C1 and the central axis L2 of the second circle C2 is adjusted to 90°, the length between the intersection point P2 and any point on the circumference of the first circle C1 is the same as the length between the intersection point P1 and any point on the circumference of the first circle C1 when the angle between the central axis L1 of the first circle C1 and the central axis L2 of the second circle C2 at the neutral position is adjusted to 45°. Since the distance d between the supported object UB and the first circle C1 is shorter than the distance between any point on the circumference of the first circle C1, the first roller 13 in the first roller set 12 rotates around the tangent to the first circle C1 and is further tilted toward the center of the first circle C1, and the second roller 23 in the second roller set 22 rotates around the tangent to the second circle C2, causing the second holder 24 to be further tilted toward the center of the second circle, and the central axis L3 of the connecting body 31 is further tilted to pass through the intersection point P2. Also, the distance d between the supported object UB and the first circle C1 is longer than when the angle between the central axis L1 of the first circle C1 and the central axis L2 of the second circle C2 in the neutral position is adjusted to 45°.

[0062] The distance between this intersection point P2 and any point on the circumference of the first circle C1 is constant, and the distance between the first roller 13 running along the first circle C1 and the second roller 23 running along the second circle C2 is also constant. 8, when an external force is applied to the supported object UB, the first roller 13 constrained by the first circle C1 moves along the first circle C1 while rotating around the central axis L3 of the connecting body 31, and the second roller 23 constrained by the second circle C2 moves along the second circle C2 while rotating around the central axis L3 of the connecting body 31. The central axis L3 of the connecting body 31 moves to always pass through point P2, but the length between the intersection point P2 and any point on the circumference of the first circle C1 is shorter than the length between the intersection point P1 and any point on the circumference of the first circle C1 when the angle between the central axis L1 of the first circle C1 and the central axis L2 of the second circle C2 at the neutral position is adjusted to 45°. Therefore, the supported object UB moves along a spherical surface S3 having a diameter shorter than the diameter of the spherical surface S2.

[0063] Next, a case where the angle between the central axis L1 of the first circle C1 and the central axis L2 of the second circle C2 at the neutral position is adjusted to -45° by the adjustment member 41 of the angle adjustment unit 40 will be described with reference to Figure 11. Figure 11 shows the arrangement of the neutral position under this condition in a cross-sectional view taken along line II-II in Figure 2. Under this condition, the central axis L1 of the first circle C1 and the central axis L2 of the second circle C2 at the neutral position intersect at point P3 below the support LB.

[0064] The first roller set 12, the second roller set 22, and the connecting body 31 connecting them assume the most stable state they can assume, but when the angle between the central axis L1 of the first circle C1 and the central axis L2 of the second circle C2 at the neutral position is adjusted to -45°, the first roller 13 rotates around the tangent to the first circle C1, causing the first holder 14 to tilt toward the center of the first circle C1, the second roller 23 rotates around the tangent to the second circle C2 and tilts toward the center of the second circle C2, and the central axis L3 of the connecting body 31 tilts to pass through the intersection point P3. In addition, the distance d between the supported object UB and the first circle C1 becomes shorter than when the central axis L1 of the first circle C1 and the central axis L2 of the second circle C2 at the neutral position are parallel.

[0065] The distance between this intersection point P3 and any point on the circumference of the first circle is constant. The distance between the first roller 13, which travels along the first circle C1, and the second roller 23, which travels along the second circle C2, is also constant. As described with reference to FIG. 8, when an external force is applied to the supported object UB, the first roller 13, which is constrained by the first circle C1, moves along the first circle C1 while rotating around the central axis L3 of the connecting body 31. The second roller 23, which is constrained by the second circle C2, moves along the second circle C2 while rotating around the central axis L3 of the connecting body 31. The central axis L3 of the connecting body 31 moves so as to always pass through point P3. Therefore, the supported object UB moves along the spherical surface S4.

[0066] As described above, by using the connecting mechanism 1 of this embodiment, it is possible to change the shape of the two-dimensional surface along which the supported body UB moves relative to the support body LB in response to an external force applied to the support body LB or the supported body UB, without providing any additional structural members.

[0067] The angle adjustment unit 40 in the connecting mechanism 1 includes only an adjustment member 41 for changing the angle between the central axis L1 of the first circle C1, which serves as a reference line, and the central axis L2 of the second circle C2 in the neutral position. However, the angle adjustment unit may also include a separate adjustment member for changing the angle between the central axis L1 of the first circle C1 and a reference line different from the central axis L1 of the first circle C1. A connecting mechanism equipped with an angle adjustment unit 40 including both an adjustment member and a separate adjustment member can be considered equivalent to a connecting mechanism 1 disposed between the support body LB and the supported body UB with the angle of the central axis L1 of the first circle C1 changed. A connecting mechanism equipped with this type of angle adjustment unit 40 will be described below in connection with a third embodiment of a transfer device.

[0068] (2) Transfer device First embodiment A transfer device according to a first embodiment, which includes a support, a supported object, and a transfer mechanism disposed therebetween, will be described with reference to FIGS. 12 to 15. The transfer device 100 of this embodiment includes a transfer mechanism 101 using two connecting mechanisms having the same structure as the connecting mechanism 1 described above. In the following description, the reference numerals used for the components and their operations in the connecting mechanism 1 are used as they are. FIG. 12 is a schematic front view of the transfer device 100, and FIG. 13 is a schematic right side view of the transfer device 100. FIG. 14 is a schematic cross-sectional view taken along line III-III in FIG. 12, which corresponds to a plan view of the transfer device 100 with the supported object UB removed. These figures show the neutral positions in which the first rail 15, which has a shape conforming to the first circle C1, and the second rail 25, which has a shape conforming to the second circle C2, are both horizontally arranged.

[0069] In this embodiment, the first track portion 10 of both coupling mechanisms 1 is attached to the support body LB, and the second track portion 20 is attached to the supported body UB. Furthermore, because coupling mechanisms 1 with the same structure are used for the transfer mechanism 101, the first circle C1 along which the first roller sets 12 of both coupling mechanisms 1 run has the same length of diameter, and the second circle C2 along which the second roller sets 22 of both coupling mechanisms 1 run also has the same length of diameter (see FIG. 14). The central axes L1 of the first circles C1 of both coupling mechanisms 1 are arranged to be parallel, the centers of the first circles C1 along which the first rails 15 of both coupling mechanisms 1 extend are arranged to be located in a plane HP1 perpendicular to the central axis L1 of the first circle C1 (see FIGS. 12 and 13), and the centers of the second circles C2 along which the second rails 25 of both coupling mechanisms 1 extend are arranged to be located in another plane HP2 perpendicular to the central axis L1 of the first circle C1 in the neutral position (see FIGS. 12 and 13). Furthermore, a plane FP1 including the central axis L1 of the first circle C1, which forms a plane of symmetry for the two arcs along which the first roller sets 12 of both coupling mechanisms 1 run and serves as a reference plane, and a plane FP2 including the central axis L2 of the second circle C2, which forms a plane of symmetry for the two arcs along which the second roller sets 22 of both coupling mechanisms 1 run, are arranged to be coplanar in the neutral position (see FIG. 14). Furthermore, the vertices of the second rails 25 formed in the shape of an arc in both connecting mechanisms 1 are arranged to face each other, i.e., the second rails 25 in both connecting mechanisms 1 are arranged in an X-shape (see Figure 14).

[0070] The two connecting mechanisms 1 constituting the transfer mechanism 101 of this transfer device 100 are operated under the condition that the angle formed between the central axis L1 of the first circle C1, which serves as a reference line adjusted by the angle adjustment units 40 of both connecting mechanisms 1, and the central axis L2 of the second circle C2 at the neutral position is the same. Therefore, when the angle formed between the central axis L1 of the first circle C1 and the central axis L2 of the second circle C2, which are adjusted by the angle adjustment units 40 of both connecting mechanisms 1, at the neutral position is an angle other than 0°, the intersection of the central axis L1 of the first circle C1 and the central axis L2 of the second circle C2 in one connecting mechanism 1 and the intersection of the central axis L1 of the first circle C1 and the central axis L2 of the second circle C2 in the other connecting mechanism 1 will be located on a straight line perpendicular to the central axis L1 of the first circle C1.

[0071] When an external force is applied to the supported object UB of the transfer device 100, the two connecting mechanisms 1 included in the transfer mechanism 101 operate in the same manner as described above for the connecting mechanism 1, under the restriction that they are connected to the same support LB and the same supported object UB. That is, when the central axis L1 of the first circle C1 in both connecting mechanisms 1 and the central axis L2 of the second circle C2 in the neutral position are adjusted to be parallel, the supported object UB, the support 21 fixed to the supported object UB, and the second rail 25 connected to the support 21 via the connector 42 move horizontally while being supported by the first roller set 12, the second roller set 22, and the connector 31 that connects them.

[0072] 15 is a cross-sectional view taken along line IV-IV in FIG. 13 showing the arrangement of the neutral position when the angle between the central axis L1 of the first circle C1 and the central axis L2 of the second circle C2 at the neutral position is adjusted to 45° by the adjustment member 41 of the angle adjustment unit 40 of each connecting mechanism 1. As shown in this figure, an intersection P4 between the central axis L1 of the first circle C1 of one connecting mechanism 1 and the central axis L2 of the second circle C2 at the neutral position, and an intersection P5 between the central axis L1 of the first circle C1 of the other connecting mechanism 1 and the central axis L2 of the second circle C2 at the neutral position, are located on a straight line L4 perpendicular to the central axis L1 of the first circle, and the central axis L3 of the connecting body 31 of one connecting mechanism 1 passes through the intersection P4, and the central axis L3 of the connecting body 31 of the other connecting mechanism 1 passes through the intersection P5. When an external force is applied to the supported object UB in a direction parallel to the straight line L4, the two connecting mechanisms 1 operate in cooperation, and an arbitrarily selected point J on the supported object UB moves to be positioned on a spherical surface S5 centered on the intersection P6 of the straight line L4 and the straight line L5 that is perpendicular to the straight line L4 and passes through point J, but the supported object UB as a whole does not tilt. On the other hand, when an external force is applied to the supported object UB in a direction perpendicular to the straight line L4, point J on the supported object UB moves to be positioned on the spherical surface S5 centered on the intersection P6, and because the above-mentioned intersections P4, P5, and P6 overlap when viewed from the side of the transfer device 100, the supported object UB as a whole tilts in the same way as described above for the connecting mechanism 1.

[0073] Therefore, by using the angle adjustment unit 40 of each connecting mechanism 1 to change the angle between the central axis L1 of the first circle C1 in both connecting mechanisms 1 and the central axis L2 of the second circle C2 in the neutral position while maintaining the condition that the angle is the same, the shape of the two-dimensional surface along which the supported body UB moves relative to the support body LB in response to an external force applied to the support body LB or the supported body UB can be easily changed.

[0074] 16 is a plan view schematically illustrating a transfer device having a transfer mechanism in which four linkage mechanisms 1 having the same structure as the above-described linkage mechanism 1 are arranged in series, which corresponds to a modified example of the above-described transfer device 100, where symbol FP1 indicates a plane including the central axis of a first circle C1 that constitutes a plane of symmetry for two arcs along which the first roller set in each linkage mechanism 1 runs, and symbol FP2 indicates a plane including the central axis of a second circle C2 that constitutes a plane of symmetry for two arcs along which the second roller set in each linkage mechanism 1 runs. This figure illustrates the arrangement of the neutral position when the angle between the central axis of the first circle C1 and the central axis of the second circle C2 at the neutral position is 0°. The central axes of the first circles C1 in all of the linking mechanisms 1 are arranged in the same plane and parallel to each other, the central axes of the second circles C2 in all of the linking mechanisms 1 are arranged so as to be located in the same plane as the plane on which the central axis of the first circle C1 is located at the neutral position, the centers of the first circles C1 in all of the linking mechanisms 1 are arranged so as to be located in one plane perpendicular to the central axis of the first circle C1, the centers of the second circles C2 in all of the linking mechanisms 1 are arranged so as to be located in another plane perpendicular to the central axis of the first circle C1 at the neutral position, and the central axes of the first circles C1 and the second circles C2 at the neutral position are arranged so as to be parallel to each other. When the angle formed between the central axis of the first circle C1 and the central axis of the second circle C2 in all connecting mechanisms 1 is the same and is an angle other than 0°, the intersection of the central axis of the first circle C1 and the central axis of the second circle C2 in all connecting mechanisms 1 is positioned on a straight line perpendicular to the central axis of the first circle C1, and by using the angle adjustment unit in each connecting mechanism 1 to change the angle while maintaining the condition that the angle formed between the central axis of the first circle C1 and the central axis of the second circle C2 in the neutral position in all connecting mechanisms 1 is the same, it is possible to achieve the same operation as that of the transfer device 100 described above regarding the movement of the supported object UB relative to the support LB when an external force is applied to the supported object UB.

[0075] Second embodiment A second embodiment of the transfer device, including a supporting body, a supported body, and a transfer mechanism disposed therebetween, will be described with reference to FIGS. 17 to 20. The transfer device 200 of this embodiment includes a transfer mechanism 201 corresponding to a configuration in which two connecting mechanisms having the same structure as the connecting mechanism 1 described above are brought closer together until they are finally able to operate sufficiently using only a single common first rail 50. Since this configuration can be considered to include a connecting mechanism 1 including a single common first rail 50 and one second rail 25, and another connecting mechanism 1 including a single common first rail 50 and the other second rail 25, the following description will be given assuming that the two connecting mechanisms 1 are included. In the following description, the reference numerals used for the components and their operations in the connecting mechanism 1 will be used as they are, except for the single common first rail 50. FIG. 17 is a schematic front view of the transfer device 200, and FIG. 18 is a schematic right side view of the transfer device 200. Figure 19 is a schematic cross-sectional view taken along line VV in Figure 17, corresponding to a plan view with the supported member UB removed. These figures show the arrangement in the neutral position when both the first rail 50 having a shape along the first circle C1 and the second rail 25 having a shape along the second circle C2 are horizontally arranged.

[0076] In this embodiment, the first track portion 10 of both coupling mechanisms 1 is attached to the support body LB, and the second track portion 20 is attached to the supported body UB. As described above, this embodiment corresponds to a configuration in which two coupling mechanisms 1 having the same structure are brought closer together until they are able to operate sufficiently using only one common first rail 50. Therefore, the second circles C2 along which the second roller sets 22 of both coupling mechanisms 1 that share the first rail 50 run have the same diameter (see FIG. 19). Furthermore, the centers of the second circles C2 along which the second rails 25 of both coupling mechanisms 1 run are arranged so that they are located within a plane HP3 perpendicular to the central axis L1 of the common first circle C1 in the neutral position (see FIGS. 17 and 18). Furthermore, a plane FP1 including the central axis L1 of the first circle C1, which forms the plane of symmetry for the two arcs along which the first roller sets 12 of both coupling mechanisms 1 that share the first rail 50 run and serves as a reference plane, and a plane FP2 including the central axis L2 of the second circle C2, which forms the plane of symmetry for the two arcs along which the second roller sets 22 of both coupling mechanisms 1 run, are arranged to be coplanar at the neutral position (see FIG. 19). Furthermore, the vertices of the arc-shaped second rails 25 of both coupling mechanisms 1 are arranged to face each other, i.e., the second rails 25 of both coupling mechanisms 1 are arranged to form an X-shape (see FIG. 19). A total of four first roller sets 12 run guided by the common single first rail 50, and two second roller sets 22 run guided by their respective second rails 25.

[0077] The two connecting mechanisms 1 constituting the transfer mechanism 201 of this transfer device 200 are operated under the condition that the angle formed between the central axis L1 of a common first circle C1, which serves as a reference line adjusted by the angle adjustment units 40 of both connecting mechanisms 1, and the central axis L2 of the second circle C2 in the neutral position is the same. Therefore, when the angle formed between the central axis L1 of the first circle C1 and the central axis L2 of the second circle C2, which are adjusted by the angle adjustment units 40 of both connecting mechanisms 1 sharing the first rail 50, is an angle other than 0° in the neutral position, the central axes L2 of the second circles C2 in both connecting mechanisms 1 will intersect at a single point on the central axis L1 of the common circle C1. That is, the intersection point between the central axis L1 of the first circle C1 in the connecting mechanism 1, which is composed of one common first rail 50 and one second rail 25, and the central axis L2 of the second circle C2 in the neutral position, coincides with the intersection point between the central axis L1 of the first circle C1 in the connecting mechanism 1, which is composed of one common first rail 50 and the other second rail 25, and the central axis L2 of the second circle C2 in the neutral position.

[0078] When an external force is applied to the supported object UB of the transfer device 200, the two connecting mechanisms 1 that share the first rail 50 included in the transfer mechanism 201 operate in the same manner as described above for the connecting mechanism 1, under the restriction that they are connected to the same support LB and the same supported object UB. That is, when the central axis L1 of the first circle C1 in both connecting mechanisms 1 and the central axis L2 of the second circle C2 in the neutral position are adjusted to be parallel, the supported object UB, the support 21 fixed to the supported object UB, and the second rail 25 connected to the support 21 via the connector 42 move horizontally while being supported by the first roller set 12, the second roller set 22, and the connector 31 that connects them.

[0079] 20 is a cross-sectional view taken along line VI-VI in FIG. 18 showing the arrangement of the neutral position when the angle between the central axis L1 of the first circle C1 and the central axis L2 of the second circle C2 in the neutral position is adjusted to 45° by the adjustment member 41 of the angle adjustment unit 40 in two coupling mechanisms 1 that share the first rail 50. As can be seen from this figure, the central axes L2 of the second circles in both coupling mechanisms 1 that share the first rail 50 intersect at point P7 on the central axis of the first circle C1, and the central axes L3 of the connectors 31 in both coupling mechanisms 1 pass through the intersection point P7. Furthermore, even under the restriction that each connecting mechanism 1 that shares the first rail 50 is connected to the same supported object UB, it operates in exactly the same way as if each connecting mechanism 1 existed alone, and the supported object UB, the support 21 fixed to the supported object UB, and the second rail 25 connected to the support 21 via the connector 42 are supported by the first roller set 12, the second roller set 22, and the connecting body 31 that connects them, and move along a spherical surface S6 centered on the intersection point P7.

[0080] Therefore, by using the angle adjustment unit 40 in each connecting mechanism 1 to change the angle between the central axis L1 of the first circle C1 common to both connecting mechanisms 1 and the central axis L2 of the second circle C2 in the neutral position while maintaining the condition that the angle is the same, the shape of the two-dimensional surface along which the supported body UB moves relative to the support body LB in response to an external force applied to the support body LB or the supported body UB can be easily changed.

[0081] FIG. 21 is a plan view schematically illustrating a transfer device corresponding to a modified example of the transfer device 200 described above. The transfer mechanism of this transfer device corresponds to a configuration in which three linkage mechanisms 1 having the same structure as the linkage mechanism 1 described above are brought close together until they are able to operate sufficiently using only one common first rail. Symbol FP1 indicates a plane including the central axis of a first circle C1 that constitutes a plane of symmetry for two arcs along which the first roller sets in each linkage mechanism 1 run, and symbol FP2 indicates a plane including the central axis of a second circle C2 that constitutes a plane of symmetry for two arcs along which the second roller sets in each linkage mechanism 1 run. FIG. 21 illustrates the arrangement of the neutral position in which the angle between the central axis of the common first circle C1 and the central axis of the second circle C2 at the neutral position is 0°. The linkage mechanisms 1 are arranged at equal intervals around the shared first circle C1. The centers of the second circles C2 in all of the connecting mechanisms 1 are arranged to be located in a plane perpendicular to the central axis of the shared first circle C1 in the neutral position, and when the angle between the central axis of the second circle C2 in all of the connecting mechanisms 1 and the central axis of the shared first circle C1 in the neutral position is the same and is an angle other than 0°, the central axes of the second circles C2 in all of the connecting mechanisms 1 are arranged to intersect at a single point on the central axis of the common single first circle C1, and by using the angle adjustment unit in each connecting mechanism 1 to change the angle while maintaining the condition that the angle between the central axis of the first circle C1 shared by all of the connecting mechanisms 1 and the central axis of the second circle C2 in the neutral position is the same, it is possible to realize the same operation as that of the transfer device 200 described above regarding the movement of the supported object UB relative to the support LB when an external force is applied to the supported object UB.

[0082] Third embodiment A third embodiment of a transfer device including a support, a supported object, and a transfer mechanism disposed therebetween will be described with reference to FIGS. 22 to 25. The transfer mechanism 301 of this transfer device 300 includes two connecting mechanisms 2 having the same structure. The connecting mechanism 2 differs from the above-described connecting mechanism 1 in that the angle adjuster 40 further includes an additional adjustment member 45 that adjusts the angle between the central axis L1 of the first circle C1 and a reference line RL extending vertically. In the following description, the same reference numerals are used for the components and their operations in the connecting mechanism 1, except for the reference line RL, the additional adjustment member 45, and components included in the additional adjustment member 45. FIG. 22 is a schematic front view of the transfer device 300, and FIG. 23 is a schematic right side view of the transfer device 300. FIG. 24 is a schematic cross-sectional view taken along line VII-VII in FIG. 22, corresponding to a plan view with the supported object UB removed. These figures show the arrangement in a neutral position when both the first rail 15, which has a shape along a first circle C1, and the second rail 25, which has a shape along a second circle C2, are positioned horizontally.

[0083] In this embodiment, the first track section 10 in both coupling mechanisms 2 is attached to a support member LB made of a rectangular plate, and the second track section 20 is attached to a supported member UB made of a rectangular plate. Furthermore, because coupling mechanisms 2 of the same structure are used for the transfer mechanism 301, the first circles C1 along which the first roller sets 12 in both coupling mechanisms 2 run have the same diameter, and the second circles C2 along which the second roller sets 22 in both coupling mechanisms 2 run also have the same diameter (see FIG. 24). Furthermore, the distance between the center of the first circle C1 and the reference line RL in one coupling mechanism 2 is the same as the distance between the center of the first circle C1 and the reference line RL in the other coupling mechanism 2 (see FIG. 24). The centers of the first circles C1 along which the first rails 15 of both coupling mechanisms 2 extend are located within a plane HP4 perpendicular to the reference line RL (see FIGS. 22 and 23), and the centers of the second circles C2 along which the second rails 25 of both coupling mechanisms 2 extend are also located within another plane HP5 perpendicular to the reference line RL in the neutral position (see FIGS. 22 and 23). Furthermore, a plane FP1 including the central axis L1 of the first circle C1, which constitutes the plane of symmetry for the two arcs along which the first roller sets 12 of both coupling mechanisms 2 run, and a plane FP2 including the central axis L2 of the second circle C2, which constitutes the plane of symmetry for the two arcs along which the second roller sets 22 of both coupling mechanisms 2 run, are located on the same plane in the neutral position (see FIG. 24). In addition, the vertices of the second rails 25 formed in the shape of an arc in both connecting mechanisms 2 are arranged to face each other, i.e., the second rails 25 in both connecting mechanisms 2 are arranged in an X-shape (see Figure 24).

[0084] The angle adjustment section 40 in both connecting mechanisms 2 includes a pair of adjustment members 41 for adjusting the angle between the central axis L2 of the second circle C2 and the reference line RL in the neutral position, as well as another pair of adjustment members 45 for adjusting the angle between the central axis L1 of the first circle C1 and the reference line RL.

[0085] The other adjustment member 45 has a configuration similar to that of the adjustment member 41. First, for the other adjustment member 45, a rectangular support plate 46 is fixed to the tip of a pair of legs (first mounting members) 11 of the first track section 10 (see FIG. 22). The other adjustment member 45 also has a connector 47 formed of an oval plate, and an end of the first rail 15 is fixed to the connector 47. The base end of the connector 47 is rotatably connected to the opposing support plate 46 via a support shaft 48. The other adjustment member 45 further has an arc-shaped hole 46a drilled in the support plate 46 along a circle C4 centered on the support shaft 48 in order to determine the rotation angle of the connector 47, a hole 47a drilled at the tip of the connector 47, and a fixture 49 for aligning the hole 47a with any position of the hole 46a and fixing the hole 47a. As described above, the end of the first rail 15, which has a shape that follows the first circle C2, is fixed to the connector 47, so the angle between the central axis L1 of the first circle C1 and the reference line RL can be adjusted depending on which part of the hole 46a the hole 47a is aligned with.

[0086] In the transfer device 300 of this embodiment, the adjustment member 41 in the angle adjustment unit 40 and another adjustment member 45 are used to adjust the central axis L1 of the first circle C1 in both connection mechanisms 2 so that the central axis L1 of the first circle C1 and the central axis L2 of the second circle C2 in the neutral position intersect at a single point on the reference line RL when the angles between the reference line RL and the central axis L1 of the first circle C1 in both connection mechanisms 2 are the same and are other than 0°, and the angles between the reference line RL and the central axis L2 of the second circle C2 in the neutral position in both connection mechanisms 2 are the same and are other than 0°. The two connection mechanisms 2 constituting the transfer mechanism 301 of this transfer device 300 are operated while maintaining the conditions that the angles between the central axis L1 of the first circle C1 and the reference line RL adjusted by the angle adjustment unit 40 in both connection mechanisms 2 are the same and the angle between the central axis L2 of the second circle C2 in the neutral position and the reference line RL are the same.

[0087] When an external force is applied to the supported object UB of the transfer device 300, the two connecting mechanisms 2 included in the transfer mechanism 301 operate in the same manner as described above for the connecting mechanism 1, under the restriction that they are connected to the same support LB and the same supported object UB. That is, when the central axes L1 of the first circles C1 in both connecting mechanisms 2, the central axes L2 of the second circles C2 in the neutral position, and the reference line RL are adjusted so as to be parallel to each other, the supported object UB, the support 21 fixed to the supported object UB, and the second rail 25 connected to the support 21 via the connector 42 move horizontally while being supported by the first roller set 12, the second roller set 22, and the connector 31 that connects them.

[0088] Figure 25 is a cross-sectional view taken along line VIII-VIII in Figure 23 showing the neutral position arrangement when the angle between the reference line RL and the central axis L2 of the second circle C2 at the neutral position is adjusted to 45° by the adjustment members 41 of the angle adjustment units 40 of both connecting mechanisms 2. The angle between the central axis L1 of the first circle C1 and the reference line RL in both connecting mechanisms 2 is adjusted by another adjustment member 45 so that the central axis L1 of the first circle C1 passes through an intersection point P8 that is on the reference line RL and where the central axis L2 of the second circle C2 at the neutral position in both connecting mechanisms 2 intersects. Also, as can be seen from Figure 25, the central axis L3 of the connecting body 31 in both connecting mechanisms 2 passes through the intersection point P8. Even under the restriction that the connecting mechanisms 2 are connected to the same supported object UB, they operate in exactly the same way as if each connecting mechanism 2 existed alone, and the supported object UB, the support 21 fixed to the supported object UB, and the second rail 25 connected to the support 21 via the connector 42 are supported by the first roller set 12, the second roller set 22, and the connecting body 31 that connects them, and move along the spherical surface S7 centered on the intersection point P8.

[0089] Therefore, by using the angle adjustment unit 40 of each connecting mechanism 2 to change the angle while maintaining the condition that the angle between the central axis L1 of the first circle C1 and the reference line RL in both connecting mechanisms 2 is the same and the angle between the central axis L2 of the second circle C2 in the neutral position and the reference line RL is the same, the shape of the two-dimensional surface along which the supported body UB moves relative to the support body LB in response to an external force applied to the support body LB or the supported body UB can be easily changed.

[0090] 26 is a plan view schematically illustrating a transfer device corresponding to a modified example of the transfer device 300 described above. This transfer device includes three linking mechanisms 2 having the same structure as the linking mechanism 2 described above, arranged at equal intervals around a circle C5 whose center axis is the reference line RL. The symbol FP1 indicates a plane including the central axis of the first circle C1, which constitutes a plane of symmetry for the two arcs along which the first roller set in each linking mechanism 2 runs. The symbol FP2 indicates a plane including the central axis of the second circle C2, which constitutes a plane of symmetry for the two arcs along which the second roller set in each linking mechanism 2 runs. Figure 26 illustrates the neutral position arrangement in which the angle between the central axis of the first circle C1 and the reference line RL is 0° for all linking mechanisms 2, and the angle between the central axis of the second circle C2 in the neutral position and the reference line RL is 0°. The central axes of the first circle C1 and the second circle C2 in each of the connecting mechanisms 2 are arranged so as to be located in the same plane at the neutral position, the centers of the first circles C1 in all of the connecting mechanisms 2 are arranged so as to be located in one plane perpendicular to the reference line RL, the centers of the second circles C2 in all of the connecting mechanisms 2 are arranged so as to be located in another plane perpendicular to the reference line RL at the neutral position, the angles formed by the central axes of the first circles C1 in all of the connecting mechanisms 2 and the common reference line RL are the same and are angles other than 0°, and the central axes of the first circles C1 and the reference line RL in all of the connecting mechanisms 2 are arranged so as to be located in another plane perpendicular to the reference line RL. When the angle between the central axis of the first circle C1 and the central axis of the second circle C2 in all connecting mechanisms 2 is the same and is an angle other than 0°, the central axes of the first circle C1 and the second circle C2 in all connecting mechanisms 2 are arranged so that they intersect at a single point on the reference line RL, and by using the angle adjustment unit in each connecting mechanism 2 to change the angle while maintaining the condition that the angle between the central axis of the first circle C1 and the reference line RL in all connecting mechanisms 2 is the same and the angle between the central axis of the second circle C2 in the neutral position is the same, the same operation as that of the transfer device 300 described above can be realized.

[0091] Although the above describes embodiments of the connection mechanism and transfer device of the present invention, the specific configuration of each component is not limited to the above-described embodiment and can be modified within the scope of the invention as defined in the claims. For example, if the second guide member is formed of a tube having an arc shape along the second circle, the adjustment member in the angle adjustment unit may be formed of a rail member extending from the supported object UB toward the support object LB, and a slide member that can move along the rail member and supports the apex and / or end of the tube constituting the second guide member so that the apex of the tube can rotate relative to the center of the second circle within a plane including the central axis of the second circle. Figure 27(A) shows an example of an adjustment member 60 in which the slide member supports the apex of the tube. In this example, a rail member (second mounting member) 61 with a male thread 61a at its tip is attached to the supported object UB, and this rail member 61 passes inside the first rail 15 shaped along the first circle and extends to the support object LB. Furthermore, the apex of the second rail 25, which has an arc shape along the second circle, is accommodated in a slide member 62 having a female thread portion 62a corresponding to the male thread portion 61a of the rail member 61 so as to be rotatable about the center of the second circle. Therefore, by changing the position of the slide member 62 through the combination of the male thread portion 61a of the rail member 61 and the female thread portion 62a of the slide member 62, the angle between the central axis of the first circle and the central axis of the second circle can be easily changed. This configuration is particularly suitable for the transfer mechanism 201 of the transfer device 200 of the second embodiment, and the apex of two second rails 25 can be accommodated in the same slide member 62. FIG. 27(B) shows an example of an adjustment member 60 in which both ends of a second guide member 25, which has an arc shape, are bent toward each other and then accommodated in a slide member 62 guided by the rail member 61. The adjustment member of FIG. 27(A) and the adjustment member of FIG. 27(B) may be used together.

[0092] 28, the first track section of the connecting mechanism may be configured as first track section 70 including a support 71 fixed to support body LB, a pair of blade members 72 rotatably attached to this support 71, arms 73 attached to the tip of each blade member 72, cylindrical tubes 74 attached to the tip of each arm 73, and U-shaped members 75 rotatably attached to each cylindrical tube 74, and U-shaped members 75 may be rotatably connected to one end of a connecting body 31 having a second roller set 22 rotatably attached to the other end. In this form of first track section 70, the cylindrical tube 74 rotates around the support 71 while being guided by the blade members 72, and the trajectory of movement of the cylindrical tube 74 corresponds to the trajectory along the first circle, and the U-shaped members 75 correspond to the first running body. Furthermore, a pipe having a cross section other than a circular cross section can be used as the pipe constituting the first guide member or the second guide member in the connecting mechanism. For example, if the first guide member or the second guide member is made of a pipe with a rectangular cross section, a groove can be formed in the side surface of the guide member, and a running body can be used that is made up of an inner ring with a ball spline structure and an outer ring with a roller bearing structure that fits into the groove. [Industrial Applicability]

[0093] The present invention provides a transfer device that can easily change the shape of the two-dimensional surface along which the supported object moves relative to the support object in response to an external force applied to the supporting object or the supported object. [Explanation of symbols]

[0094] 1,2 Connection mechanism 10,70 First raceway 11 Leg body (first attachment member) 12 First roller set (first running body) 13 Grooved roller 15 First rail (first guide member) C1 First Circle G1 Arc forming part of the first circle T1 Tangent to the first circle L1 Central axis of the first circle FP1: Plane containing the central axis of the first circle 20 Second track section 21 Support (second mounting member) 22 Second roller set (second running body) 23 Grooved roller 25 Second rail (second guide member) C2 Second Circle G2 Arc forming part of the second circle T2 Tangent to the second circle L2 Central axis of the second circle FP2: The plane containing the central axis of the second circle 30 Connecting part 31 Concatenation L3 Central axis of the connecting body 40 Angle adjustment section 41,60 Adjustment member 45 Another adjustment member 100,200,300 Transfer equipment 101,201,301 Transfer mechanism LB support UB Supported body RL reference straight line S1,S2,S3,S4,S5,S6,S7 2D surface

Claims

1. A coupling mechanism that is disposed between a support and a supported object and is used to move the supported object along a two-dimensional plane relative to the support in response to an external force applied to the support or the supported object, a first attachment member fixed to one of the supporting body and the supported body; Two first running bodies; a first guide member connected to the first mounting member, the first guide member having a guide portion for causing one of the first running bodies to run along one of two arcs that form a part of a first circle and are plane-symmetrical with respect to a reference plane including a central axis of the first circle, and a guide portion for causing the other of the first running bodies to run along the other arc that forms a part of the first circle; a first track portion, wherein both of the first running bodies are rotatable around a tangent to the first circle; a second attachment member fixed to the other of the supporting body and the supported body; two second running bodies; a second guide member connected to the second mounting member, the second guide member having a guide portion for causing one of the second running bodies to run along one of two arcs that form a part of a second circle and that are plane-symmetrical with respect to a plane that includes the central axis of the second circle and is located in the reference plane at a neutral position, and a guide portion for causing the other of the second running bodies to run along the other of the arcs that form a part of the second circle, wherein, when viewed from a direction along the central axis of the first circle at the neutral position, the arc along which the one of the first running bodies runs intersects with the arc along which the one of the second running bodies runs, and the arc along which the other of the first running bodies runs intersects with the arc along which the other of the second running bodies runs; a second track portion, wherein both of the second running bodies are rotatable around a tangent to the second circle; a connecting portion for interlocking the running of the first running body and the running of the second running body, the connecting portion including a connecting body connecting one of the first running body and one of the second running body, and a connecting body connecting the other of the first running body and the other of the second running body, wherein a distance between the first running body and the second running body connected to these connecting bodies is maintained at a predetermined length, and at least one of the first running body and the second running body is rotatable around a central axis of the connecting body; an angle adjustment unit including at least an adjustment member for changing the angle between a reference line located in the reference plane and a central axis of the second circle at a neutral position, and may include another adjustment member for changing the angle between the reference line and the central axis of the first circle; A coupling mechanism comprising:

2. the second guide member is formed by a tube having an arcuate shape; 2. The connecting mechanism according to claim 1, wherein the adjustment member in the angle adjustment portion is connected to the second mounting member and supports the apex and / or end point of the tube so that the apex of the tube can rotate relative to the center of the second circle within a plane including the central axis of the second circle.

3. the first guide member is formed by a tube having an arcuate shape; 2. The coupling mechanism of claim 1, wherein another adjustment member in the angle adjustment portion is connected to the first mounting member and supports the apex and / or end point of the tube so that the apex of the tube can rotate relative to the center of the first circle within the reference plane.

4. The second traveling body has a grooved roller, 2. The coupling mechanism of claim 1, wherein said second guide member is formed by a tube having a circular cross section that fits into the groove of said grooved roller.

5. The first traveling body has a grooved roller, 2. The coupling mechanism of claim 1, wherein said first guide member is formed by a tube having a circular cross section that fits into the groove of said grooved roller.

6. A transfer device including a support, a supported object, and a transfer mechanism provided between the support and the supported object for moving the supported object along a two-dimensional plane relative to the support in response to an external force applied to the support or the supported object, The transfer mechanism has at least two of the coupling mechanisms according to any one of claims 1 to 5, These connecting mechanisms meet the following conditions (R1) to (R3): (R1) A first attachment member in all of the connecting mechanisms is fixed to one of the supporting body and the supported body, and a second attachment member in all of the connecting mechanisms is fixed to the other of the supporting body and the supported body; (R2) The reference planes in all of the linking mechanisms are located in the same plane, and the central axes of the first circles in all of the linking mechanisms are parallel to each other. (R3) The angle adjustment unit in each connecting mechanism adjusts the angle so that the central axis of the first circle in all connecting mechanisms is parallel to the central axis of the second circle in the neutral position, or the intersection of the central axis of the first circle in all connecting mechanisms and the central axis of the second circle in the neutral position is located on a straight line perpendicular to the central axis of the first circle. A transfer device characterized by satisfying all of the above.

7. The first circles in all of the linkage mechanisms have diameters of the same length, and the centers of the first circles in all of the linkage mechanisms are located in a plane perpendicular to the central axes of the first circles; The second circles in all of the linkage mechanisms have diameters of the same length, and the centers of the second circles in all of the linkage mechanisms are located in another plane perpendicular to the central axis of the first circle in the neutral position; 7. The transfer device according to claim 6, wherein the angle adjuster in each linking mechanism adjusts the angle between the central axis of the first circle and the second central axis in the neutral position in all linking mechanisms to be the same.

8. A transfer device including a support, a supported object, and a transfer mechanism provided between the support and the supported object for moving the supported object along a two-dimensional plane relative to the support in response to an external force applied to the support or the supported object, The transfer mechanism has at least two of the coupling mechanisms according to any one of claims 1 to 5, These connecting mechanisms meet the following conditions (R4) to (R6): (R4) A first attachment member in all of the connecting mechanisms is fixed to one of the supporting body and the supported body, and a second attachment member in all of the connecting mechanisms is fixed to the other of the supporting body and the supported body; (R5) The first circles in all of the linkage mechanisms are configured as a single common circle; (R6) The angle adjustment unit in each of the connecting mechanisms adjusts the center axis of the second circle in the neutral position of all the connecting mechanisms so that it is parallel to the center axis of the common circle, or so that the second center axis in the neutral position of all the connecting mechanisms intersects with the center axis of the common circle at one point. A transfer device characterized by satisfying all of the above.

9. The second circles in all of the linkage mechanisms have diameters of the same length, and the centers of the second circles in all of the linkage mechanisms are located in a plane perpendicular to the central axis of the common circle in the neutral position; 9. The transfer device according to claim 8, wherein the angle adjustment portion of each linking mechanism adjusts the angle between the central axis of the common circle and the second central axis in the neutral position of all linking mechanisms so that the angle is the same.

10. A transfer device including a support, a supported object, and a transfer mechanism provided between the support and the supported object for moving the supported object along a two-dimensional plane relative to the support in response to an external force applied to the support or the supported object, The transfer mechanism has at least two of the coupling mechanisms according to any one of claims 1 to 5, These connecting mechanisms satisfy the following conditions (R7) to (R9): (R7) A first attachment member in all of the connecting mechanisms is fixed to one of the supporting body and the supported body, and a second attachment member in all of the connecting mechanisms is fixed to the other of the supporting body and the supported body; (R8) The angle adjustment portion in all of the connecting mechanisms includes both the adjustment member and the other adjustment member. (R9) The angle adjustment unit in each of the connecting mechanisms adjusts the center axis of the first circle in all of the connecting mechanisms to be parallel to the center axis of the second circle in the neutral position, or the center axis of the first circle in all of the connecting mechanisms to be intersected at one point with the center axis of the second circle in the neutral position. A transfer device characterized by satisfying all of the above.

11. The reference lines located in the reference plane in all of the linking mechanisms are configured as a single common reference line, the first circles in all of the linking mechanisms have diameters of the same length, and the centers of the first circles in all of the linking mechanisms are located in a plane perpendicular to the common reference line; the second circles in all of the linkage mechanisms have diameters of the same length, and the centers of the second circles in all of the linkage mechanisms are located in another plane perpendicular to the common reference line in the neutral position; 11. The transfer device according to claim 10, wherein the angle adjustment unit in each linking mechanism adjusts the angle between the common reference line and the central axis of the first circle in all linking mechanisms so that the angle between the common reference line and the central axis of the second circle in the neutral position is the same.

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