JP3242111U - Expansion device - Google Patents

Abstract

An expansion device capable of reducing the distance between screw shafts is provided. A telescopic device (10) includes first to third cylindrical members (1-3) telescopically combined and first to second screws rotatably supported by the first and second cylindrical members (1-2), respectively. Shafts 11-12, first and second nuts 32-33 attached to the second and third cylindrical members 2-3, respectively, and screwed to the first and second screw shafts 11-12, and a first screw A first movable gear 21 that is non-rotatable with respect to the shaft 11 and is axially movable, and a first fixed gear 22a that meshes with the first movable gear 21 and is non-rotatable with respect to the second screw shaft 12. The first screw shaft 11 is either right-handed or left-handed, the second screw shaft 12 is the other of right-handed or left-handed, and the first and second screw shafts 11 to 12 rotate simultaneously. , first to third cylindrical members 1 to 3 are expanded and contracted. [Selection drawing] Fig. 3

Description

TECHNICAL FIELD The present invention relates to an expansion and contraction device that includes three or more tubular members telescopically combined to expand and contract the three or more tubular members.

The applicant has proposed an extension device capable of extending and retracting three or more cylindrical members without using pneumatic pressure or hydraulic pressure (see Patent Document 1). This expansion and contraction device includes first to third tubular members telescopically combined, first and second screw shafts rotatably supported by the first and second tubular members, respectively, the second tubular member and the third tubular member. First and second nuts attached to each cylindrical member and screwed onto the first and second screw shafts respectively; a transmission device movable in a direction. According to this expansion and contraction device, the first to third cylindrical members can be expanded and contracted by simultaneously rotating the first screw shaft and the second screw shaft. Therefore, the first to third tubular members can be extended and contracted without using pneumatic pressure or hydraulic pressure.

Japanese Patent No. 7123445

However, in the conventional telescopic device, the transmission device is composed of a timing pulley and a timing belt. Therefore, there is a problem that it is difficult to reduce the distance between the screw shafts.

SUMMARY OF THE INVENTION It is an object of the present invention to provide an expansion device capable of reducing the distance between screw shafts.

In order to solve the above problems, the present invention provides first to third cylindrical members telescopically combined and first to second screw shafts rotatably supported by the first to second cylindrical members, respectively. a first or second nut attached to each of the second or third cylindrical members and screwed onto the first or second screw shaft; and a shaft that is not rotatable with respect to the first screw shaft and a first fixed gear that meshes with the first movable gear and is not rotatable with respect to the second screw shaft, wherein the first screw shaft is right-handed or left-handed. One of the screws, the second screw shaft is the other of the right-handed screw and the left-handed screw, and the first to the second screw shafts are simultaneously rotated to expand and contract the first to the third cylindrical members. It is a device.

According to another aspect of the present invention, first to n-th (where n≧3) cylindrical members are telescopically combined, and first to n-th cylindrical members are rotatably supported by the first to n−1-th cylindrical members, respectively. n-1th screw shaft; first through n-1th nuts attached to the second through n-th cylindrical members respectively and screwed onto the first through n-1th screw shafts; or the first to n-2th movable gears that are non-rotatable and axially movable with respect to the n-2th screw shafts, and mesh with the first to the n-2th movable gears, respectively; 1st to n-2th fixed gears that are not rotatable with respect to the 2th to the n-2th screw shafts, respectively, and the pth (where p is an odd number) screw shaft is either right-handed or left-handed wherein the q-th (where q is an even number) screw shaft is the other of a right-handed thread and a left-handed thread, and the first to the n-1th screw shafts rotate simultaneously to rotate the first to the n-th cylindrical members is an expansion device that expands and contracts.

According to the present invention, the distance between the screw shafts can be reduced.

BRIEF DESCRIPTION OF THE DRAWINGS It is a figure which shows the external appearance of the expansion-contraction apparatus of 1st Embodiment of this invention. figure). It is a longitudinal cross-sectional view of the expansion device (reduced state) of the present embodiment. It is a longitudinal cross-sectional view of the expansion-contraction apparatus (expansion state) of this embodiment. It is a figure which shows the movable gear of the expansion-contraction apparatus of this embodiment (Fig.4 (a) is a longitudinal cross-sectional view, FIG.4(b) is a bottom view). It is sectional drawing which shows the spline nut and trapezoidal screw nut incorporated in the movable gear of the expansion-contraction apparatus of this embodiment. It is a perspective view which shows the ball spline nut and the ball screw nut which are incorporated in the movable gear of the expansion-contraction apparatus of this embodiment. Fig. 7(a) is a longitudinal cross-sectional view, Fig. 7(b) is a cross-sectional view along the line bb, Fig. 7(c) is a cc line sectional view, and FIG. 7(d) is a dd line sectional view). Fig. 8(a) is a longitudinal cross-sectional view, Fig. 8(b) is a cross-sectional view along line bb, Fig. 8(c) is a 8(d) is a cross-sectional view along the dd line, and FIG. 8(e) is a cross-sectional view along the ee line). Fig. 9(a) is a longitudinal cross-sectional view, Fig. 9(b) is a cross-sectional view along the line bb, Fig. 9(c) is a 9(d) is a cross-sectional view along the dd line, FIG. 9(e) is a cross-sectional view along the ee line, and FIG. 9(f) is a cross-sectional view along the ff line). It is a figure which shows the example which applied the expansion-contraction apparatus of this embodiment to the conveying apparatus. It is a figure which shows the example which applied the expansion-contraction apparatus of this embodiment to the parallel link robot.

Hereinafter, the expansion device according to the embodiment of the present invention will be described in detail with reference to the accompanying drawings. However, the expansion device of the present invention may be embodied in various forms and should not be limited to the embodiments set forth herein. The present embodiments are provided with the intention of allowing those skilled in the art to fully understand the scope of the invention through a thorough disclosure of the specification.
(First embodiment)

1(a) to 1(c) show the external appearance of the expansion device 10 according to the first embodiment of the present invention. The expansion/contraction device 10 of this embodiment is a three-stage expansion/contraction device 10 . FIG. 1(a) shows the contracted state of the expansion/contraction device 10, and FIG. 1(b) shows the expanded state. FIG. 1(c) is a plan view of the expansion device 10. FIG.

The expansion device 10 includes first to third cylindrical members (hereinafter referred to as first to third poles 1 to 3) that are telescopically combined. A second pole 2 is incorporated inside the first pole 1, and a third pole 3 is incorporated inside the second pole 2. - 特許庁The cross-sectional shape of the first through third poles 1-3 is substantially rectangular. A lower end of the first pole 1 is fixed to the base 17 . An object (not shown) is placed on the upper end of the third pole 3 . 16 is a motor as a drive source. When the motor 16 is rotationally driven, the first to third poles 1 to 3 expand and contract. Instead of the motor 16, the first to third poles 1 to 3 may be expanded and contracted by a hand-cranked handle (not shown).

2 and 3 are longitudinal sectional views of the expansion device 10. FIG. 2 shows the contracted state and FIG. 3 shows the extended state. As shown in FIG. 2, the first pole 1 has a cylindrical shape with a bottom. The first pole 1 is open at its upper end and has a bottom plate 1a at its lower end. A second pole 2 is incorporated inside the first pole 1 . The second pole 2 is also cylindrical with a bottom. The second pole 2 is open at its upper end and has a bottom plate 2a at its lower end. A third pole 3 is incorporated in the second pole 2 . The third pole 3 is a cylinder with a lid and a bottom. The third pole 3 has an upper plate 3b at its upper end and a bottom plate 3a at its lower end.

The axial movement of the second pole 2 is guided by the first pole 1, as shown in FIG. The upper end of the first pole 1 is provided with a sliding piece 1c made of resin on which the outer surface of the second pole 2 slides. A sliding piece 2 c made of resin that slides on the inner surface of the first pole 1 is provided at the lower end of the second pole 2 . Axial movement of the third pole 3 is guided by the second pole 2 . The upper end of the second pole 2 is provided with a sliding piece 2d made of resin on which the outer surface of the third pole 3 slides. A sliding piece 3 d made of resin that slides on the inner surface of the second pole 2 is provided at the lower end of the third pole 3 .

As shown in FIG. 2 again, the bottom plate 1a of the first pole 1 rotatably supports the first screw shaft 11 via a bearing 41. As shown in FIG. The outer surface of the first screw shaft 11 is formed with a helical thread groove 11b (see FIG. 5) and an axial groove 11a (see FIG. 5) extending in the axial direction. The first threaded shaft 11 is either right-handed or left-handed, and in this embodiment is right-handed. The first screw groove 11b is, for example, a trapezoidal screw, a ball screw screw groove, or the like. The axial groove 11a is a key groove or a spline groove.

The first screw shaft 11 is rotationally driven by a motor 16 . Rotation of the motor 16 is transmitted to the first screw shaft 11 via the transmission device 20 . The transmission device 20 includes, for example, a driving wheel 20a (pulley) fixed to the output shaft of the motor 16, a driven wheel 20b (pulley) fixed to the first screw shaft 11, and the driving wheel 20a and the driven wheel 20b. and a belt 20c. In addition, the transmission device 20 is not limited to the above-described winding transmission device, and may be, for example, a gear.

A first nut 32 that is screwed onto the first screw shaft 11 is attached to the bottom plate 2 a of the second pole 2 . The first nut 32 is a right-hand thread like the first screw shaft 11 . The first nut 32 is, for example, a trapezoidal screw nut on which trapezoidal threads are formed. The first nut 32 may be a ball screw nut. When the first screw shaft 11 is rotated, the second pole 2 fixed to the first nut 32 moves axially.

A second screw shaft 12 is rotatably supported on the bottom plate 2 a of the second pole 2 via a bearing 42 at a position away from the first nut 32 . A spiral thread groove is formed on the outer surface of the second screw shaft 12 . Unlike the first screw shaft 11, the second screw shaft 12 is left-handed. The thread groove of the second screw shaft 12 is, for example, a trapezoidal thread, a ball screw thread, or the like. No axial groove is formed on the outer surface of the second screw shaft 12 .

The rotation of the first screw shaft 11 of the first pawl 1 is transmitted to the second screw shaft 12 of the second pawl 2 by the first movable gear 21 and the first fixed gear 22a that mesh with each other. The first movable gear 21 is non-rotatable and axially movable with respect to the first screw shaft 11 . The first fixed gear 22a cannot rotate with respect to the second screw shaft 12 and is fixed to the second screw shaft 12 via a key.

4 shows the first movable gear 21. FIG. The first movable gear 21 is formed with a key 21 a that engages with the axial groove 11 a of the first screw shaft 11 . A large number of teeth 61 are formed on the outer circumference of the first movable gear 21 . Reference numeral 61a is an addendum circle, reference numeral 61b is a pitch circle, and reference numeral 61c is a root circle. The key 21a may be formed integrally with the first movable gear 21 or provided separately. Two or more keys 21a may be provided to enhance the torque transmission capability. A large number of teeth are similarly formed on the outer circumference of the first fixed gear 22a.

A spline nut 46 may be fixed to the first movable gear 21 instead of forming the key 21a on the first movable gear 21, as shown in FIG. The spline nut 46 engages with the axial groove 11 a formed in the first screw shaft 11 so as to be axially movable and non-rotatable. A spline nut 46 is fixed to the inner ring of the bearing 43 (see FIG. 2). Reference numeral 11b denotes a thread groove (trapezoidal thread) formed in the first screw shaft 11, and reference numeral 32 denotes a first nut 32 (see FIG. 2) screwed into the thread groove 11b.

As shown in FIG. 6 , instead of fixing the spline nut 46 to the first movable gear 21 , a ball spline nut 51 may be fixed to the first movable gear 21 . The ball spline nut 51 engages with the axial groove 11a formed in the first screw shaft 11 so as to be axially movable and non-rotatable. The ball spline nut 51 has an axial groove (not shown) facing the axial groove 11 a of the first screw shaft 11 on its inner surface. The ball spline nut 51 is provided with a circulation path for circulating balls (not shown) rolling between the axial groove 11 a of the first screw shaft 11 and the axial groove of the ball spline nut 51 . The ball spline nut 51 of this example is rotatably connected to the bottom plate 2 a of the second pole 2 via the balls 52 and the outer ring 53 . Reference numeral 11b denotes a thread groove formed in the first screw shaft 11, and reference numeral 32 denotes a first nut 32 screwed into the thread groove 11b. By using the ball spline nut 51 and the first nut 32 of the ball screw, the first to third poles 1 to 3 can be expanded and contracted smoothly.

As shown in FIG. 2 again, the first movable gear 21 and the first fixed gear 22a are axially movable with respect to the first screw shaft 11 of the first pole 1 together with the second pole 2. As shown in FIG. A holder 44 that holds a bearing 43 is fixed to the bottom plate 2 a of the second pole 2 . The first movable gear 21 is fixed to the inner ring of the bearing 43 .

A second nut 33 that screws onto the second screw shaft 12 of the second pole 2 is attached to the bottom plate 3 a of the third pole 3 . The second nut 33 is left-handed, like the second screw shaft 12 . The second nut 33 is, for example, a trapezoidal screw nut or a ball screw nut. When the second screw shaft 12 is rotated, the third pole 3 fixed to the second nut 33 moves axially. Further, the bottom plate 3a of the third pole 3 is formed with a through hole 3a1 through which the first screw shaft 11 of the first pole 1 passes when the expansion device 10 is contracted.

As shown in FIG. 3 , when the motor 16 rotates the first screw shaft 11 of the first pole 1 , the second pole 2 fixed to the first nut 32 is moved by the first screw shaft 11 and the first nut 32 . Axial rise. At the same time, the second screw shaft 12 of the second pawl 2 rotates in the direction opposite to that of the first screw shaft 11 by the first movable gear 21 and the first fixed gear 22a that rise together with the second pawl 2 . Since the second screw shaft 12 and the second nut 33 are left-handed, even if the second screw shaft 12 rotates in the opposite direction to the first screw shaft 11, the third pole 3 fixed to the second nut 33 does not rotate. Axial rise. The lifting of the second pole 2 and the lifting of the third pole 3 are performed simultaneously. On the other hand, when the motor 16 rotates the first threaded shaft 11 of the first pole 1 in the opposite direction, the first threaded shaft 11 and the second threaded shaft 12 of the second pole 2 rotate in the opposite direction, and the second pole 2 rotates in the opposite direction. and the third pole 3 descends. 2, a first screw shaft 11 rotatably supported by the first pole 1 and a second screw shaft 12 rotatably supported by the second pole 2 are positioned inside the third pole 3. be.

The configuration of the expansion device of the present embodiment has been described above. The effects of the expansion device of this embodiment are as follows.

Since the first to third poles 1 to 3 are extended and contracted using the right-handed first screw shaft 11 and the left-handed second screw shaft 12, the distance between the first screw shaft 11 and the second screw shaft 12 is distance can be reduced. Therefore, the expansion/contraction device 10 can be miniaturized.
(Second embodiment)

FIG. 7 shows a telescopic device 60 of a second embodiment of the present invention. The expansion/contraction device 60 of the second embodiment is a four-stage expansion/contraction device 60 . The expansion device 60 of the second embodiment includes first to fourth cylindrical members (hereinafter referred to as first to fourth poles 1 to 4) that are telescopically combined. Since the configurations of the base 17, the motor 16, and the transmission device 20 are the same as those of the first embodiment, they are denoted by the same reference numerals and their descriptions are omitted.

As shown in FIG. 7A, first to third screw shafts 11 to 13 are rotatably supported by the first to third poles 1 to 3, respectively. The first threaded shaft 11 is either right-handed or left-handed, and in this embodiment is right-handed. The second screw shaft 12 is left-handed. The third screw shaft 13 is a right-hand screw. Axial grooves are formed in the first screw shaft 11 and the second screw shaft 12 . No axial groove is formed in the third screw shaft 13 .

First through third nuts 32 through 34 are attached to the bottom plates 2a through 4a of the second through fourth poles 2 through 4, respectively. The first through third nuts 32-34 are screwed onto the first screw shafts 11-13 of the first through third poles 1-3. The first nut 32 is a right-hand thread like the first screw shaft 11 . The second nut 33 is left-handed, like the second screw shaft 12 . The third nut 34 is a right-hand thread like the third screw shaft 13 . As shown in FIG. 7(b), the bottom plate 4a of the fourth pawl 4 has the first screw shaft 11 of the first pawl 1 and the second screw shaft 12 of the second pawl 2 in the retracted state of the expansion device 60. Penetrating through holes 4a1 and 4a2 are formed. As shown in FIG. 7C, the bottom plate 3a of the third pole 3 is formed with a through hole 3a1 through which the first screw shaft 11 of the first pole 1 passes.

As shown in FIG. 7( a ), a first movable gear 21 is provided on the first screw shaft 11 so as to be non-rotatable and axially movable relative to the first screw shaft 11 . A first fixed gear 22 a is non-rotatably fixed to the second screw shaft 12 . The first movable gear 21 and the first fixed gear 22a mesh with each other.

The first movable gear 21 is rotatably supported by the second pole 2 . When the first screw shaft 11 rotates, the first movable gear 21 and the first fixed gear 22 a move in the axial direction of the first screw shaft 11 together with the second pawl 2 .

A second movable gear 22 b is provided on the second screw shaft 12 so as to be non-rotatable and axially movable relative to the second screw shaft 12 . A second fixed gear 23 a is fixed to the third screw shaft 13 so as to be non-rotatable to the third screw shaft 13 . The second movable gear 22b and the second fixed gear 23a mesh with each other.

The second movable gear 22b is rotatably supported by the third pole 3. As shown in FIG. When the second screw shaft 12 rotates, the second movable gear 22 b and the second fixed gear 23 a move in the axial direction of the third screw shaft 13 together with the third pawl 3 .

When the motor 16 rotates the first screw shaft 11 of the first pole 1, the first to third screw shafts are rotated by the first movable gear 21 and the first fixed gear 22a, and the second movable gear 22b and the second fixed gear 23a. 11 to 13 rotate at the same time. The first to fourth poles 1 to 4 expand and contract by rotating these first to third screw shafts 11 to 13 simultaneously. The first to third screw shafts 11 to 13 are inside the fourth pole 4 when the telescopic device 60 is contracted.

As shown in FIGS. 7(b) to 7(d), the cross-sectional shape of the first to fourth poles 1 to 4 is substantially rectangular. As shown in FIG. 7B, the second screw shaft 12 and the third screw shaft 13 are arranged at the corners of the quadrangular fourth pole 4 when viewed in the axial direction. Also, the remaining first screw shaft 11 is arranged at a position off the line L connecting the second screw shaft 12 and the third screw shaft 13 . By arranging the first screw shafts 11 to 13 in this manner, it is possible to prevent the first screw shafts 11 to 13 from overlapping when the first to fourth poles 1 to 4 are contracted.
(Third embodiment)

FIGS. 8(a)-8(e) show a telescopic device 70 according to a third embodiment of the present invention. The expansion/contraction device 70 of the third embodiment is a five-stage expansion/contraction device 70 . The expansion device 70 of the third embodiment includes first to fifth cylindrical members (hereinafter referred to as first to fifth poles 1 to 5) that are telescopically combined. Since the configurations of the base 17, the motor 16, and the transmission device 20 are the same as those of the first embodiment, they are denoted by the same reference numerals and their descriptions are omitted.

First to fourth screw shafts 11 to 14 are rotatably supported by the first to fourth poles 1 to 4, respectively. The first threaded shaft 11 is either right-handed or left-handed, and in this embodiment is right-handed. The second screw shaft 12 is left-handed. The third screw shaft 13 is a right-hand screw. The fourth screw shaft 14 is left-handed. Axial grooves are formed in the first to third screw shafts 11 to 13 . No axial groove is formed in the fourth screw shaft 14 .

First through fourth nuts 32 through 35 are attached to the bottom plates 2a through 5a of the second through fifth poles 2 through 5, respectively. The first through fourth nuts 32-35 are screwed onto the first through fourth screw shafts 11-14 of the first through fourth poles 1-4. The first nut 32 is a right-hand thread like the first screw shaft 11 . The second nut 33 is left-handed, like the second screw shaft 12 . The third nut 34 is a right-hand thread like the third screw shaft 13 . The fourth nut 35 is left-handed, like the fourth screw shaft 14 .

As shown in FIG. 8( e ), the first movable gear 21 is provided on the first screw shaft 11 so as to be non-rotatable and axially movable relative to the first screw shaft 11 . A first fixed gear 22 a is non-rotatably fixed to the second screw shaft 12 . The first movable gear 21 and the first fixed gear 22a mesh with each other.

As shown in FIG. 8( d ), the second screw shaft 12 is provided with a second movable gear 22 b that is non-rotatable relative to the second screw shaft 12 and movable in the axial direction. A second fixed gear 23 a is fixed to the third screw shaft 13 so as to be non-rotatable to the third screw shaft 13 . The second movable gear 22b and the second fixed gear 23a mesh with each other.

As shown in FIG. 8(c), the third screw shaft 13 is provided with a third movable gear 23b that is not rotatable with respect to the second screw shaft 13 but is movable in the axial direction. A third fixed gear 24 a is non-rotatably fixed to the fourth screw shaft 14 . The third movable gear 23b and the third fixed gear 24a mesh with each other.

When the motor 16 rotates the first screw shaft 11 of the first pole 1, the first movable gear 21 and the first fixed gear 22a, the second movable gear 22b and the second fixed gear 23a, the third movable gear 23b and the third The fixed gear 24a rotates the first to fourth screw shafts 11 to 14 at the same time. The first to fifth poles 1 to 5 extend and contract by rotating these first to fourth screw shafts 11 to 14 simultaneously. The first to fourth screw shafts 11 to 14 are inside the fifth pole 5 in the retracted state of the telescopic device 70 .

As shown in FIGS. 8(a) to 8(e), the first to fifth poles 1 to 5 have a substantially rectangular cross section. As shown in FIG. 8(c), the third screw shaft 13 and the fourth screw shaft 14 are arranged at the corners of the fifth pole 5 when viewed in the axial direction. 8(e), the remaining first screw shaft 11 and second screw shaft 12 are arranged at the remaining corners of the fifth pole 5. As shown in FIG. By arranging the first to fourth screw shafts 11 to 14 in this manner, it is possible to prevent the first to fourth screw shafts 11 to 14 from overlapping when the first to fifth poles 1 to 5 are contracted. .
(Fourth embodiment)

Figures 9(a)-9(f) show a telescopic device 80 according to a fourth embodiment of the present invention. The expansion/contraction device 80 of the fourth embodiment is a six-stage expansion/contraction device 80 . The expansion device 80 of the fourth embodiment includes first through sixth tubular members (hereinafter referred to as first through sixth poles 1 through 6) that are telescopically combined. Since the configurations of the base 17, the motor 16, and the transmission device 20 are the same as those of the first embodiment, they are denoted by the same reference numerals and their descriptions are omitted.

First to fifth screw shafts 11 to 15 are rotatably supported by the first to fifth poles 1 to 5, respectively. The first threaded shaft 11 is either right-handed or left-handed, and in this embodiment is right-handed. The second screw shaft 12 is left-handed. The third screw shaft 13 is a right-hand screw. The fourth screw shaft 14 is left-handed. The fifth screw shaft 15 is a right-hand screw. Axial grooves are formed in the first to fourth screw shafts 11 to 14 . No axial groove is formed in the fifth screw shaft 15 .

First through fifth nuts 32 through 36 are attached to the bottom plates 2a through 6a of the second through sixth poles 2 through 6, respectively. The first through fifth nuts 32 through 36 are screwed onto the first through fifth screw shafts 11 through 15 of the first through fifth poles 1 through 5, respectively. The first nut 32 is a right-hand thread like the first screw shaft 11 . The second nut 33 is left-handed, like the second screw shaft 12 . The third nut 34 is a right-hand thread like the third screw shaft 13 . The fourth nut 35 is left-handed, like the fourth screw shaft 14 . The fifth nut 36 is a right-hand thread like the fifth screw shaft 15 .

As shown in FIG. 9( f ), a first movable gear 21 is provided on the first screw shaft 11 so as to be non-rotatable and axially movable relative to the first screw shaft 11 . A first fixed gear 22 a is non-rotatably fixed to the second screw shaft 12 . The first movable gear 21 and the first fixed gear 22a mesh with each other.

As shown in FIG. 9(e), the second screw shaft 12 is provided with a second movable gear 22b that is non-rotatable with respect to the second screw shaft 12 and movable in the axial direction. A second fixed gear 23 a is fixed to the third screw shaft 13 so as to be non-rotatable to the third screw shaft 13 . The second movable gear 22b and the second fixed gear 23a mesh with each other.

As shown in FIG. 9(d), the third screw shaft 13 is provided with a third movable gear 23b that is non-rotatable with respect to the third screw shaft 13 and movable in the axial direction. A third fixed gear 24 a is non-rotatably fixed to the fourth screw shaft 14 . The third movable gear 23b and the third fixed gear 24a mesh with each other.

As shown in FIG. 9C, the fourth screw shaft 14 is provided with a fourth movable gear 24b that is non-rotatable relative to the fourth screw shaft 14 and movable in the axial direction. A fourth fixed gear 25 is non-rotatably fixed to the fifth screw shaft 15 . The fourth movable gear 24b and the fourth fixed gear 25 mesh with each other.

When the motor 16 rotates the first screw shaft 11 of the first pole 1, the first movable gear 21 and the first fixed gear 22a, the second movable gear 22b and the second fixed gear 23a, the third movable gear 23b and the third The fixed gear 24a, the fourth movable gear 24b and the fourth fixed gear 25 rotate the first to fifth screw shafts 11 to 15 simultaneously. The first to sixth poles 1 to 6 extend and contract by rotating these first to fifth screw shafts 11 to 15 simultaneously. The first to fifth screw shafts 11 to 15 are inside the sixth pole 6 in the retracted state of the telescopic device 80 .

As shown in FIGS. 9(b) to 9(f), the cross-sectional shape of the first to sixth poles 1 to 6 is substantially rectangular. As shown in FIG. 9( d ), the third screw shaft 13 and the fourth screw shaft 14 are arranged at the corners of the sixth pole 6 . Moreover, as shown in FIG. 9( f ), the remaining first screw shaft 11 and second screw shaft 12 are arranged at the remaining corners of the sixth pole 6 . As shown in FIG. 9( c ), the remaining fifth screw shaft 15 is arranged substantially in the center of the sixth pole 6 . By arranging the first to fifth screw shafts 11 to 15 in this manner, it is possible to prevent the first to fifth screw shafts 11 to 15 from overlapping when the first to sixth poles 1 to 6 are contracted. .
(Conveyor)

FIG. 10 shows an example in which the expansion devices 10, 60, 70 and 80 (hereinafter simply referred to as expansion devices 10-1 and 10-2) of the present embodiment are applied to a conveying device 90. As shown in FIG. The conveying device 90 includes a first elastic device 10-1 on the upper side and a second elastic device 10-2 on the lower side. A base 92 is fixed on the caterpillar 91 or wheel. The base 92 is rotatable with respect to the caterpillar 91 around a vertical axis 92a.

The vertical plate 92b of the base 92 is connected to the proximal end portion of the first telescoping device 10-1 so as to be rotatable about the pivot shaft 93. As shown in FIG. Also, the base end of the second telescoping device 10-2 is connected to the vertical plate 92b of the base 92 so as to be rotatable about the pivot shaft 94. As shown in FIG. The tip of the first expansion/contraction device 10-1 and the tip of the second expansion/contraction device 10-2 are rotatably connected about a pivot 95. As shown in FIG. The first telescopic device 10-1 and the second telescopic device 10-2 intersect at an acute angle (eg, 30°).

An object such as a tool is attached to the tip of the first expansion device 10-1 or the second expansion device 10-2. By expanding and contracting the first expansion device 10-1 and the second expansion device 10-2, an object can be moved in the X direction (horizontal direction) and/or Z direction (vertical direction). Also, by rotating the base 92 around the vertical axis 92a, the object can be turned in the horizontal plane. Therefore, objects can be moved three-dimensionally.
(parallel link robot)

FIG. 11 shows an example in which the expansion devices 10, 60, 70 and 80 (hereinafter simply referred to as expansion devices 10-1, 10-2 and 10-3) of this embodiment are applied to a parallel link robot 100. FIG. The parallel link robot 100 includes a base 101, a first telescopic device 10-1, a second telescopic device 10-2, a third telescopic device 10-3, and a movable part .

On the base 101, one end portion 10a of the first expansion device 10-1, the second expansion device 10-2, and the third expansion device 10-3 is connected to a joint 103 such as a uniaxial hinge, a universal joint, or a spherical joint. is pivotably connected via the In the movable part 102, the other ends 10b of the first expansion device 10-1, the second expansion device 10-2, and the third expansion device 10-3 are uniaxial hinges, universal joints, spherical joints, and the like. Via joint 104, it is connected so that rocking is possible. A movable object such as a hand, a tool, a measuring instrument, or a camera is placed on the movable portion 102 . By expanding and contracting the first expansion/contraction device 10-1, the second expansion/contraction device 10-2, and the third expansion/contraction device 10-3, the movable part 102 is moved and/or the posture of the movable part 102 is changed. can be made

The parallel link robot 100 of this embodiment has the following effects. Since the strokes of the first expansion/contraction device 10-1, the second expansion/contraction device 10-2, and the third expansion/contraction device 10-3 can be made large, the movement of the movable part 102 can be increased. For example, the movable part 102 can also be horizontal.

A large parallel link robot 100 can be realized (for example, the stroke of the movable part 102 can be increased, or the load acting on the movable part 102 can be increased).

Since the individual extension devices 10-1, 10-2, and 10-3 can be made compact, the parallel link robot 100 can be easily accommodated even if the size of the parallel link robot 100 is increased.

Note that the parallel link robot 100 may be arranged vertically, horizontally, or suspended from the ceiling. The number of expansion devices 10-1, 10-2, and 10-3 can be four or more, for example, six.

It should be noted that the present invention is not limited to being embodied in the above-described embodiments, and can be modified to other embodiments without changing the gist of the present invention.

In the first to fourth embodiments, the first pole of the expansion device is arranged at the bottom and the nth (n≧3) pole is arranged at the top. good too. Alternatively, the expansion/contraction device may be horizontally oriented and expanded/contracted in the horizontal direction.

In the first to fourth embodiments, three to six stages of expansion devices were described, but seven or more steps of expansion devices can be used according to the required expansion and contraction length.

1 to 6: first to sixth poles (first to sixth cylindrical members)
11 to 15 First to fifth screw shafts 32 to 36 First to fifth nuts 21, 22b, 23b, 24b First to fourth movable gears 22a, 23a, 24a, 25 First to fourth fixed gear

Claims (2)

first to third cylindrical members telescopically combined;
first to second screw shafts rotatably supported by the first to second cylindrical members;
first to second nuts attached to the second to third cylindrical members, respectively, and screwed to the first to second screw shafts, respectively;
a first movable gear that is non-rotatable and axially movable with respect to the first screw shaft;
a first fixed gear that meshes with the first movable gear and is non-rotatable with respect to the second screw shaft;
The first threaded shaft is one of right-handed or left-handed, and the second threaded shaft is the other of right-handed or left-handed,
An expansion and contraction device in which the first to the third cylindrical members are expanded and contracted by the simultaneous rotation of the first to the second screw shafts. first to n-th (where n≧3) cylindrical members are telescopically combined;
first to n-1 screw shafts rotatably supported by the first to n-1 cylindrical members;
first to n-1th nuts attached to the second to n-th cylindrical members and screwed to the first to n-1th screw shafts;
first to n-2 movable gears that are non-rotatable and axially movable with respect to the first to n-2 screw shafts;
1st to n-2th fixed gears that mesh with the 1st to the n-2th movable gears and are not rotatable with respect to the 2nd to the n-2th screw shafts;
The p-th (where p is an odd number) screw shaft is either a right-handed thread or a left-handed thread, and the q-th (where q is an even number) screw shaft is the other of a right-handed thread or a left-handed thread,
An expansion and contraction device in which the first through n-th cylindrical members are expanded and contracted by simultaneous rotation of the first through n-1 screw shafts.

Images