JP4858914B2 - Injection device - Google Patents

Description

  The present invention relates to an injection apparatus, and more particularly to an injection apparatus that is disposed in a parent machine and emits the child machine in a predetermined direction in a parent-child satellite system including a parent machine and a child machine. It is.

  2. Description of the Related Art Conventionally, in a parent-child satellite system that includes a parent device and a child device, an injection device that is disposed in the parent device and injects the child device in a predetermined direction is known (for example, see Patent Document 1).

JP 2000-128097 A

  Although the details of the injection apparatus are not described in Patent Document 1, the injection apparatus is required to be able to maintain a constant initial speed of the handset to be injected, and is easy from the viewpoint of downsizing the apparatus. Is required.

  In addition, although the injection apparatus applied to the parent-child satellite system has been described here, the present invention is not limited to such a parent-child satellite system, and may be an injection apparatus that emits an object in a predetermined direction. It goes without saying that the same is required.

  In view of the above circumstances, an object of the present invention is to provide an injection apparatus that can inject an object at a constant initial speed and can reduce the size of the entire apparatus with a simple configuration. To do.

  In order to achieve the above object, an injection apparatus according to claim 1 of the present invention applies a compressive force to a spring member disposed in a manner of winding a predetermined area of a support rod member, and then applies the compressive force. An injection device that releases and injects an object supported at the tip of the support rod member in a predetermined direction by the elastic restoring force of the spring member, and rotates in accordance with the driving of the actuator. The first gear element is configured to rotate integrally with the pulley member to which the wire member having one end coupled to the spring member is attached, and the wire member is wound through the pulley member by rotating. When the second gear element that enables take-out and feeding, the first gear element, and the second gear element are engaged in a switchable state between a transmission state and a non-transmission state, and the transmission state is established. The rotational force of the first gear element is applied to the spring member by transmitting the rotational force of the first gear element to the second gear element and winding the wire member. And engaging means for allowing the wire member to be unwound by an elastic restoring force of the spring member without bringing the second gear element into a free state without being transmitted to the second gear element.

  The injection device according to a second aspect of the present invention is the injection device according to the first aspect, wherein the engagement means includes a first meshing tooth portion formed in a predetermined region of the peripheral surface of the first gear element, A smooth portion formed in a form continuous with the first meshing tooth portion in a region excluding the formation region of the first meshing tooth portion on the circumferential surface of the first gear element, and formed on the entire circumferential surface of the second gear element. The second meshing tooth portion is provided, and the first meshing tooth portion and the second meshing tooth portion are engaged with each other in a predetermined engagement region to be in a transmission state, while the smoothing portion is formed in the engagement region. And the second meshing tooth portion are opposed to each other so that a non-transmission state is achieved.

  According to a third aspect of the present invention, there is provided an injection device according to the first or second aspect, wherein the base end of a tether whose tip is coupled to the object is attached and rotates in accordance with the driving of the motor. A reel member that enables winding and unwinding of the tether, and a torque holding member that is interposed between the motor and the reel member and that keeps the rotational torque of the reel member constant when the motor is driven. It is characterized by that.

  According to the injection device of the present invention, since the object is injected in a predetermined direction by the elastic restoring force of the spring member, the object can be injected at a constant initial speed. Further, the first gear element and the second gear element are engaged so as to be switchable between a transmission state and a non-transmission state, and in the transmission state, the rotational force of the first gear element is applied to the second gear element. While transmitting and winding the wire member to apply a compressive force to the spring member, in the non-transmitting state, the rotational force of the first gear element is not transmitted to the second gear element and the second gear element is moved. Since the wire member is allowed to be unwound by the elastic restoring force of the spring member in a free state, the wire member can be wound and unwound simply by rotating the first gear element in one direction. The object can be ejected a plurality of times with a simple configuration. Therefore, it is possible to inject the object at a constant initial velocity, and there is an effect that the entire apparatus can be downsized with a simple configuration.

  Exemplary embodiments of an injection apparatus according to the present invention will be described below in detail with reference to the accompanying drawings. In the following embodiments, an injection device that is applied to a parent-child satellite system including a parent device and a child device and is arranged in the parent device will be described.

  FIG. 1 is a perspective view showing the configuration of the injection apparatus of the present invention. The injection apparatus illustrated here includes an apparatus main body 10. The apparatus body 10 is composed of a frame member 11 formed by processing, for example, lightweight steel and the like in a form that forms each side of a rectangular parallelepiped to form a framework, and plate-like bodies are arranged on the upper, bottom, and side portions. It is formed. Here, the frame member 11 that extends in the vertical direction in the figure has an upper end protruding from the upper surface. In addition, the plate-like bodies disposed on the top, bottom, and side portions are referred to as a top plate 12, a bottom plate 13, and a side plate 14, respectively. FIG. 1 shows the inside of the apparatus main body 10 so that the inside of the apparatus main body 10 can be seen for convenience of explanation.

  A plurality of (four in the illustrated example) support rod members 15 are arranged on the top plate 12 of the apparatus main body 10 in such a manner as to extend in the vertical direction. Each of the support rod members 15 is disposed at a position slightly moved inward from each vertex of the top plate 12. Each of the support rod members 15 is in contact with the slave unit 1 to support the slave unit 1. And the spring member 16 is arrange | positioned in the aspect wound around the predetermined area of each support rod member 15, ie, the area | region from a front-end | tip part to a center part. The spring member 16 is a coil spring. As shown in FIG. 2, the base end portion 16a is engaged with the flange portion 15a of the support rod member 15, while the distal end portion 16b is a free end portion. Here, although not shown in the drawing, a wire cable (wire member) WC, which will be described later, is coupled to the distal end portion 16 b of the spring member 16.

  A compression mechanism 20 and an extension mechanism 30 are disposed inside the apparatus main body 10. The compression mechanism 20 applies a compression force to the spring member 16 and releases the compression force. The compression mechanism 20 has a motor gear (first gear element) 21, a shaft 22, a pulley member 23, and a pulley gear (second gear). Gear element) 24.

  As shown in FIG. 3, there are a plurality of motor gears 21 (two in the illustrated example), each of which is arranged on an output shaft 25 a connected to a compression motor 25 fixedly arranged on the bottom plate 13 of the apparatus body 10. . If it demonstrates in detail, the motor gear 21 will each comprise a disk-shaped form, and has the same outer diameter. The motor gears 21 are arranged so as to penetrate each of the output shafts 25a, and can rotate around the axis of the output shaft 25a. As is apparent from the drawing, these motor gears 21 are provided with a predetermined interval therebetween. The detailed structure of the motor gear 21 will be described later.

  There are a plurality of shafts 22 (two in the illustrated example), which are arranged in parallel to the output shaft 25 a in both side regions of the compression motor 25, that is, the left and right regions of the compression motor 25. These shafts 22 are supported by the support member in such a manner that the shafts 22 can rotate around their axis (center axis). The support member is provided so as to protrude upward from the bottom plate 13 of the apparatus main body 10.

  There are a plurality of pulley members 23 (four in the illustrated example), and two pulley members 23 are fixedly disposed on each shaft 22. More specifically, the pulley member 23 has a disk shape and is fixedly disposed on the shaft 22 in such a manner that a central portion thereof is penetrated by the shaft 22. It can be rotated by rotation. The base end of the wire cable WC is attached to a predetermined portion of the peripheral surface of each pulley member 23, and the wire cable WC can be wound on the peripheral surface by rotating the pulley member 23 in one direction. On the other hand, by rotating in the other direction, the wire cable WC can be drawn out from the peripheral surface. Here, the tip end of the wire cable WC attached to the pulley member 23 is attached to the tip end portion 16 b of the spring member 16 disposed in a manner of winding around the support rod member 15. That is, the tip end of the wire cable WC attached to one pulley member 23 is attached to the tip end portion 16b of the spring member 16 arranged in a manner wound around the one support rod member 15 (see FIG. 2). .

  There are a plurality of pulley gears 24 (two in the illustrated example), and each pulley gear 24 is disposed separately on each shaft 22. More specifically, the pulley gears 24 are each formed in a disk shape and have the same outer diameter. The pulley gears 24 are arranged so as to penetrate the shaft 22, and can rotate integrally with the shaft 22. That is, each pulley gear 24 is configured in such a manner that it can rotate integrally with two pulley members 23 fixedly disposed on a common shaft 22. Such pulley gears 24 are provided in such a manner that they can be individually engaged with the motor gear 21 in a predetermined engagement area L. That is, one pulley gear 24 can be engaged with one motor gear 21, while the other pulley gear 24 can be engaged with another motor gear 21.

  Below, engagement with the motor gear 21 and the pulley gear 24 is demonstrated. First, the structure of the motor gear 21 will be described.

  On the peripheral surface of each motor gear 21, a first meshing tooth portion 21a and a smooth portion 21b are formed in a continuous manner (see FIGS. 6 to 8). The first meshing tooth portion 21a is formed with irregularities in the same manner as a normal gear, and is a portion that meshes with a gear tooth portion facing in a predetermined engagement region L. The smooth portion 21b is a portion that forms a flat peripheral surface without forming irregularities. Here, the circumferential length of the first meshing tooth portion 21a is sufficient to sufficiently compress the spring member 16, as will be described later. On the other hand, the length in the circumferential direction of the smooth portion 21b is sufficient for the spring member 16 to be restored by an elastic restoring force, as will be described later.

  Next, the structure of the pulley gear 24 will be described. A second meshing tooth portion 24a is formed on the entire peripheral surface of each pulley gear 24 (see FIGS. 6 to 8). The second meshing tooth portion 24a is formed with irregularities in the same manner as a normal gear, and is a portion that meshes with a gear tooth portion facing in a predetermined engagement area L.

  When the first gear teeth 21a and the second gear teeth 24a are opposed to each other in the predetermined engagement area L, the motor gear 21 and the pulley gear 24 have the first gear teeth 21a and the second gear teeth 24a. When the two meshing teeth 24a mesh with each other and the rotational force of the motor gear 21 is transmitted to the pulley gear 24, the smoothing portion 21b and the second meshing teeth 24a face each other. The non-transmission state is not transmitted to 24. Note that two motor gears 21 and two pulley gears 24 are provided. When one motor gear 21 and one pulley gear 24 are in a transmission state, the other motor gear 21 and the other pulley gear 24 are also in a transmission state. When one motor gear 21 and one pulley gear 24 are in a non-transmitting state, the other motor gear 21 and the other pulley gear 24 are adjusted so as to be in a non-transmitting state. That is, when one motor gear 21 and one pulley gear 24 are engaged with each other in the engagement region L such that the first meshing tooth portion 21a and the second meshing tooth portion 24a are engaged with each other, the other motor gear 21 is engaged. And the other pulley gear 24 are engaged with each other in the engagement region L such that the first meshing tooth portion 21a and the second meshing tooth portion 24a are opposed to each other, and the one motor gear 21 and the one pulley gear 24 are engaged with each other. When the smoothing portion 21b and the second meshing tooth portion 24a are opposed to each other in the engagement region L, the other motor gear 21 and the other pulley gear 24 are connected to the smoothing portion 21b and the second portion in the engagement region L. It is adjusted so that the meshing tooth portion 24a faces each other.

  As shown in FIG. 4, the extension mechanism 30 includes a reel member 31 and a torque holding member 32. The reel member 31 is rotatably disposed in the apparatus main body 10. A base end of a tether T coupled to the slave unit 1 is attached to a predetermined portion of the outer peripheral surface of the reel member 31. That is, the tether T has a distal end coupled to the slave unit 1 and a proximal end attached to the reel member 31 in such a manner as to penetrate a through hole (not shown) of the top plate 12. The reel member 31 is rotated through the torque holding member 32 by driving the extension motor 33 in a certain direction (in this example, a direction in which the tether T is wound up). However, when a force equal to or greater than the torque set by the torque holding member 32 is applied to the tether T, the tether T rotates in the direction in which it is extended. Therefore, if the torque is within the torque set by the torque holding member 32, the reel member 31 rotates in the direction of winding the tether T by driving the extension motor 33, and the tether T can be wound on the outer peripheral surface. On the other hand, when the extension motor 33 is not driven, or when the extension motor 33 is driven in a certain direction and a force greater than the torque set by the torque holding member 32 is applied to the tether T, the reel member 31 moves in the other direction. The tether T can be fed out from the outer peripheral surface by rotating in the other direction.

  The torque holding member 32 is, for example, a permanent torque, and when the extension motor 33 is driven, the rotational driving force of the extension motor 33 input from the input shaft 32a as shown in FIG. When the rotation torque of the reel member 31 rotating in one direction is kept constant by outputting with a constant torque through the output shaft 32b and the extension motor 33 is not driven, or the extension motor 33 is driven in a constant direction. Thus, even when a force greater than the set torque is applied to the tether T, the rotational torque of the reel member 31 that rotates in the other direction is kept constant.

  The operation of the injection apparatus having the above configuration will be described with reference to FIGS. 6 to 8 show only the engagement state between one motor gear 21 and one pulley gear 24, the engagement states between the other motor gear 21 and the other pulley gear 24 are the same as described above. As with the motor gear 21 and the one pulley gear 24, the engagement state changes.

  First, the case where the subunit | mobile_unit 1 is supported by the support rod member 15 as shown in FIG. 1 and FIG. 2 and inject | emits this subunit | mobile_unit 1 is demonstrated. As a premise of this explanation, it is assumed that the extension motor 33 is not driven, and the smooth portion 21b of the motor gear 21 and the second meshing tooth portion 24a of the pulley gear 24 face each other in a predetermined engagement region L as shown in FIG. The motor gear 21 and the pulley gear 24 are in a non-transmitting state.

  When the compression motor 25 is driven in this case, the motor gear 21 rotates in one direction (clockwise direction in the illustrated example) around the axis of the output shaft 25a via the output shaft 25a. As a result, in the engagement region L, the first meshing tooth portion 21a of the motor gear 21 rotating in the clockwise direction enters the engagement region L and faces the second meshing tooth portion 24a of the pulley gear 24. The first meshing tooth portion 21a and the second meshing tooth portion 24a mesh with each other, the motor gear 21 and the pulley gear 24 are in a transmission state (see FIG. 7), and the rotational force of the motor gear 21 is transmitted to the pulley gear 24. Rotates counterclockwise in FIG. When the pulley gear 24 rotates in the counterclockwise direction as described above, the pulley member 23 that rotates integrally with the pulley gear 24 also rotates in the counterclockwise direction, whereby the wire cable WC is wound. When the wire cable WC is wound, the spring member 16 to which the wire cable WC is coupled to the distal end portion 16b is compressed and contracted. That is, the compression mechanism 20 applies a compressive force to the spring member 16.

  As a result of the motor gear 21 rotating clockwise, the smoothing portion 21b re-enters the engagement area L and faces the second meshing tooth portion 24a of the pulley gear 24. As a result, the motor gear 21 and the pulley gear 24 are in a non-transmitting state. Then, the pulley gear 24 becomes free. That is, the compressive force applied to the spring member 16 is released. Therefore, the free end portion 16b of the spring member 16 is displaced upward by the elastic restoring force, and as a result of pressing the slave unit 1 supported by the support rod member 15, the slave unit 1 is ejected in a predetermined direction. . On the other hand, the elastic restoring force of the spring member 16 also acts on the wire cable WC coupled thereto, and the pulley member 23 rotates in the clockwise direction so that the wire cable WC is drawn out from the pulley member 23. At this time, the pulley gear 24 that rotates integrally with the pulley member 23 also rotates in the clockwise direction as shown in FIG.

  By the way, the reel member 31 to which the tether T coupled to the handset 1 to be injected is attached rotates to feed out the tether T. At this time, since the rotational torque of the reel member 31 is held constant by the torque holding member 32, a constant tension acts on the tether T.

  In order to return the injected child device 1 to the parent device again, the extension device 33 is driven to cause the rotating reel member 31 to wind up the tether T, whereby the child device 1 is again supported by the support rod. The tip of the member 15 can be supported. Note that when the slave unit 1 is returned to the master unit in this way, the drive of the compression motor 25 is stopped.

  As described above, in the injection device according to the present embodiment, since the handset 1 is injected in a predetermined direction only by the elastic restoring force of the spring member 16, the handset 1 is injected at a constant initial speed. Can do. Further, when the first gear teeth 21a and the second gear teeth 24a are engaged with each other in the predetermined engagement area L and the motor gear 21 and the pulley gear 24 are in the transmission state, the wire cable WC is wound up and the spring is wound. When the compression force is applied to the member 16 while the smoothing portion 21b and the second meshing tooth portion 24a face each other in the engagement region L and the motor gear 21 and the pulley gear 24 are in a non-transmitting state, the pulley gear 24 is Since the wire cable WC is allowed to be unrolled in a free state, the wire cable WC can be wound and unwound simply by driving the compression motor 25 and rotating the motor gear 21 in one direction. The subunit | mobile_unit 1 can be inject | emitted several times with a structure. Therefore, it is possible to inject the slave unit 1 at a constant initial speed, and to reduce the size of the entire apparatus with a simple configuration.

  Further, according to the injection device, since the torque torque of the reel member 31 is held constant by the torque holding member 32 constituting the extension mechanism 30, a constant tension can be applied to the tether T, and the child is transmitted through the tether T. Control of the attitude of the machine 1 can be facilitated. Further, since a constant tension is applied to the tether T, there is no fear that the tether T will sag, and the tether T will not be entangled during winding or unwinding.

  The preferred embodiment of the present invention has been described above, but the present invention is not limited to this, and various modifications can be made. That is, in the above-described embodiment, the smooth portion 21b is formed on the peripheral surface of the motor gear 21, but in the present invention, the smooth portion is formed on the pulley gear, and the first meshing tooth portion is formed on the entire peripheral surface of the motor gear. You may make it form. Also by this, the same effect as the injection device mentioned above can be produced.

It is a perspective view which shows the structure of the injection apparatus of this invention. It is the schematic diagram which showed typically the injection apparatus shown in FIG. It is the schematic diagram which showed typically the principal part of the compression mechanism shown in FIG. It is the schematic diagram which showed typically the principal part of the extension mechanism shown in FIG. It is explanatory drawing for demonstrating the torque holding member shown in FIG. It is the schematic diagram which showed typically the engagement state of a motor gear and a pulley gear. It is the schematic diagram which showed typically the engagement state of a motor gear and a pulley gear. It is the schematic diagram which showed typically the engagement state of a motor gear and a pulley gear.

Explanation of symbols

1 slave unit 15 support rod member 16 spring member 21 motor gear 21a first meshing tooth portion 21b smoothing portion 23 pulley member 24 pulley gear 24a second meshing tooth portion 31 reel member 32 torque holding member L engagement region WC wire cable T tether

Claims (3)

After applying a compressive force to the spring member arranged in a manner of winding a predetermined region of the support rod member, the compressive force is released and the spring member is supported on the tip of the support rod member by the elastic restoring force. An injection device configured to inject the target object in a predetermined direction,
A first gear element configured in a manner to rotate in response to driving of the actuator;
A second member that is configured to be rotatable integrally with a pulley member to which a wire member having one end coupled to the spring member is attached, and that allows the wire member to be wound and fed through the pulley member by rotating. Gear elements,
The first gear element and the second gear element are engaged in a switchable state between a transmission state and a non-transmission state, and when the transmission state is established, the rotational force of the first gear element is applied to the second gear element. While transmitting and winding up the wire member, a compressive force is applied to the spring member. On the other hand, in the non-transmitting state, the rotational force of the first gear element is not transmitted to the second gear element. An injection apparatus comprising: an engaging means that allows the wire member to be unwound by an elastic restoring force of the spring member in a free state. The engaging means includes
A first meshing tooth portion formed in a predetermined area of the peripheral surface of the first gear element;
A smooth portion formed in a form continuous with the first meshing tooth portion in a region excluding the formation region of the first meshing tooth portion on the peripheral surface of the first gear element;
A second meshing tooth portion formed on the entire peripheral surface of the second gear element,
When the first meshing tooth portion and the second meshing tooth portion are engaged with each other in a predetermined engagement area, the transmission state is established. On the other hand, the smooth portion and the second meshing tooth portion are opposed in the engagement area. 2. The injection apparatus according to claim 1, wherein the injection apparatus is in a non-transmission state. A reel member that is attached to a base end of a tether whose front end is coupled to the object, and that allows the tether to be wound and unwound by rotating;
The injection device according to claim 1, further comprising: a torque holding member that holds the rotational torque of the reel member constant.

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