HOROLOGICAL MECHANISM FOR ACTUATING A FLEXIBLE HAND

Abstract

A flexible hand actuation mechanism to which a disk of a horological movement applies a first angular rotation (θ1), the flexible hand including a first cannon and a second cannon connected to a point of the flexible hand via flexible arms, an operating position where the first cannon and the second cannon are coaxial about an exit axis, the first cannon being fitted with a first defined prestress angle, the second cannon being fitted with a second defined prestress angle of opposite direction to that of the first cannon, the actuation mechanism being arranged to actuate the flexible hand such that the latter changes shape and length in the desired manner by varying the angular position of the second cannon with respect to the first cannon by pivoting about the exit axis.

Claims

1. A flexible hand actuation mechanism to which a disk of a horological movement applies a first angular rotation θ1, the flexible hand comprising a first cannon and a second cannon connected to a point of the flexible hand via flexible arms, the first and second cannons being distant from each other when the flexible hand is in a non-stressed free state, an operating position wherein the flexible hand has a defined shape and length being a stressed position wherein the first cannon and the second cannon are coaxial about an exit axis, the first cannon being fitted with a first defined prestress angle, and the second cannon being fitted with a second defined prestress angle of opposite direction to that of the first cannon, the actuation mechanism being arranged to actuate the flexible hand such that the latter changes shape and length in the desired manner by varying the angular position of the second cannon with respect to the first cannon by pivoting about the exit axis, each of the flexible arms of the flexible hand performing the angular rotation θ1 applied by the disk of the horological movement to the actuation mechanism, the angular rotation θ1 applied by the disk of the horological movement being modulated by an additional angle $\phi \left(\frac{\theta 1}{2}\right)$ by the actuation mechanism, said additional angle $\phi \left(\frac{\theta 1}{2}\right),$ applied with an opposite direction to the two flexible arms of the flexible hand, determining the change of shape and length of the flexible hand over two immediately successive revolutions such that the point of said flexible hand describes two mutually different paths, the shape and length variation ΔL(φ) being performed for a rotation by an angle 2×θ1 applied to an entry of said actuation mechanism by a geartrain of the horological movement.

2. The actuation mechanism according to claim 1, further comprising a cam follower finger which feels a profile of a cam which determines the change of shape and length of the flexible hand, the flexible hand performing its two non-identical successive revolutions while the cam follower finger travels along the profile of the cam along the entire profile thereof.

3. The actuation mechanism according to claim 2, wherein the disk of the horological movement which applies the angular rotation θ1 to the actuation mechanism must perform two complete revolutions so that the cam follower finger travels along the entire profile of the cam and the point of the flexible hand describes a path corresponding to two non-identical complete revolutions.

4. The actuation mechanism according to claim 2, wherein the cam follower finger is held against the profile of the cam thanks to a mechanical tension induced by the stressed fitting of the flexible hand.

5. The actuation mechanism according to claim 3, wherein the cam follower finger is held against the profile of the cam thanks to a mechanical tension induced by the stressed fitting of the flexible hand.

6. The actuation mechanism according to claim 2, wherein the actuation mechanism comprises at least one rotary planetary wheel-holding frame which is driven by the disk of the horological movement and which bears the cam follower finger, said planetary wheel-holding frame performing an angular rotation θ1/2 while the disk of the horological movement applies the angular rotation θ1 thereto.

7. The actuation mechanism according to claim 3, wherein the actuation mechanism comprises at least one rotary planetary wheel-holding frame which is driven by the disk of the horological movement and which bears the cam follower finger, said planetary wheel-holding frame performing an angular rotation θ1/2 while the disk of the horological movement applies the angular rotation θ1 thereto.

8. The actuation mechanism according to claim 4, wherein the actuation mechanism comprises at least one rotary planetary wheel-holding frame which is driven by the disk of the horological movement and which bears the cam follower finger, said planetary wheel-holding frame performing an angular rotation θ1/2 while the disk of the horological movement applies the angular rotation θ1 thereto.

9. The actuation mechanism according to claim 5, wherein the actuation mechanism comprises at least one rotary planetary wheel-holding frame which is driven by the disk of the horological movement and which bears the cam follower finger, said planetary wheel-holding frame performing an angular rotation θ1/2 while the disk of the horological movement applies the angular rotation θ1 thereto.

10. The actuation mechanism according to claim 6, wherein the cam is fixed.

11. The actuation mechanism according to claim 7, wherein the cam is fixed.

12. The actuation mechanism according to claim 8, wherein the cam is fixed.

13. The actuation mechanism according to claim 9, wherein the cam is fixed.

14. The actuation mechanism according to claim 10, wherein the planetary wheel-holding frame bears a first solar wheel set and a second solar wheel set arranged coaxially with respect to each other, the first solar wheel set consisting of a first solar pinion and a first solar wheel, and the second solar wheel set consisting of a second solar pinion and a second solar wheel, the first solar pinion meshing with a planetary wheel borne by the planetary wheel-holding frame and which bears the cam follower finger, said planetary wheel meshing with an intermediate wheel which itself meshes with the second solar pinion, the actuation mechanism also comprising a first cannon-pinion and a second cannon-pinion arranged coaxially with respect to each other, the first cannon of the flexible hand being fastened to the first cannon-pinion, and the second cannon of the flexible hand being fastened to the second cannon-pinion.

15. The actuation mechanism according to claim 14, wherein the second solar wheel meshes with the first cannon-pinion which rotates by an angle $\theta 1-\phi \left(\frac{\theta 1}{2}\right)$ in a multiplicative ratio of 2, and the first solar wheel meshes with the second cannon-pinion which rotates by an angle $\theta 1+\phi \left(\frac{\theta 1}{2}\right)$ in a multiplicative ratio of 2.

16. The actuation mechanism according to claim 10, wherein the actuation mechanism comprises a first planetary wheel-holding frame engaged with a second planetary wheel-holding frame in a gear reduction ratio of 1/2, the first planetary wheel-holding frame bearing a first cannon-pinion and a second cannon-pinion that are concentric, each of the flexible arms of the flexible hand being driven on one of the cannon-pinions, the first and second cannon-pinion being kinematically linked to each other such that they rotate with respect to the first planetary wheel-holding frame in opposite directions with respect to each other, the second planetary wheel-holding frame bearing a solar disk engaged with the second cannon-pinion, the second planetary wheel-holding frame also bearing a planetary wheel engaged with the solar disk and which is equipped with a cam follower finger arranged to travel along the profile of the cam, the cam follower finger feeling the profile of the fixed cam and the planetary wheel rotating and modulating at the same time the angular rotation θ1 applied by the disk of the horological movement to the solar disk by an angle $\frac{\phi }{2}\left(\frac{\theta 1}{2}\right),$ said solar disk in turn driving the second cannon-pinion which rotates by an angle $\theta 1+\phi \left(\frac{\theta 1}{2}\right)$ in a multiplicative ratio of 2, the second cannon-pinion driving the first cannon-pinion by an angle $\theta 1-\phi \left(\frac{\theta 1}{2}\right).$

17. The actuation mechanism according to claim 6, wherein the cam is mobile.

18. The actuation mechanism according to claim 17, wherein the actuation mechanism comprises a planetary wheel-holding frame which, driven by a wheel of the horological movement by an angle θ1, in turn drives an intermediate reduction disk, said planetary wheel-holding frame bearing a first cannon-pinion and a second cannon-pinion concentric with the first cannon-pinion, the planetary wheel-holding frame also bearing a first planetary wheel which meshes with the first cannon-pinion, on one hand, and with a second planetary wheel, on the other, said second planetary wheel which engages with the second cannon-pinion being equipped with a cam follower finger arranged to travel along the profile of a rotating cam against which it is held elastically, said rotating cam being engaged with the intermediate reduction disk, such that, when the planetary wheel-holding frame rotates by an angle θ1, the rotating cam rotates by an angle θ1/2, the second planetary wheel therefore rotating with the planetary wheel-holding frame by an angle θ1 about the exit axis while rotating on itself by an angle of rotation determined so as to modulate the rotation of the two flexible arms of the flexible hand by an angle $\phi \left(\frac{\theta 1}{2}\right)$ so that the flexible hand changes length and shape in the desired manner

Description

BRIEF DESCRIPTION OF THE FIGURES

[0065] Further features and advantages of the present invention will become more apparent from the following detailed description of a horological mechanism for actuating a flexible hand, this example being given purely by way of illustration and not merely limitation with reference to the appended drawing wherein:

[0066] FIG. 1A, cited above, illustrates the watch when it indicates 9:00, the flexible hand having a slender shape and its point pointing to the index “60” of the hour circle;

[0067] FIG. 1B, cited above, illustrates the watch when it indicates 9:23; the flexible hand being elastically deformed and forming a heart wherein the point points to the index “23” of the hour circle;

[0068] FIG. 2A, cited above, illustrates the geometry of the flexible hand during the manufacture thereof;

[0069] FIG. 2B, cited above, illustrates the principle of deformation of the flexible hand;

[0070] FIG. 3A, cited above, is a schematic diagram of the actuation of the flexible hand;

[0071] FIG. 3B, cited above, represents the angles of rotation of the cannons and of the flexible hand so that the point of this flexible hand travels along an angle θ1 which corresponds to the rotation applied by the horological movement to the entry of the actuation mechanism;

[0072] FIG. 3C, cited above, illustrates the evolution of the angles of rotation α and β of the flexible hand as a function of the angle of rotation θ1 which corresponds to the rotation applied by the horological movement to the entry of the actuation mechanism;

[0073] FIG. 4A, cited above, is an exploded perspective view of a first embodiment of an actuation mechanism of the flexible hand;

[0074] FIG. 4B is a partial sectional view of a horological movement driving the actuation mechanism;

[0075] FIG. 4C, cited above, is a perspective view of the actuation mechanism of FIG. 4A in the assembled state;

[0076] FIG. 5, cited above, illustrates a shape wheel whereon an angular guide-marking has been mounted so as to ensure the proper indexing thereof;

[0077] FIG. 6A, cited above, illustrates a second embodiment of the actuation mechanism of a flexible hand in the assembled state;

[0078] FIG. 6B, cited above, is a perspective view of the actuation mechanism in FIG. 6A in the disassembled state;

[0079] FIG. 6C, cited above, is a perspective view of a flexible hand arranged to be actuated by the actuation mechanism in FIGS. 6A and 6B;

[0080] FIG. 6D, cited above, shows the planetary wheel-holding frame including counterbores on the top and bottom faces, and top and bottom pivots;

[0081] FIG. 7A, cited above, is an exploded perspective view of a third embodiment of an actuation mechanism of a flexible hand according to the prior art, this actuation mechanism including a differential type device borne by a planetary wheel-holding frame, the two cannons of the flexible hand being coaxial about a first and a second cannon-pinion;

[0082] FIG. 7B, cited above, is a view in the assembled state of the actuation mechanism in FIG. 7A;

[0083] FIG. 8A is a schematic representation of a first embodiment of an actuation mechanism of a flexible hand according to the invention;

[0084] FIG. 8B is a perspective view of the actuation mechanism in FIG. 8A;

[0085] FIG. 8C is a top view of the actuation mechanism in FIG. 8A;

[0086] FIG. 9A is a schematic representation of a second embodiment of an actuation mechanism of a flexible hand according to the invention;

[0087] FIG. 9B is a perspective view of the actuation mechanism in FIG. 9A;

[0088] FIG. 9C is a top view of the actuation mechanism in FIG. 9A;

[0089] FIG. 10A is a schematic representation of a third embodiment of an actuation mechanism of a flexible hand according to the invention;

[0090] FIG. 10B is a perspective view of the actuation mechanism in FIG. 9A;

[0091] FIG. 10C is a top view of the actuation mechanism in FIG. 9A;

[0092] FIGS. 11A and 11B illustrate two different directly successive paths of the flexible hand when it is driven by one of the actuation mechanisms according to the invention.

DETAILED DESCRIPTION OF THE INVENTION

[0093] The present invention stems from the general inventive idea which consists of providing a mechanism driven by a horological movement and intended to actuate a flexible hand in which the shape and the length vary over two immediately successive revolutions so that the point of the hand describes two mutually different paths.

[0094] A first embodiment of an actuation mechanism according to the invention is represented in FIGS. 8A-8C. Designated as a whole by the general reference number 160, this actuation mechanism is arranged to drive a flexible hand 162 of the type described above which consists of a point 164 connected to a first and a second cannon 166A, 166B via respective flexible arms 166. So that the flexible hand 162 is capable of performing two successive and non-identical complete revolutions by changing shape and length, each flexible arm 166 of the flexible hand 162 must rotate by the angle θ1 corresponding to the angle which would be applied by a cannon-pinion of the horological movement to a conventional minute hand, this angle θ1 being modulated by an angle φ by the actuation mechanism 160 so that the flexible hand 162 changes shape and length in the desired manner. This angle φ, applied with an opposite direction to the two flexible arms 166 of the flexible hand 162, determines the shape and length variation ΔL(φ) of the flexible hand. For this purpose, the first cannon 166A corresponding to the right flexible arm 166 of the flexible hand 162 is fastened to a second cannon-pinion 170, and the second cannon 166B corresponding to the left flexible arm 166 of the flexible hand 162 is fastened to a first cannon-pinion 168, the two cannon-pinions 168, 170 being disposed concentrically about an exit axis D0.

[0095] The actuation mechanism 160 comprises a planetary wheel-holding frame 172 at an entry of which a wheel 174 of a horological movement applies a rotation by an angle θ1 such that the planetary wheel-holding frame 172 rotates by an angle θ1/2 when the wheel 174 rotates by the angle θ1. The planetary wheel-holding frame 172 bears a first solar pinion 176 and a second solar pinion 178 disposed coaxially. The first solar pinion 176 bears a first solar wheel 180 and the second solar pinion 178 bears a second solar wheel 182. The first solar pinion 176 meshes with a planetary wheel 184 which bears a cam follower finger 186 arranged to travel along the profile 188 of a fixed cam 190 against which it is held by the elasticity of the flexible hand of the type described in detail above. The planetary wheel 184 meshes with an intermediate wheel 189 which in turn meshes with the second solar pinion 178. It is understood that the wheel 174 must perform two complete revolutions so that the cam follower finger 186 travels along the entire profile 188 of the fixed cam 190 and the point 164 of the flexible hand 162 describes a path corresponding to two non-identical complete revolutions. The second solar wheel 182 meshes with the first cannon-pinion 168 which rotates by an angle

[00011]$\mathrm{\theta 1}+\phi \left(\frac{\mathrm{\theta 1}}{2}\right)$

in a multiplicative ratio of 2, and the first solar wheel 180 meshes with the second cannon-pinion 170 which rotates by an angle

[00012]$\mathrm{\theta 1}-\phi \left(\frac{\mathrm{\theta 1}}{2}\right)$

in a multiplicative ratio of 2.

[0096] A right flexible arm 166 of the flexible hand 162 is driven on the second cannon-pinion 170 and a left flexible arm 166 of the flexible hand 162 is driven on the first cannon-pinion 168. The right and left flexible arms 166 of the flexible hand 162 thus describe the following angles:

[00013]$\alpha \left(\theta 1\right)=\mathrm{\theta 1}+\phi \left(\frac{\theta 1}{2}\right)$$\beta \left(\mathrm{\theta 1}\right)=\mathrm{\theta 1}-\phi \left(\frac{\theta 1}{2}\right)$

[0097] Assuming that the flexible hand 162 is symmetrical, the angular position θ2 of the point 164 of the flexible hand 162 is defined as being the bisector of the two flexible arms 166, i.e. the mean of the angles α(θ1) and β(θ1) according to the relation:

[00014]$\begin{array}{cc}\theta 2=\frac{\alpha \left(\theta 1\right)+\beta \left(\theta 1\right)}{2}=\theta 1& \left(3\right)\end{array}$

[0098] A second embodiment of an actuation mechanism of a flexible hand 162 according to the invention is illustrated schematically in FIGS. 9A-9C. Designated as a whole by the general reference number 191, this actuation mechanism comprises a first planetary wheel-holding frame 192 engaged with a second planetary wheel-holding frame 194 in a gear reduction ratio of 1/2. So that the flexible hand 162 is capable of performing two successive and non-identical complete revolutions by changing shape and length, each flexible arm 166 of the flexible hand 162 must rotate by the angle θ1 corresponding to the angle which would be applied by a cannon-pinion of the horological movement to a conventional minute hand, this angle 81 being modulated by an angle φ by the actuation mechanism 191 so that the flexible hand 162 changes shape and length in the desired manner. This angle φ(θ1), applied with an opposite direction to the two flexible arms 166 of the flexible hand 162 about the exit axis D0, determines the shape and length variation ΔL(φ) of the flexible hand 162.

[0099] In this aim, the first planetary wheel-holding frame 192 bears a first cannon-pinion 196 and a second cannon-pinion 198 that are concentric. A right flexible arm 166 of the flexible hand 162 is driven on the second cannon-pinion 198 and a left flexible arm 166 of the flexible hand 162 is driven on the first cannon-pinion 196. A first solar pinion 200 formed by a first toothing borne by the first cannon-pinion 196 meshes with a first planetary wheel 202 fitted free to rotate on the first planetary wheel-holding frame 192. This first planetary wheel 202 meshes with a second planetary wheel 204 also fitted free to rotate on the first planetary wheel-holding frame 192 and engaged with a second solar pinion 206 formed by a second toothing borne by the second cannon-pinion 198. The function of these first and second planetary wheels 202 and 204 is that of rotating the first and second cannon-pinions 196, 198 in the opposite direction of each other with respect to the first planetary wheel-holding frame 192 about the exit axis D0.

[0100] The second planetary wheel-holding frame 194 bears a solar disk formed from a solar pinion 208 and a solar wheel 210 which is engaged with the second solar pinion 206 of the second cannon-pinion 198. The second planetary wheel-holding frame 194 also bears a third planetary wheel 212 engaged with the solar pinion 208 and which is equipped with a cam follower finger 214 arranged to travel along the profile 216 of a fixed cam 218 against which it is held by the elasticity of the flexible hand in the manner described in detail above. When the first planetary wheel-holding frame 192 rotates on itself by an angle θ1, the second planetary wheel-holding frame 194 therefore also rotates on itself by an angle θ1/2. This planetary wheel-holding frame 194 bears the third planetary wheel 212 which feels the profile 216 of the fixed cam 218 by rotating by an angle

[00015]$\frac{\phi }{2}\left(\frac{\theta 1}{2}\right).$

While it follows the profile 216 of the fixed cam 218, the third planetary wheel 212 rotates and simultaneously modulates the angular rotation θ1 applied by the horological movement to the solar wheel 210 by an angle

[00016]$\frac{\phi }{2}\left(\frac{\theta 1}{2}\right)$

this solar wheel 210 in turn driving the second cannon-pinion 198 which rotates by an angle

[00017]$\theta 1+\phi \left(\frac{\theta 1}{2}\right)$

in a multiplicative ratio of 2. It will be understood that the first and second cannon-pinions 196, 198 rotate with respect to the first planetary wheel-holding frame 192 in the opposite direction with respect to each other.

[0101] Finally, the second cannon-pinion 198 drives the first cannon-pinion 196 by an angle

[00018]$\theta 1-\phi \left(\frac{\theta 1}{2}\right).$

[0102] The right and left flexible arms 166 of the flexible hand 162 thus describe the following angles:

[00019]$\alpha \left(\theta 1\right)=\mathrm{\theta 1}+\phi \left(\frac{\theta 1}{2}\right)$$\beta \left(\mathrm{\theta 1}\right)=\mathrm{\theta 1}-\phi \left(\frac{\theta 1}{2}\right)$

[0103] Assuming that the flexible hand 162 is symmetrical, the angular position θ2 of the point 164 of the flexible hand 162 is defined as being the bisector of the two flexible arms 166, i.e. the mean of the angles α(θ1) and β(θ1) according to the relation:

[00020]$\theta 2=\frac{\alpha \left(\theta 1\right)+\beta \left(\theta 1\right)}{2}=\theta 1$

[0104] A third embodiment of an actuation mechanism of a flexible hand according to the invention is illustrated schematically in FIGS. 10A-10C. Designated as a whole by the general reference number 220, this actuation mechanism comprises an intermediate reduction wheel set 222 which consists of an intermediate reduction wheel 226 and an intermediate reduction pinion 224. A planetary wheel-holding frame 228, driven by a wheel of the horological movement by an angle θ1, in turn drives the intermediate reduction wheel 226. This planetary wheel-holding frame 228 bears a first cannon-pinion 230 and a second cannon-pinion 232 concentric with the first cannon-pinion 230. The planetary wheel-holding frame 228 also bears a first planetary wheel 234 fitted free to rotate on a pivot and which meshes with the first cannon-pinion 230, on one hand, and with a second planetary wheel 236 fitted free to rotate on another pivot, on the other. This second planetary wheel 236 which meshes with the second cannon-pinion 232 is equipped with a cam follower finger 238 arranged to travel along the profile 240 of a rotating cam 242 against which it is held by the elasticity of the flexible hand 162. This rotating cam 242 is guided by runners 243 and is engaged with the intermediate reduction wheel 222, such that, when the planetary wheel-holding frame 228 rotates by an angle θ1, the rotating cam 242 rotates by an angle θ1/2. The first cannon-pinion 230 therefore rotates by an angle θ1 modulated by an angle

[00021]$\phi \left(\frac{\theta 1}{2}\right)$

by the actuation mechanism 220 so that the flexible hand changes shape and length in the desired manner. This angle

[00022]$\phi \left(\frac{\theta 1}{2}\right),$

applied with an opposite direction to the two flexible arms 166 of the flexible hand 162, determines the shape and length variation ΔL(φ) of the flexible hand 162. The right and left flexible arms 166 of the flexible hand 162 thus describe the following angles:

[00023]$\alpha \left(\mathrm{\theta 1}\right)=\mathrm{\theta 1}+\phi \left(\frac{\theta 1}{2}\right)$$\beta \left(\mathrm{\theta 1}\right)=\mathrm{\theta 1}-\phi \left(\frac{\theta 1}{2}\right)$

[0105] Finally, FIGS. 11A and 11B illustrate two different positions of the flexible hand 162 capable of being driven by one of the actuation mechanisms according to the invention described hereinabove, and of which the shape and length variation ΔL(φ) is performed for a rotation by an angle 2×θ1 applied to an entry of this actuation mechanism by a geartrain of the horological movement. In FIGS. 11A and 11B, it is seen that the point 164 of the flexible hand 162 is capable of describing two substantially circular paths 244 and 246 which differ from one another by the value of the radius thereof and which are not concentric.

[0106] It goes without saying that the invention is not limited to the embodiment that has just been described, and that miscellaneous modifications and simple variants may be envisaged by the person skilled in the art without departing from the scope of the invention as defined by the appended claims. It will be understood in particular that the paths described by the point of a flexible hand driven by the actuation mechanism according to the invention when this flexible hand performs two successive complete revolutions are different from each other and can, obviously, deviate from a circular shape.

LIST OF REFERENCES

[0107] 1. Flexible hand [0108] 2. Point [0109] 4. Arm [0110] 4A. Flexible part [0111] 4B. Rigid part [0112] 4C. Cannon [0113] 6. Arm [0114] 6A. Flexible part [0115] 6B. Rigid part [0116] 6C. Cannon [0117] 7. Additional plate [0118] 8. Actuation mechanism [0119] 10. First shape geartrain [0120] 12. Second shape geartrain [0121] 14. Movement gear [0122] 16. Horological movement [0123] DA. First axis [0124] D. Main pivoting axis [0125] DB. Second axis [0126] 32. Fixed tube [0127] 34. Entry disk [0128] 38. Driving cannon-pinion [0129] 40. First shape wheel [0130] 42. Second shape wheel [0131] 44. Third shape wheel [0132] 46. Fourth shape wheel [0133] 48. Cannon-pinion [0134] 50. Fifth shape wheel [0135] 52. Sixth shape wheel [0136] 54. Seventh shape wheel [0137] 56. Eighth shape wheel [0138] 58. Cannon-pinion [0139] 60. Guide-mark [0140] 62. Guide-mark [0141] 64. Oblong hole [0142] 66. Oblong hole [0143] L Length [0144] 68. Actuation mechanism [0145] 70. Flexible hand [0146] 72. Point [0147] 74. Arm [0148] 76. Arm [0149] 78. First cannon-pinion [0150] 80. Second cannon-pinion [0151] D′. Exit axis [0152] 82. First drive means [0153] 84. Second drive means [0154] 86. First differential [0155] 88. First cam [0156] 90. Second differential [0157] 92. Second cam [0158] 94. Planetary wheel-holding frame [0159] 96. First planetary wheel [0160] 98. Second planetary wheel [0161] 100. Cam follower finger [0162] 102. Cam follower finger [0163] 104. Profile [0164] 106. Profile [0165] 108. Top pivot [0166] 110. Second toothing [0167] 112. Counterbores [0168] 114. Bottom pivot [0169] 116. First toothing [0170] 118. Driving cannon-pinion [0171] D″. Right [0172] 120. Actuation mechanism [0173] 122. Flexible hand [0174] 124. Point [0175] 126. First arm [0176] 128. Second arm [0177] 130. First cannon [0178] 132. Second cannon [0179] D′″. Exit axis [0180] 134. Planetary wheel-holding frame [0181] 136. First pivot [0182] 138. Planetary wheel [0183] 140. Cam follower finger [0184] 142. Profile [0185] 144. Cam [0186] 146. Fixed tube [0187] 148. First driving cannon-pinion [0188] 150. Second driving cannon-pinion [0189] 152. First solar pinion [0190] 154. Second solar pinion [0191] 156. Wheel of intermediate wheel [0192] 158. Second pivot [0193] 160. Actuation mechanism [0194] 162. Flexible hand [0195] 164. Point [0196] 166. Flexible arms [0197] 166A. Cannon [0198] 166B. Cannon [0199] 168. First cannon-pinion [0200] 170. Second cannon-pinion [0201] 172. Planetary wheel-holding frame [0202] 174. Wheel [0203] 176. First solar pinion [0204] 178. Second solar pinion [0205] 180. First solar wheel [0206] 182. Second solar wheel [0207] 184. Planetary wheel [0208] 186. Cam follower finger [0209] 188. Profile [0210] 189. Intermediate wheel [0211] 190. Fixed cam [0212] 191. Actuation mechanism [0213] 192. First planetary wheel-holding frame [0214] 194. Second planetary wheel-holding frame [0215] 196. First cannon-pinion [0216] 198. Second cannon-pinion [0217] 200. First solar pinion [0218] 202. First planetary wheel [0219] 204. Second planetary wheel [0220] 206. Second solar pinion [0221] 208. Solar pinion [0222] 210. Solar wheel [0223] 212. Third planetary wheel [0224] 214. Cam follower finger [0225] 216. Profile [0226] 218. Fixed cam [0227] 220. Actuation mechanism [0228] 222. Intermediate reduction disk [0229] 224. Intermediate reduction pinion [0230] 226. Intermediate reduction wheel [0231] 228. Planetary wheel-holding frame [0232] 230. First cannon-pinion [0233] 232. Second cannon-pinion [0234] 234. First planetary wheel [0235] 236. Second planetary wheel [0236] 238. Cam follower finger [0237] 240. Profile [0238] 242. Rotating cam [0239] 243. Runners [0240] 244. Circular path [0241] 246. Circular path