CN117355688A

CN117355688A - Pitch changing device

Info

Publication number: CN117355688A
Application number: CN202280036361.4A
Authority: CN
Inventors: 下吉拓明; 高嶋大介
Original assignee: Nippon Thompson Co Ltd
Current assignee: Nippon Thompson Co Ltd
Priority date: 2021-06-28
Filing date: 2022-03-23
Publication date: 2024-01-05
Also published as: TW202300422A; JP2023004534A; KR20240004932A; WO2023276336A1

Abstract

The pitch-changing device includes a base member, a support member disposed on the base member, a telescopic member fixed to the base member via the support member and capable of telescoping along a first axis, and a drive unit for telescoping the telescopic member along the first axis. The driving section includes: a screw shaft extending along the first shaft and having a rotation axis; a power unit that rotates the screw shaft around the rotation shaft; the moving part is provided on the screw shaft, moves along the first shaft by rotation of the screw shaft around the rotation shaft, and is fixed to a part of the telescopic member.

Description

Pitch changing device

Technical Field

The invention relates to a distance changing device. The present application claims priority based on japanese patent application No. 2021-106280 filed on 28 of 2021, 6, and the entire contents of the above-mentioned japanese patent application are incorporated by reference.

Background

Conventionally, a pitch-changing device capable of changing the interval between holding portions is used for a robot arm or the like that holds a workpiece (for example, refer to patent document 1).

Patent document 1 describes that the interval between a plurality of holding portions provided in a robot arm is changed by a pantograph type telescopic device. The telescopic device is driven by an air cylinder, so that the telescopic device can realize telescopic operation.

Prior art literature

Patent literature

Patent document 1 Japanese patent application laid-open No. 2015-86073

Disclosure of Invention

Problems to be solved by the invention

In the driving system by the air cylinder described in patent document 1, the rod is linearly moved by the pressure of a fluid such as air, so that the pantograph is extended and contracted. In this case, since the stop position is determined by physical contact of the members, it is difficult to stop the pitch control device at an arbitrary position. Therefore, the conventional pitch control device has a problem that it is difficult to stop at an arbitrary pitch with high positional accuracy.

Means for solving the problems

The invention provides a distance changing device capable of stopping at any distance with high position accuracy.

The distance-changing device according to the present invention comprises: a base member; a support member disposed on the base member; a telescopic member fixed to the base member by a support member and capable of telescoping along a first axis; and a driving part for telescoping the telescoping member along the first axis. The telescopic member includes: a plurality of first link members extending in a second direction intersecting the first axis and arranged at equal intervals so as to intersect the first axis at a plurality of first points arranged at equal intervals on the first axis; and a plurality of second link members extending along a third direction intersecting the extending direction of the first axis and the second direction and arranged at equal intervals so as to intersect the first axis at a plurality of first points. Each of the plurality of first link members includes: a first portion; a second portion located at a position separated from the first portion in a second direction; and a third portion located on the opposite side of the second portion in the second direction and equidistantly separated from the first portion. Each of the plurality of second link members includes: a fourth section; a fifth portion located at a position separated from the fourth portion in the third direction; and a sixth section located on the opposite side of the fifth section in the third direction and equidistantly separated from the fourth section. The first link member is rotatably coupled to a fourth portion of the second link member intersecting the first axis at the same first point; the first link member is rotatably coupled to a fifth portion of the second link member intersecting the first axis at a first point adjacent to the third portion; the first link member is rotatably coupled to a sixth portion of the second link member intersecting the first axis at a first point adjacent to the other side, wherein the other side is opposite the one side. The driving section includes: a screw shaft extending along the first shaft and having a rotation axis; a power unit that rotates the screw shaft around the rotation shaft; the moving part is provided on the screw shaft, moves along the first shaft by rotation of the screw shaft around the rotation shaft, and is fixed to a part of the telescopic member.

ADVANTAGEOUS EFFECTS OF INVENTION

According to the present invention, a pitch device capable of stopping at an arbitrary pitch with high positional accuracy can be provided.

Drawings

Fig. 1 is a perspective view showing a range-changing device according to a first embodiment.

Fig. 2 is a sectional view taken along line II-II in fig. 1.

Fig. 3 is a sectional view taken along line III-III in fig. 1.

Fig. 4 is a plan view showing the expansion and contraction portion.

Fig. 5 is a plan view showing the support member.

Fig. 6 is a perspective view showing a pitch device according to a second embodiment.

Fig. 7 is a cross-sectional view taken along line VII-VII in fig. 6.

Detailed Description

[ summary of the embodiments ]

According to the above-described pitch changing device, the screw shaft is rotated about the rotation axis by the power unit, and the moving unit is moved along the first axis, so that the first link member and the second link member are rotated with each other at the coupling unit, and the telescopic member is telescopic along the first axis. According to this configuration, the amount of movement of the moving portion can be precisely controlled by the amount of rotation of the screw shaft, so that the amount of expansion and contraction of the expansion and contraction member can be precisely controlled. Therefore, according to the above-described range-changing device, it is possible to position at an arbitrary position with high accuracy and to stop at an arbitrary pitch with high positional accuracy, as compared with a conventional range-changing device employing a driving system using a cylinder.

In the above-described range-changing device, the support member may include: a rail disposed on the base member and orthogonal to the first axis; a slider movable along the track. At least one of the connection portion of the second portion of the first link member and the sixth portion of the second link member and the connection portion of the third portion of the first link member and the fifth portion of the second link member may be fixed to the slider. According to this configuration, the movement of the connecting portion of the telescopic member along the first axis, which moves in the direction orthogonal to the first axis, can be suppressed.

In the above-described range-changing device, the support member may support a central portion in the first shaft extending direction of the telescopic member on the base member. The moving portion may be fixed to an end portion of the telescopic member in the first shaft extending direction. According to this configuration, the telescopic member can be extended and contracted along the first axis with the central portion in the extending direction of the first axis as the center. In this case, the moving distance of the moving portion becomes shorter than in the case where the end portion in the extending direction of the first shaft in the telescopic member is supported by the base member, so that the moving time of the moving portion at the time of changing the pitch can be further shortened.

In the above-described range-changing device, the telescopic member may include a plurality of stages arranged in a row along the first axis and disposed on the first link member and the second link member. According to this structure, the first link member and the second link member are rotated with each other by the rotation of the screw shaft, and thus the pitch between the adjacent stages can be precisely controlled.

In the above-described pitch control device, a plurality of the stages may be provided with through holes penetrating the stages in the extending direction of the first axis. The distance changing device may further include a stage guide shaft extending in the extending direction of the first shaft and inserted into the through hole. According to this structure, the position of the stage can be stabilized as compared with a case where the stage guide shaft is not provided.

Specific examples of the embodiments

Next, an embodiment of the distance changing device of the present invention will be described with reference to the drawings. In the following drawings, the same or corresponding parts are given the same reference numerals, and the description thereof will not be repeated.

(first embodiment)

First, the structure of the pitch device 1 of the first embodiment is described with reference to fig. 1 to 5. Fig. 1 is a perspective view showing the overall structure of the pitch device 1. Fig. 2 is a sectional view of the pitch device 1 along line II-II of fig. 1. Fig. 3 is a sectional view of the pitch device 1 along line III-III of fig. 1. Fig. 4 is a plan view showing the telescopic portion 31 as a constituent element of the range-changing device 1. Fig. 5 is a plan view showing the support member 20 as a constituent element of the range-changing device 1. As shown in fig. 1, the distance changing device 1 mainly includes a base member 10, a support member 20, a telescopic member 30, and a driving portion 40. These components are described in detail below. The following description is based on the XYZ directions shown in fig. 1 to 5.

In a plan view seen in the Z direction, the base member 10 is a rectangular plate member long in the X direction. The base member 10 includes a rectangular base surface 10A facing the Z direction (parallel to the XY plane). As shown in fig. 1, a first end plate 11 and a second end plate 12 are fixed to both ends of the base member 10 in the X direction. The first end plate 11 and the second end plate 12 are arranged vertically to the base member 10 (base surface 10A), and the widths of both in the Y direction are substantially the same as the base member 10. The first end plate 11 is fixed to one end of the base member 10 in the X direction by a first fixing piece 13 and a bolt. The second end plate 12 is fixed to the other end of the base member 10 in the X direction by a second fixing piece 14 and a bolt. The first fixing piece 13 and the second fixing piece 14 are L-shaped in front view seen from the Y direction. The first fixing piece 13 and the second fixing piece 14 are provided in plural (two in the present embodiment) at intervals in the Y direction. Further, in the pitch device of the present invention, the shape and size of the base member are not particularly limited.

The support member 20 is a member for supporting the telescopic member 30 on the base member 10, and is disposed on the base member 10 (on the base surface 10A). The support member 20 of the present embodiment is a linear guide unit that slides in the Y direction. The support member 20 includes: a guide rail 21 extending in the Y direction; a first slider 22 and a second slider 23 (fig. 5) movable in the Y direction along the guide rail 21. As shown in fig. 5, the first slider 22 and the second slider 23 are arranged in the guide rail 21 in the Y direction. The first slider 22 is linearly movable from the center portion of the rail 21 in the Y direction to the first end portion (the lower end portion in fig. 5), and is linearly movable in the opposite direction (from the first end portion to the center portion). On the other hand, the second slider 23 is linearly movable from the center portion in the Y direction of the guide rail 21 to the second end portion located on the opposite side to the first end portion, and is linearly movable in the opposite direction (from the second end portion to the center portion).

As shown in fig. 2, the guide rail 21 includes: a base portion 24 disposed on the base surface 10A; a rail main body 25 disposed on the base portion 24. The base portion 24 has a rectangular parallelepiped shape, and has a width in the Y direction (the depth direction of the paper surface in fig. 2) substantially equal to that of the base member 10. As shown in fig. 3, the base portion 24 is fixed to the base member 10 (base surface 10A) by a plurality of bolts B1 arranged at intervals in the Y direction. The width of the rail main body 25 in the X direction and the Y direction is substantially the same as that of the base portion 24. As shown in fig. 2, grooves recessed inward in the width direction are formed on both side surfaces in the width direction (X direction) of the rail main body 25 in the entire length direction (Y direction). As shown in fig. 3, the rail main body 25 is placed on the upper surface of the base 24, and is fixed to the base 24 by a plurality of bolts B2 arranged at intervals in the Y direction.

As shown in fig. 2, the first slider 22 includes: a first slider body 26 sandwiching the rail body 25 from both sides in the width direction; the first shaft support portion 27 is disposed on the first slider body portion 26. The first slider body section 26 includes: a main body portion extending in the X direction; a pair of sleeve portions extending from both ends of the main body portion toward the base surface 10A. The inner surface of the sleeve portion facing the rail main body portion 25 is formed with a groove recessed outward in the width direction (X direction) over the entire length direction (Y direction). A plurality of balls (rolling elements) are disposed between the lateral surface of the rail main body 25 in the width direction and the inner surface of the sleeve. Thereby, the first slider body 26 can move relative to the rail body 25 in the Y direction. The first shaft support portion 27 is fixed to the first slider body portion 26 by bolts. The first shaft support portion 27 has a central portion in the X direction protruding toward the telescopic member 30 side, and a first shaft hole 22A (fig. 5) is formed in the protruding portion.

The second slider 23 has the same structure as the first slider 22. That is, the second slider 23 (fig. 3) includes: a second slider body 28 sandwiching the rail body 25 from both sides in the width direction; the second shaft support portion 29 is disposed in the second slider body portion 28. As shown in fig. 5, a second shaft hole 23A is formed in the center portion (protruding portion) of the second shaft support portion 29 in the X direction.

Referring to fig. 1, the telescopic member 30 is fixed to the base member 10 by the support member 20, and is telescopic along a first axis extending in the X direction. The telescopic member 30 in the present embodiment includes a pantograph-like telescopic portion 31. Fig. 4 is a plan view showing the structure of the expansion and contraction part 31. The expansion and contraction portion 31 extends in the extending direction of the first shaft C1, and includes a plurality of first link members 61 and a plurality of second link members 62. As shown in fig. 4, a plurality of first points 100 are arranged at equal intervals on the first axis C1.

The first link members 61 extend along the second direction D2 intersecting the first axis C1, and are arranged at equal intervals so as to intersect the first axis C1 at a plurality of first points 100. Each of the plurality of first link members 61 includes: a first portion P1; a second portion P2 located at a position separated from the first portion P1 in the second direction D2; the third portion P3 is located on the opposite side of the second portion P2 in the second direction D2 and is equidistantly spaced apart from the first portion P1. As shown in fig. 4, in the present embodiment, the first portion P1 corresponds to a central portion in the longitudinal direction of the first link member 61, and the second portion P2 and the third portion P3 correspond to end portions in the longitudinal direction of the first link member 61, respectively.

The first link member 61 is configured such that the first portion P1 coincides with the first point 100.

The second link members 62 extend along a third direction D3 intersecting the extending direction of the first axis C1 and the second direction D2, and are arranged at equal intervals so as to intersect the first axis C1 at a plurality of first points 100. Each of the plurality of second link members 62 includes: a fourth part P4; a fifth portion P5 located at a position separated from the fourth portion P4 in the third direction D3; the sixth portion P6 is located on the opposite side of the fifth portion P5 in the third direction D3 and is equidistantly spaced apart from the fourth portion P4. As shown in fig. 4, in the present embodiment, the fourth portion P4 corresponds to the central portion in the longitudinal direction of the second link member 62, and the fifth portion P5 and the sixth portion P6 correspond to the end portions in the longitudinal direction of the second link member 62, respectively. The second link member 62 is configured such that the fourth portion P4 coincides with the first point 100.

The first link member 61 is rotatably coupled to the fourth portion P4 of the second link member 62 intersecting the first axis C1 at the same first point 100 at the first portion P1. Specifically, through holes penetrating the first link member 61 and the second link member 62 in the plate thickness direction are formed in the first portion P1 and the fourth portion P4, and the first coupling shaft 71 (first coupling pin) is inserted into the through holes. A bearing (not shown), such as a slide bearing or a ball bearing, is disposed between the inner peripheral surface of the through hole and the outer peripheral surface of the first coupling shaft 71. Thereby, the first link member 61 and the second link member 62 can mutually rotate about the first connecting shaft 71. Further, a plurality of washers are disposed between the first portion P1 of the first link member 61 and the fourth portion P4 of the second link member 62, and the first link shaft 71 is inserted into a central hole of the washers. In addition, the number of washers is not particularly limited, and may be one.

The first link member 61 is rotatably coupled to the fifth portion P5 of the second link member 62 intersecting the first axis C1 at the third portion P3 and the first point 100 adjacent to one side in the X direction. Specifically, through holes penetrating the first link member 61 and the second link member 62 in the plate thickness direction are formed in the third portion P3 and the fifth portion P5, and the second coupling shaft 72 (second coupling pin) is inserted into the through holes. A bearing (not shown), such as a slide bearing or a ball bearing, is disposed between the inner peripheral surface of the through hole and the outer peripheral surface of the second coupling shaft 72. Thereby, the first link member 61 and the second link member 62 can mutually rotate about the second connecting shaft 72. Further, a plurality of washers are disposed between the third portion P3 of the first link member 61 and the fifth portion P5 of the second link member 62, and the second coupling shaft 72 is inserted into a center hole of the washers. In addition, the number of washers is not particularly limited, and may be one.

The first link member 61 is rotatably coupled to the sixth portion P6 of the second link member 62 intersecting the first axis C1 at a first point 100 adjacent to the second portion P2 on the opposite side of the one side in the X direction. Specifically, through holes penetrating the first link member 61 and the second link member 62 in the plate thickness direction are formed in the second portion P2 and the sixth portion P6, and the third connecting shaft 73 (third connecting pin) is inserted into the through holes. A bearing (not shown), such as a slide bearing or a ball bearing, is disposed between the inner peripheral surface of the through hole and the outer peripheral surface of the third coupling shaft 73. Thereby, the first link member 61 and the second link member 62 can mutually rotate about the third connecting shaft 73. Further, a plurality of washers are disposed between the second portion P2 of the first link member 61 and the sixth portion P6 of the second link member 62, and the third connecting shaft 73 is inserted into a center hole of the washers.

In the present embodiment, the connection portion (third connection shaft 73) between the second portion P2 of the first link member 61 and the sixth portion P6 of the second link member 62 and the connection portion (second connection shaft 72) between the third portion P3 of the first link member 61 and the fifth portion P5 of the second link member 62 are fixed to the slider. Specifically, the lower end portion of the second coupling shaft 72 is inserted into the first shaft hole 22A (fig. 5), and the lower end portion of the third coupling shaft 73 is inserted into the second shaft hole 23A (fig. 5). As shown in fig. 3, a washer is disposed between the lower surface (surface facing the first slider 22 side) of the first link member 61 and the upper surface (surface facing the first link member 61 side) of the first shaft support portion 27. A second coupling shaft 72 is inserted into the center hole of the washer. Similarly, a gasket is also disposed between the lower surface (surface facing the second slider 23) of the first link member 61 and the upper surface (surface facing the first link member 61) of the second shaft support portion 29. A third coupling shaft 73 is inserted into the center hole of the washer. The present invention is not limited to the case where the two connecting portions are fixed to the slider, and only one connecting portion may be fixed to the slider. In this case, either one of the first slider 22 and the second slider 23 can be omitted.

In the present embodiment, the support member 20 supports the central portion of the telescopic member 30 in the extending direction (X direction) of the first shaft C1 to the base member 10. That is, the lower ends of the second connecting shaft 72 and the third connecting shaft 73 on the inside of the quadrangle of the dash-dot line a in fig. 4 are inserted into the first shaft hole 22A and the second shaft hole 23A of the slider, respectively.

As described above, by connecting the first link member 61 and the second link member 62, a plurality of diamond shapes (fig. 4) aligned in the X direction are formed. As shown in fig. 4, the first portion P1 and the fourth portion P4 correspond to the vertices of the diamond shape in the X direction. On the other hand, the second portion P2, the third portion P3, the fifth portion P5, and the sixth portion P6 correspond to the apexes of the diamond in the Y direction.

As shown in fig. 1, the telescopic member 30 includes a plurality of (eight in the present embodiment) stages 32 arranged on the telescopic portion 31 (the first link member 61 and the second link member 62) along the first axis. The stages 32 extend in the Y direction and are arranged at equal intervals in the X direction. The stage 32 is fixed to the expansion and contraction portion 31 at a connection portion (fig. 4) between the first portion P1 of the first link member 61 and the fourth portion P4 of the second link member 62. Specifically, as shown in fig. 2, a bottomed stage shaft hole 32B that opens to the expansion and contraction portion 31 side is formed in the lower surface of the stage 32 toward the expansion and contraction portion 31 side. An upper end portion of the first coupling shaft 71 is inserted into the stage shaft hole 32B. A gasket is disposed between the lower surface (surface facing the telescopic portion 31) of the stage 32 and the upper surface (surface facing the stage 32) of the second link member 62. A first coupling shaft 71 is inserted into a central hole of the gasket. A dispenser, a workpiece holder (not shown), or the like is mounted on the stage 32.

As shown in fig. 1, through holes 32A penetrating the plurality of stages 32 in the extending direction (X direction) of the first axis are formed at both ends in the Y direction of the stages 32. The pitch changing device 1 has a plurality of columnar stage guide shafts (a first stage guide shaft 51 and a second stage guide shaft 52) extending in the X direction. As shown in fig. 1, the first stage guide shaft 51 is inserted into a through hole 32A (a through hole 32A located on the near side in fig. 1) formed on one side of the stage 32. On the other hand, the second stage guide shaft 52 is inserted into a through hole 32A (a distal through hole 32A in fig. 1) formed on the other side of the stage 32. One ends of the first stage guide shaft 51 and the second stage guide shaft 52 are fixed to the first end plate 11, and the other ends are fixed to the second end plate 12. An annular sliding member (not shown) having a small friction coefficient is disposed between the outer peripheral surface of the stage guide shaft and the inner peripheral surface of the through hole 32A.

The driving unit 40 expands and contracts the expansion and contraction member 30 along the first axis C1. As shown in fig. 1, the driving section 40 includes a power section 41, a bracket 42, a screw shaft 43, and a moving section 44.

The power unit 41 is for rotating the screw shaft 43 about a rotation axis, and is a motor, for example. As shown in fig. 1, the power portion 41 is connected to the outer surface of the first end plate 11 via a bracket 42. As shown in fig. 2, the power portion 41 has an output shaft 41A extending into the bracket 42.

The screw shaft 43 extends along the first axis C1, and has a rotation axis. As shown in fig. 2, the screw shaft 43 has a first end 43A and a second end 43B opposite to the first end 43A, and is inserted into the through hole 11A formed in the first end plate 11. The first end 43A is located in the vicinity of the rail 21. On the other hand, the second end 43B is located in the bracket 42 and is connected to the output shaft 41A through the coupling 80. Thereby, the rotation of the output shaft 41A is transmitted to the screw shaft 43 via the coupling 80.

The moving portion 44 is provided on the screw shaft 43. The moving portion 44 moves along the first axis C1 by rotating the screw shaft 43 about the rotation axis, and is fixed to a part of the telescopic member 30. As shown in fig. 2, the moving portion 44 includes a nut 45 and a stage fixing portion 46.

The nut 45 constitutes a ball screw together with the screw shaft 43. That is, as shown in fig. 2, the screw shaft 43 is inserted into the through hole 45A formed in the nut 45, and a plurality of balls (not shown) are disposed between the outer peripheral surface of the screw shaft 43 and the inner peripheral surface of the nut 45. A through hole 46A into which the nut 45 is inserted is formed in the stage fixing portion 46. The stage fixing portion 46 is fixed to a side surface of one stage 32 closest to the first end plate 11 among the plurality of stages 32. That is, the stage fixing portion 46 is fixed to an end portion of the telescopic member 30 in the extending direction (X direction) of the first axis C1.

Next, the operation of the above-described range-changing device 1 will be described. First, when the power unit 41 is driven, the output shaft 41A rotates, and the screw shaft 43 rotates in a first direction around the rotation axis. Thereby, the nut 45 and the stage fixing portion 46 linearly move in the X direction toward the direction approaching the support member 20. Thereby, the stage 32 closest to the first end plate 11 among the plurality of stages 32 is pushed toward the support member 20 side in the X direction.

As a result, the telescopic portion 31 (zoom apparatus) fixed to the stage 32 is contracted in the X direction. Specifically, the first link member 61 and the second link member 62 rotate with each other at the respective connection portions, the expansion and contraction portion 31 is contracted in the X direction about the portion supported by the support member 20 (the portion indicated by the dash line a in fig. 4), and the respective diamond shapes of the expansion and contraction portion 31 are deformed so as to extend in the Y direction. Thereby, the interval (pitch) between adjacent stages 32 in the X direction becomes narrow.

On the other hand, when the output shaft 41A of the power unit 41 is reversely rotated, the screw shaft 43 rotates around the rotation axis in the second direction (the direction opposite to the first direction). Thereby, the nut 45 and the stage fixing portion 46 linearly move in the X direction in a direction away from the support member 20. As a result, the expansion and contraction portion 31 extends in the X direction, and each diamond shape of the expansion and contraction portion 31 deforms so as to extend in the X direction. Thus, the distance between the adjacent stages 32 in the X direction is increased. In this way, the nut 45 and the stage fixing portion 46 are moved forward and backward in the X direction by the rotation of the screw shaft 43, and the pitch between the adjacent stages 32 is changed.

As described above, according to the pitch device 1 of the present embodiment, the screw shaft 43 is rotated about the rotation axis by the power unit 41, and the moving unit 44 (the nut 45 and the stage fixing unit 46) is moved along the first axis C1, so that the first link member 61 and the second link member 62 are rotated with each other at the coupling portion, and the telescopic member 30 is telescopic along the first axis C1. According to this configuration, the amount of movement of the moving portion 44 in the X direction can be precisely controlled by the amount of rotation of the screw shaft 43, so that the amount of expansion and contraction of the expansion and contraction member 30 can be precisely controlled. Therefore, the distance varying device 1 can be positioned at an arbitrary position with high accuracy and can be changed to an arbitrary pitch with high accuracy, as compared with a conventional distance varying device employing a driving system using a cylinder.

(second embodiment)

Next, the structure of the pitch device 2 according to the second embodiment will be described with reference to fig. 6 and 7. The pitch device 2 of the second embodiment basically has the same structure and achieves the same effects as the pitch device 1 of the first embodiment described above, but differs in the structure of the support member. Only the differences from the pitch control device 1 according to the first embodiment will be described below.

Fig. 6 is a perspective view showing the overall structure of the pitch device 2 according to the second embodiment. As shown in fig. 6, the pitch device 2 has an odd number (nine in the present embodiment) of stages 32. The support member 20A of the present embodiment is not connected to the telescopic portion 31, and one of the plurality of stages 32 located at the center in the X direction is fixed to the base member 10.

Specifically, the support member 20A includes a first support portion 20A1 having a rectangular parallelepiped shape and a second support portion 20A2 having a rectangular parallelepiped shape disposed at intervals in the X direction with respect to the first support portion 20A 1. The first support portion 20A1 and the second support portion 20A2 are each disposed on the base surface 10A, and the widths thereof in the Y direction are substantially the same as those of the base member 10.

Fig. 7 is a cross-sectional view taken along line VII-VII in fig. 6. As shown in fig. 7, the two ends in the Y direction of the stage 32 located at the center in the X direction of the plurality of stages 32 extend further toward the base surface 10A than the center in the Y direction (extension portions 32C). The extension portion 32C is sandwiched by the first support portion 20A1 and the second support portion 20A2 (fig. 6) in the X direction, whereby the telescopic member 30 is fixed to the base member 10 via the support member 20A.

According to the distance varying device 2 of the present embodiment, unlike the first embodiment described above, it is not necessary to provide the support member 20 as the linear motion guide means. Therefore, the configuration of the pitch device can be further simplified as compared with the first embodiment described above.

(other embodiments)

Here, other embodiments will be described. In the first embodiment, the ball screw is used as an example of the driving unit, but the present invention is not limited thereto. For example, a sliding screw may be used instead of the ball screw.

In the first embodiment, the first link member 61 and the second link member 62 are each a plate member, but the present invention is not limited thereto. For example, the first link member and the second link member may be rectangular frame-like members having a height in the Z direction. In addition, the second portion P2 and the third portion P3 are not limited to the end portions of the first link member 61, and may be portions located between the central portion and the end portions in the longitudinal direction. Similarly, the fifth portion P5 and the sixth portion P6 are not limited to the end portions of the second link member 62, and may be portions located between the center portion and the end portions in the longitudinal direction.

In the first embodiment, the support member 20 has been described as an example of supporting the center portion of the telescopic member 30 in the X direction on the base member 10, but the present invention is not limited thereto. That is, the support member may support any portion of the telescopic member 30 in the X direction to the base member 10.

In the distance changing device of the present invention, the first stage guide shaft 51 and the second stage guide shaft 52 are not essential components and may be omitted. In this case, the through hole 32A in the stage 32 may be omitted.

It should be understood that the entire contents of the embodiments of the present invention are not limiting contents, but are exemplary contents. The scope of the present invention is defined by the claims, not by the above description, and is intended to include all modifications within the meaning and scope equivalent to the claims.

Description of the reference numerals

1. 2 distance changing device

10 base member

10A base surface

11 first end plate

11A through hole

12 second end plate

13 first fixing piece

14 second fixing piece

20. 20A support member

20A1 first support portion

20A2 second support part

21 guide rail

22 first slide block

22A first shaft hole

23 second slider

23A second shaft hole

24 base portion

25 guide rail main body part

26 first slider body portion

27 first shaft support part

28 second slider body portion

29 second shaft support

30 telescopic member

31 expansion and contraction part

32 carrier

32A through hole

32B carrier shaft hole

32C extension

40 drive part

41 power section

41A output shaft

42 bracket

43 screw shaft

43A first end

43B second end

44 moving part

45 nut

45A through hole

46 stage fixing part

46A through hole

51 first stage guide shaft

52 second stage guide shaft

61 first link member

62 second link member

71 first connecting shaft

72 second connecting shaft

73 third connecting shaft

80 coupling

100 first point

B1 and B2 bolt

C1 first shaft

D2 second direction

D3 third direction

P1 first part

P2 second part

P3 third part

P4 fourth part

P5 fifth part

P6 sixth part

Claims

1. A pitch-changing device is provided with:

a base member;

a support member disposed on the base member;

a telescopic member fixed to the base member by the support member and capable of telescoping along a first axis; and

a driving part for telescoping the telescoping member along the first axis,

the telescoping member includes:

a plurality of first link members extending along a second direction intersecting the first axis and arranged at equal intervals so as to intersect the first axis at a plurality of first points arranged at equal intervals on the first axis; and

a plurality of second link members extending in a third direction intersecting the extending direction of the first axis and the second direction and arranged at equal intervals so as to intersect the first axis at the plurality of first points,

each of the plurality of first link members includes:

a first portion;

a second portion located at a position separated from the first portion in the second direction; and

a third portion located on an opposite side of the second portion in the second direction and equidistantly separated from the first portion,

each of the plurality of second link members includes:

a fourth section;

a fifth portion located at a position separated from the fourth portion in the third direction; and

a sixth section located on the opposite side of said fifth section in said third direction and equidistantly spaced from said fourth section,

the first link member is rotatably coupled to the fourth portion of the second link member intersecting the first axis at the same first point,

the first link member is rotatably coupled to each other at the third portion and the fifth portion of the second link member intersecting the first axis at the first point adjacent to one side,

the first link member being rotatably coupled to the sixth portion of the second link member intersecting the first axis at the second portion and at the first point adjacent to the other side, wherein the other side is the opposite side of the one side,

the driving section includes:

a screw shaft extending along the first axis and having a rotation axis;

a power unit configured to rotate the screw shaft around the rotation shaft; and

and a moving unit which is provided to the screw shaft, moves along the first shaft by rotation of the screw shaft about the rotation axis, and is fixed to a part of the expansion/contraction member.

2. The pitch device according to claim 1, wherein,

the support member includes:

a guide rail disposed on the base member and orthogonal to the first axis;

a slider movable along the guide rail,

at least one of a connection portion of the second portion of the first link member and the sixth portion of the second link member and a connection portion of the third portion of the first link member and the fifth portion of the second link member is fixed to the slider.

3. The pitch device according to claim 1 or 2, wherein,

the support member supports a central portion in an extending direction of the first shaft in the telescopic member to the base member,

the moving portion is fixed to an end portion of the telescopic member in the extending direction of the first shaft.

4. The pitch device according to claim 1, wherein,

the telescopic member includes a plurality of stages arranged on the first link member and the second link member along the first axis.

5. The pitch device according to claim 4, wherein,

through holes penetrating the carriers in the extending direction of the first axis are formed in the plurality of carriers,

the distance changing device further comprises: and a stage guide shaft extending in the extending direction of the first shaft and inserted into the through hole.