JP6977955B2 - 2-axis solid cam mechanism - Google Patents

Description

The present invention relates to a two-axis stereoscopic cam mechanism.

Conventionally, a cam guide surface of a three-dimensional cam that rotates around a predetermined rotation axis that is pivotally supported by the support member is configured to guide a follower-side link that is pivotally supported by another portion of the support member. In the three-dimensional cam mechanism, a three-dimensional cam guide surface is formed on the three-dimensional cam, and a cam follower formed at a predetermined angle is guided to one end of the subordinate side link on the cam guide surface. , There is a three-dimensional cam mechanism configured to convert the rotational movement of the three-dimensional cam into the swinging movement of the other end of the slave side link (see, for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 2008-298165

By the way, in the conventional three-dimensional cam mechanism, the dependent link (lever) swings along one three-dimensional cam, and the lever does not swing in the biaxial direction.

Therefore, it is an object of the present invention to provide a biaxial three-dimensional cam mechanism capable of swinging a lever in a biaxial direction.

The two-axis three-axis cam mechanism according to the embodiment of the present invention includes a lever, a support member, a first rotation shaft pivotally supported by the support member, and two corresponding parts arranged with the first rotation shaft interposed therebetween. An arm member having a contact portion and a rotating member that swingably supports the lever with respect to the support member, and a shaft to the support member via a second rotation axis orthogonal to the first rotation axis. The rotating member to be supported and two cam surfaces provided on the lever and in contact with the two abutting portions are included, and the two cam surfaces are slidable with the two abutting portions. It has a three-dimensional curved surface shape.

It is possible to provide a biaxial three-dimensional cam mechanism that allows the lever to swing in the biaxial direction.

It is a figure which shows the two-axis solid cam mechanism 100 of an embodiment. It is a figure which shows the operation state of the two-axis solid cam mechanism 100. It is a figure which shows the biaxial solid cam mechanism 100M of the modification of embodiment.

Hereinafter, embodiments to which the two-axis three-dimensional cam mechanism of the present invention is applied will be described.

<Embodiment>
FIG. 1 is a diagram showing a two-axis three-dimensional cam mechanism 100 according to an embodiment. The two-axis three-dimensional cam mechanism 100 includes a base portion 110, a gimbal 115, a lever 120, and a follower 130. Hereinafter, the description will be made using the XYZ coordinate system, and the planar view means the XZ plane view.

The two-axis three-dimensional cam mechanism 100 is a device capable of operating the lever 120 in the two-axis direction with respect to the base portion 110. The lever 120 can be operated in a tilting direction with respect to the rotation centers of the two axes held by the base portion 110 and the gimbal 115.

The biaxial direction means a direction of tilting in the arrow + A direction and the −A direction in the XY plane and a direction of tilting in the arrow + B direction and the −B direction in the YZ plane. Further, the lever 120 can be operated in a diagonal direction (diagonal tilting direction) with respect to the XY plane and the YZ plane, and the biaxial direction includes the diagonal direction with respect to the XY plane and the YZ plane. May be good. Here, a mode including an oblique direction in the biaxial direction will be described.

The base portion 110 is a member that serves as a pedestal for the two-axis three-dimensional cam mechanism 100, and is an example of a support member. The base portion 110 is fixed to a member or the like to which the two-axis three-dimensional cam mechanism 100 is attached. The base portion 110 has a base portion 111 and an extending portion 112. The base 111 and the extending portion 112 are integrally molded and are made of, for example, metal or resin.

The base portion 111 is a portion through which the lever 120 is inserted in the Y-axis direction, and is a member having a rectangular shape in a plan view. The base 111 has a through hole 111A penetrating in the Y-axis direction. The through hole 111A has a rectangular shape in a plan view. Therefore, the base 111 is a rectangular annular member. A pair of openings penetrating in the X-axis direction are provided on the walls of the through hole 111A on the positive side of the X-axis and the negative side of the X-axis, so that the rotation axis parallel to the X-axis of the gimbal 115 can be rotated. Support the axis.

The extending portion 112 is a portion extending in the positive direction of the X-axis from the base portion 111. The extending portion 112 has a notch portion 112A cut out from an end portion on the positive direction side of the X axis toward the negative direction of the X axis in the central portion in the Z axis direction.

A pair of through holes 112B that penetrate the extending portion 112 in the Z-axis direction are provided on both sides of the cutout portion 112A in the Z-axis direction. In FIG. 1, of the pair of through holes 112B, the through hole 112B on the positive direction side of the Z axis is not shown because it is located on the back side of the follower 130 or the like. The pair of through holes 112B rotatably support the rotation axis of the follower 130.

The gimbal 115 is housed inside the through hole 111A of the base 111 of the base 110, and holds the lever 120 swingably in the biaxial direction. The gimbal 115 is an example of a rotating member that swingably supports the lever 120 with respect to the base portion 110.

The gimbal 115 has an X rotor 115X that rotates the lever 120 around a rotation axis parallel to the X axis. The gimbal 115 is made of, for example, metal or resin.

The X rotor 115X is a member having a rectangular annular shape (suspended frame shape) in a plan view when the lever 120 is parallel to the Y axis, and has a pair of rotations on the wall portions on the positive direction side of the X axis and the negative direction side of the X axis. It has a shaft 115X1. FIG. 1 shows the rotation shaft 115X1 on the negative direction side of the X axis, and the rotation shaft 115X1 on the positive direction side of the X axis is not shown because it is located on the back side of the base 111 and the like. The pair of rotating shafts 115X1 are rotatably supported via bearings in a pair of openings provided in the wall portions on the X-axis positive direction and the X-axis negative direction side of the base 111. The pair of rotation axes 115X1 of the X rotor 115X extend in a direction orthogonal to the rotation axis 132 of the follower 130 in a plan view. The rotation shaft 115X1 is an example of the second rotation shaft.

The lever 120 has a rotation axis 123 orthogonal to the rotation axis 115X1. The rotation axis 123 is an example of a third rotation axis orthogonal to the second rotation axis. The rotation shaft 123 of the lever 120 is rotatably supported via a bearing with respect to the wall portions on the Z-axis positive direction side and the Z-axis negative direction side of the X rotor 115X.

With such a gimbal 115, the lever 120 swings with respect to the base 111 in the direction of tilting in the arrow + A direction and −A direction in the XY plane and in the direction of tilting in the arrow + B direction and −B direction in the YZ plane. It is movable and is held swingably in diagonal directions with respect to the ± A direction and the ± B direction.

The lever 120 has a rod-shaped portion 121, cam portions 122U and 122L, and a rotation shaft 123. The lever 120 is made of, for example, metal or resin.

The rod-shaped portion 121 is an elongated square columnar member parallel to the Y axis when the lever 120 is parallel to the Y axis. The rod-shaped portion 121 has ends 121A and 121B located at both ends. The end portion 121A of the rod-shaped portion 121 is a portion touched by the user of the two-axis three-dimensional cam mechanism 100. The user holds the end portion 121A side, for example, when operating the lever 120. The rod-shaped portion 121 may be cylindrical.

The cam portion 122U is attached to a side surface facing the positive direction of the X-axis at substantially the center of the rod-shaped portion 121 in the longitudinal direction. That is, the cam portion 122U is provided so as to project in the positive direction of the X axis from the side surface of the rod-shaped portion 121 facing the positive direction of the X axis.

The cam portion 122L is attached to the side surface of the rod-shaped portion 121 facing the positive direction of the X-axis on the end portion 121B side in the longitudinal direction. That is, the cam portion 122L is provided so as to project in the positive direction of the X axis from the side surface of the rod-shaped portion 121 facing the positive direction of the X axis.

The cam portion 122U and the cam portion 122L are separated from each other in the longitudinal direction (extending direction) of the rod-shaped portion 121, and the portion of the rod-shaped portion 121 between the cam portion 122U and the cam portion 122L is the Z rotor of the gimbal 115. It is fixed inside.

The cam portions 122U and 122L have cam surfaces 122U1 and 122L1, respectively. The cam surfaces 122U1 and 122L1 have a three-dimensionally curved three-dimensional curved surface shape, and the cam surfaces 122U1 and 122L1 face the X-axis positive direction side. The cam surfaces 122U1 and 122L1 have the same shape as each other.

Here, the cam surfaces 122U1 and 122L1 are examples of two cam surfaces. The three-dimensional curved surface shapes of the cam surfaces 122U1 and 122L1 will be described later.

The follower 130 has an arm portion 131, a rotation shaft 132, and a contact portion 133U and 133L. The follower 130 is an example of an arm member. The follower 130 is made of, for example, metal or resin.

The arm portion 131 is an arm-shaped member, and a rotation shaft 132 is provided at the center in the longitudinal direction. The central portion of the arm portion 131 extends in the Y-axis direction, and both ends are bent in the negative direction of the X-axis. Therefore, the arm portion 131 is a substantially U-shaped arm-shaped member in XY view.

Here, as an example, a form in which the cross-sectional shape parallel to the XZ plane of the arm portion 131 is rectangular will be described, but it may be circular or the like, and the arm portion 131 has a longitudinal direction along the Y-axis direction. It may be a member. The arm portion 131 is an example of the arm portion.

A contact portion 133U is provided at the end of the arm portion 131 on the positive direction side of the Y axis, and a contact portion 133L is provided at the end portion of the arm portion 131 on the negative direction side of the Y axis. The central portion of the arm portion 131 in the longitudinal direction is inserted through the notch portion 112A, and the rotating shaft 132 is rotatably shafted through a pair of through holes 112B of the extending portion 112 of the base portion 110 via a bearing. It is supported.

The rotation shaft 132 is a cylindrical member provided so that the central axis is parallel to the Z axis in the longitudinal direction of the arm portion 131. In FIG. 1, the rotation axis 132 on the negative direction side of the Z axis is shown by a broken line, and the rotation axis 132 on the positive direction side of the Z axis is not shown because it is on the back side of the arm portion 131. Both ends of the central axis of the rotating shaft 132 in the extending direction (Z-axis direction) protrude from the arm portion 131. The rotation shaft 132 is an example of the first rotation shaft.

The contact portions 133U and 133L are provided at the end of the arm portion 131 on the positive direction side of the Y axis and the end portion on the negative direction side of the Y axis, respectively, in the negative direction of the X axis. The contact portions 133U and 133L are arranged so that the central portion of the arm portion 131 is parallel to the Y axis and is mirror image symmetric with respect to the XZ plane passing through the central axis of the rotation axis 132. Therefore, the contact portions 133U and 133L are arranged at positions equal to the rotation shaft 132 with the rotation shaft 132 interposed therebetween. The contact portions 133U and 133L are examples of the two contact portions.

As an example, the contact portion 133U and 133L have a hemispherical shape and protrude in the negative direction of the X-axis with respect to the arm portion 131. The contact portions 133U and 133L are provided so as to have hemispheres attached to the side surfaces of the arm portions 131 on the negative direction side of the X-axis at both ends. The contact portions 133U and 133L abut on the cam surfaces 122U1 and 122L1, respectively.

Note that FIG. 1 shows a shaft 150A connected to the rotating shaft 132 of the follower 130 and a shaft 150B connected to the rotating shaft 115X1 on the negative side of the X-axis of the X-rotor 115X of the gimbal 115.

The rotation of the follower 130 around the Z axis is transmitted to the shaft 150A, and the rotation of the X rotor 115X around the X axis is transmitted to the shaft 150B. On the contrary, if the shaft 150A is rotated, the follower 130 rotates around the Z axis. Further, if the shaft 150B is rotated, the X rotor 115X rotates around the X axis.

FIG. 2 is a diagram showing an operating state of the two-axis three-dimensional cam mechanism 100. Here, for convenience of explanation, the positive direction of the Y-axis is referred to as an upward direction, and the negative direction of the Y-axis is referred to as a downward direction, but it does not indicate a universal vertical relationship.

In the biaxial three-dimensional cam mechanism 100 as described above, the range (movable range) in which the lever 120 can be tilted in the biaxial direction (including the oblique direction) is defined by the movable range of the gimbal 115, the movable range of the follower 130, and the like.

In such a movable range of the lever 120, when the lever 120 is moved from a state parallel to the Y axis as shown in the center of FIG. 2 and the lever 120 is moved as shown on the right or left of FIG. 2, the contact portion The 133U and 133L hold the state of being in contact with the cam surfaces 122U1 and 122L1, respectively, and slide with the cam surfaces 122U1 and 122L1, respectively.

More specifically, when the lever 120 is moved in the + B direction as shown on the right from the central state of FIG. 2, the contact portions 133U and 133L are in contact with the cam surfaces 122U1 and 122L1, respectively, while the cam surfaces 122U1 and The surface of 122L1 is curvedly moved to the + Z direction side and the −Z direction side.

Further, when the lever 120 is moved in the + A direction from the central state of FIG. 2 as shown on the left, the contact portions 133U and 133L touch the surfaces of the cam surfaces 122U1 and 122L1 while contacting the cam surfaces 122U1 and 122L1, respectively. It slides in the negative direction of the Y axis.

As described above, the cam surfaces 122U1 and 122L1 are slidable three-dimensional curved surfaces so as to maintain the contact state with the contact portions 133U and 133L, respectively, regardless of how the lever 120 is moved within the movable range. Has a shape.

Next, the details of the three-dimensional curved surface shape of the cam surfaces 122U1 and 122L1 will be described. Here, in FIG. 1, the rotation angle of the follower 130 when moving the lever 120 in the + A direction is u, and in FIG. 1, the rotation angle of the X rotor 115X when moving the lever 120 in the + B direction is v.

Here, the center of rotation of the two axes of the lever 120 is set as the origin (0, 0, 0) of the XYZ coordinates. The center of rotation of the two axes of the lever 120 is one of the portions held by the gimbal 115.

First, the shape of the cam surface 122U1 will be described. When viewed from the entire coordinate system, the coordinates of the locus drawn by the center of the contact portion 133U of the follower 130 can be expressed by the following equation (1) in a matrix. Here, the center of the contact portion 133U of the follower 130 is the center of the hemispherical contact portion 133U, and is the center when the hemisphere is a sphere. The coordinates of the center of the contact portion 133U are (b, c, 0).

回転角ｕは、フォロワ１３０の回転角であり、点（ａ，０，０）を通るＺ軸に平行な軸回りに角度ｕだけ回転させることを意味する。Ｘ軸座標のａは、回転軸１３２の中心軸のＸ軸座標である。

The rotation angle u is the rotation angle of the follower 130, and means that the rotation angle u is rotated about an axis parallel to the Z axis passing through the point (a, 0, 0). The a of the X-axis coordinate is the X-axis coordinate of the central axis of the rotation axis 132.

Here, the coordinate system of the lever 120 will be described. The coordinate system of the lever 120 is a coordinate system that does not change when viewed from the lever 120 even if the rod-shaped portion 121 of the lever 120 is moved (including the diagonal direction) in the biaxial direction (including the diagonal direction).

When viewed from such a coordinate system of the lever 120, the locus of the center of the contact portion 133U is obtained by rotating the entire coordinate system according to the rotation angles u and v of the lever 120. The following equation (2) can be obtained from (1).

レバー１２０を動かした（倒した）ときに得られるフォロワ１３０の当接部１３３Ｕの中心の軌跡は、当接部１３３Ｕの半球体の半径の分だけカム面１２２Ｕ１から遠ざかる方向に、カム面１２２Ｕ１の各点の法線の方向にオフセットした曲面を表す。

The locus of the center of the contact portion 133U of the follower 130 obtained when the lever 120 is moved (tilted) is the direction of the cam surface 122U1 in the direction away from the cam surface 122U1 by the radius of the hemisphere of the contact portion 133U. Represents a curved surface offset in the direction of the normal of each point.

That is, the three-dimensional curved surface shape of the cam surface 122U1 determines the rotation angle (u,) by determining the coordinates of the rotation axis of the lever 120, the rotation axis 132 of the follower 130, the rotation axis of the X rotor 115X, and the center of the hemisphere of the follower 130. It can be expressed as a function of v). As described above, the three-dimensional curved surface shape represented by the locus of the center of the hemisphere of the follower 130 may be obtained and offset by the radius of the hemisphere in the direction of the normal of each point of the cam surfaces 122U1 and 122L1.

As described above, by using the base portion 110, the gimbal 115, the lever 120, and the follower 130, the biaxial three-dimensional cam mechanism 100 capable of moving (tilting) the lever 120 in the biaxial direction (including the oblique direction) is provided. can get.

Therefore, it is possible to provide a biaxial three-dimensional cam mechanism 100 that allows the lever 120 to swing in the biaxial direction.

The biaxial three-axis cam mechanism 100 can convert the biaxial movement of the lever 120 into a rotational movement between the rotating shaft 132 of the follower 130 and the rotating shaft of the X rotor 115X of the gimbal 115. The opening that pivotally supports the pair of through holes 112B and the pair of rotating shafts 115X1 is integrated with the base portion 110. Therefore, if the rotating shafts of the motors are mechanically connected to the shafts 150A and 150B connected to the rotating shafts 132 and the rotating shafts of the X rotor 115X, the two motors can be easily operated by the lever 120. can. Further, if a spring or the like is mechanically connected to the shafts 150A and 150B, an operating load for operating the lever 120 can be applied. It is also possible to connect a brake mechanism that applies an operating load by frictional force.

On the contrary, when the rotation shaft of the motor rotates, the lever 120 moves by the rotation amount, so that the rotation of the rotation shaft of the motor can be converted into the biaxial operation of the lever 120.

The mechanical structure (motor or the like described above) connected to the shafts 150A and 150B does not change its arrangement position with respect to the base portion 110 regardless of the biaxial movement of the lever 120. Further, since the rotation center of the two axes of the lever 120 is set to the origin (0,0,0) of the XYZ coordinates, the contact portions 133U and 133L are arranged at the same distance with respect to the rotation axis 132. The mechanical structures (motors and the like described above) connected to the shafts 150A and 150B can have the same specifications. For example, two motors or two brakes of equal size can be used.

Further, if the lever 120 having the cam surfaces 122U1 and 122L1 obtained as described above and the follower 130 are used, when the lever 120 is moved, the contact portions 133U and 133L are on the cam surfaces 122U1 and 122L1, respectively. It maintains the contacted state and slides on the cam surfaces 122U1 and 122L1, respectively. On the other hand, unlike the present embodiment, when the motors are attached to the two axes of the simple gimbal structure, the motor connected to one axis is movable together with the motor connected to the other axis. , The same motor could not be used.

In this way, even if the lever 120 is moved, the contact portions 133U and 133L can be maintained in contact with the cam surfaces 122U1 and 122L1, respectively, so that the occurrence of backlash is suppressed and the operation is smooth. The cam mechanism 100 can be provided.

Further, if the arm portion 131 of the follower 130 has elasticity so as to be able to bend in the longitudinal direction, the contact portions 133U and 133L can be pressed against the cam surfaces 122U1 and 122L1, respectively, so that they come into contact with each other. It is possible to provide a biaxial three-dimensional cam mechanism 100 that can more effectively hold the state, suppress the occurrence of backlash more effectively, and operate more smoothly.

That is, if the arm 131 has a spring-like structure having elasticity that allows the contact portions 133U and 133L to be displaced with respect to the rotating shaft 132 by bending in the longitudinal direction, the arm portion 131 can be contacted. The state of contact can be maintained more effectively.

In the above, the center of rotation of the two axes of the lever 120 is set to the origin (0,0,0) of the XYZ coordinates, and the contact portions 133U and 133L are arranged at positions equal to the rotation axis 132. The form was explained.

However, the contact portions 133U and 133L with respect to the rotating shaft 132 do not have to be equal. That is, when the contact portions 133U and 133L are located at both ends of the arm portion 131, the position of the rotation shaft 132 may be somewhere in the middle of the arm portion 131, not at the center in the longitudinal direction. In this case, the shapes and sizes of the cam surfaces 122U1 and 122L1 are different. The three-dimensional shapes of the cam surfaces 122U1 and 122L1 may be individually obtained in the same manner as described above. It should be noted that the longer the distance between the rotating shaft 132 and the contact portion 133U and 133L is, the easier it is to manufacture. On the other hand, shortening the length of the arm 131 in the longitudinal direction is more suitable for miniaturization. It is preferable that the positions of the contact portions 133U and 133L with respect to the rotating shaft 132 are appropriately adjusted according to the required movable range of the lever 120, restrictions on the circumference of the two-axis three-dimensional cam mechanism 100, and the like. Further, the position of the rotating shaft 132 may be shifted in the Y-axis direction with respect to the rotation center of the two axes of the lever 120.

Further, if there is a degree of freedom in design, the two rotation centers of the lever 120 may be at the twisted position, or the rotation angle of the lever 120 and the rotation angle of the follower 130 may be different. For example, the rotation angle of the lever 120 and the rotation angle of the follower 130 may have a constant multiple relationship, or the magnification may differ depending on the rotation position.

Further, although the form in which the cam portions 122U and 122L are provided on the side surface of the lever 120 has been described above, the configuration as shown in FIG. 3 may be used.

FIG. 3 is a diagram showing a two-axis three-dimensional cam mechanism 100M of a modified example of the embodiment. FIG. 3 shows the main components of the two-axis stereoscopic cam mechanism 100M. Hereinafter, the differences from the two-axis three-dimensional cam mechanism 100 shown in FIG. 1 will be mainly described.

The two-axis three-dimensional cam mechanism 100M includes a base portion 110M, a gimbal 115M, a lever 120M, and a follower 130M. The two-axis three-dimensional cam mechanism 100M is different in that the cam surfaces 122MA1 and 122MB1 and the follower 130M are provided below the lever 120M.

The base portion 110M shows only a part that pivotally supports the follower 130M in FIG. 3, but has an opening portion 113M. The opening 113M rotatably supports the rotating shaft 132M of the follower 130M via a bearing.

The gimbal 115M has an X rotor 115MX that rotates the lever 120M around a rotation axis parallel to the X axis, and a Z rotor 115MZ that rotates the lever 120M around a rotation axis parallel to the Z axis. FIG. 3 shows a pair of openings 115MX1 provided on the wall portions on the X-axis positive direction side and the X-axis negative direction side of the X-rotor 115MX. A bearing is mounted on the opening 115MX1 and is rotatably supported with respect to the base portion 110M. The Z rotor 115MZ holds a lever 120M and is rotatably supported around the Z axis with respect to the X rotor 115MX. It should be noted that the rotation shaft may be provided instead of the opening 115MX1.

The lever 120M has a cam holding portion 122M at the end portion 121MB of the rod-shaped portion 121M whose first end side is swung to the second end side (Y-axis negative direction side in FIG. 3) opposite to the first end side. It is a T-shaped lever with a cam. Note that FIG. 3 shows a part of the rod-shaped portion 121M on the Y-axis negative direction side end portion 121MB side. Further, the end portion 121MA is an example of the first end, and the end portion 121MB is an example of the second end.

The cam holding portion 122M is a rectangular member having a longitudinal direction in the X-axis direction, which is the axial direction of the rotation axis of the X-rotor 115MX, and has an end portion on the positive direction side of the X-axis and an end portion on the negative direction side of the X-axis. The cam portion 122MA and 122MB are provided on the surface (lower surface) on the negative direction side of the Y-axis. The cam portions 122MA and 122MB project in the negative direction of the Y axis from the surface of the cam holding portion 122M on the negative direction side of the Y axis, and the surfaces of the cam portions 122M on the negative direction side of the Y axis are the cam surfaces 122MA1 and 122MB1. The three-dimensional curved surface shapes of the cam surfaces 122MA1 and 122MB1 are the same as those of the cam surfaces 122U1 and 122L1 shown in FIG. The contact portions 133MA and 133MB of the follower 130M are in contact with the cam surfaces 122MA1 and 122MB1 provided on both ends of the cam holding portion 122M in the extending direction, respectively.

The follower 130M has an arm portion 131M, a rotation shaft 132M, and a contact portion 133MA, 133MB. The configuration of the follower 130M is the same as that of the follower 130 shown in FIG. A rotation shaft 132M is provided at the center of the arm portion 131M in the longitudinal direction (X-axis direction), and contact portions 133MA and 133MB are provided at both ends.

The rotary shaft 132M is rotatably supported by the opening 113M of the base portion 110M via a bearing. The contact portions 133MA and 133MB abut on the cam surfaces 122MA1 and 122MB1, respectively.

In such a two-axis solid cam mechanism 100M, the rotation center of the two axes of the lever 120M is the rotation center of the X rotor 115MX and the Z rotor 115MZ of the gimbal 115M.

When the lever 120M is tilted in the ± A direction, the follower 130M rotates around the rotation shaft 132M, and the cam surfaces 122MA1 and 122MB1 and the contact portions 133MA and 133MB move while sliding with each other. Further, when the lever 120M is tilted in the ± B direction, the follower 130M does not move, and the cam surfaces 122MA1 and 122MB1 move while abutting on the contact portions 133MA and 133MB, respectively.

As described above, even in the configuration in which the cam surfaces 122MA1 and 122MB1 and the follower 130M are provided below the lever 120M, the lever 120M can be swung in the biaxial direction as in the biaxial three-dimensional cam mechanism 100 shown in FIG. be able to.

Although the biaxial three-dimensional cam mechanism of the exemplary embodiment of the present invention has been described above, the present invention is not limited to the specifically disclosed embodiments and deviates from the scope of claims. Various modifications and changes are possible without any need.

100, 100M 2-axis solid cam mechanism 110, 100M Base part (support member)
115, 115M gimbal (rotating member)
115X1 rotation axis (second rotation axis)
120, 120M Lever 122U1, 122L1, 122MA1, 122MB1 Cam surface (two cam surfaces)
123 rotation axis (third rotation axis)
130, 130M follower (arm member)
131, 131M Arm (arm)
132, 132M rotation axis (first rotation axis)
133U, 133L contact part (two contact parts)

Claims (8)

With the lever
Support members and
An arm member having a first rotation shaft pivotally supported by the support member and two contact portions arranged with the first rotation shaft interposed therebetween.
A rotary member that swingably supports the lever with respect to the support member, and a rotary member that is pivotally supported by the support member via a second rotary shaft orthogonal to the first rotary axis.
Two cam surfaces provided on the lever and in contact with the two contact portions, respectively,
Including
The two cam surfaces are a two-axis three-dimensional cam mechanism having a three-dimensional curved surface shape that can slide with the two contact portions. The two-axis solid cam mechanism according to claim 1, wherein the lever has a third rotation axis orthogonal to the second rotation axis, and the third rotation axis is pivotally supported by the rotation member. The two-axis three-dimensional cam mechanism according to claim 1 or 2, wherein the two contact portions are arranged at positions equal to the first rotation axis. The two-axis three-dimensional cam mechanism according to claim 3, wherein the two cam surfaces have the same three-dimensional curved surface shape. The distances of the two contact portions with respect to the first rotation axis are different from each other.
The two-axis three-dimensional cam mechanism according to claim 1 or 2, wherein the two cam surfaces have different three-dimensional curved surface shapes. The arm member is provided between the two abutting portions, and has an arm portion that holds the first rotation axis between the two abutting portions, and the arm portion is said to be bent by bending. The two-axis solid cam mechanism according to any one of claims 1 to 4, which has elasticity that allows the two contact portions to be displaced with respect to the first rotation axis. The two-axis three-dimensional cam mechanism according to any one of claims 1 to 6, wherein the two cam surfaces are provided on the side surface of the lever. The lever has a cam holding portion extending in the axial direction of the second rotation axis on the second end side opposite to the first end to be swung, and the two cam surfaces are the cams. The two-axis solid cam mechanism according to any one of claims 1 to 6, which is provided on both ends in the extending direction of the holding portion.

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