JP6183088B2 - Multi-stage telescopic device - Google Patents

Description

  The present invention relates to a telescopic device having a plurality of stages and a method for adjusting the operating range thereof.

  2. Description of the Related Art Conventionally, there is a multistage expansion / contraction device that includes a fixed portion, a first slider, and a second slider, and slides the first slider with respect to the fixed portion and slides the second slider with respect to the first slider. (See Patent Document 1). In the device described in Patent Document 1, two pulleys are attached to the first slider at a predetermined interval, and a belt is wound around the two pulleys. The first portion of the belt is fixed to the fixing portion, and the second portion of the belt facing the first portion is fixed to the second slider.

JP-A-9-285899

  By the way, in the multistage expansion / contraction apparatus as described above, a stopper is provided to limit the range in which the first slider slides with respect to the fixed portion and the range in which the second slider slides with respect to the first slider. ing. By changing the position of this stopper, the operating range of the telescopic device can be adjusted.

  However, in order to change the position of the stopper, for example, in the case of a configuration in which the stopper is attached with a screw, it is necessary to make the screw hole an ellipse or to form a plurality of screw holes. When the screw hole is made into an oval, the range in which the position of the stopper can be changed is limited to the oval range. When a plurality of screw holes are formed, the position of the stopper cannot be changed between the screw holes. Furthermore, although it is conceivable to form a plurality of oval screw holes, it is inevitable that the processing effort and cost will increase.

  This invention is made in order to solve such a subject, and does not require the ellipse processing of a screw hole or formation of several screw holes, and exists in adjusting the operation range of a multistage expansion-contraction apparatus arbitrarily.

  The first means includes: a fixed portion; a first slider that slides in a predetermined direction with respect to the fixed portion; a second slider that slides in the predetermined direction with respect to the first slider; and Between the two rotating wheels mounted at predetermined intervals in a predetermined direction, an annular member wound around the two rotating wheels, a drive unit for rotating the rotating wheel, and the two rotating wheels, the annular ring A first fixing member that fixes the first portion of the member and the fixing portion, and a second portion of the annular member that faces the first portion and the second slider are fixed between the two rotating wheels. A second fixing member that adjusts an operating range of a multistage telescopic device, wherein the fixing position of the annular member is adjusted in at least one of the first fixing member and the second fixing member Characterized in that it comprises a that adjusting step.

  In the above-described multistage telescopic device, the rotating wheel attached to the first slider is rotated by the driving unit, and the annular member wound around the two rotating wheels is rotated. Since the first portion of the annular member and the fixed portion are fixed, the first slider is slid in a predetermined direction with respect to the fixed portion. Further, since the second portion of the annular member and the second slider are fixed, the second slider is slid in a predetermined direction with respect to the first slider.

  Here, the operation range adjusting method of the multistage telescopic device includes an adjusting step of adjusting the fixing position with respect to the annular member in at least one of the first fixing member and the second fixing member. For this reason, by adjusting the fixing position of the first fixing member with respect to the annular member, the relative position between the fixing portion and the first slider, and thus the relative position between the fixing portion and the second slider can be adjusted. Further, by adjusting the fixing position of the second fixing member with respect to the annular member, the relative position between the first slider and the second slider, and thus the relative position between the fixing portion and the second slider can be adjusted. Therefore, it is possible to arbitrarily adjust the operation range of the multistage expansion / contraction apparatus by adjusting the fixing position of the fixing member with respect to the annular member without requiring the ellipse processing of the screw holes or forming a plurality of screw holes.

  In the second means, the annular member is a belt, the first fixing member is a first member attached to the fixing portion, a second member that sandwiches the belt between the first member, and the first member. A fastening member that fastens one member and the second member, and the adjusting step includes a first step of loosening the fastening member, and the first member for the belt after the first step; A second step of adjusting the position of the second member; and a third step of fastening the first member and the second member with the fastening member after the second step.

  In the above-described multistage expansion and contraction device, the first member and the fixing member are connected to each other by fastening the first member and the second member with the fastening member by sandwiching the belt between the first member and the second member. It is fixed. According to the above process, the relative position between the fixed portion and the first slider is easily adjusted by loosening the fastening member, adjusting the positions of the first member and the second member with respect to the belt, and fastening with the fastening member. be able to.

  In the third means, the annular member is a belt, the second fixing member is a third member attached to the second slider, a fourth member sandwiching the belt between the third member, A fastening member that fastens the third member and the fourth member, and the adjusting step includes a fourth step of loosening the fastening member, and the third member for the belt after the fourth step. And a fifth step of adjusting the position of the fourth member, and a sixth step of fastening the third member and the fourth member with the fastening member after the fifth step.

  In the above-described multistage telescopic device, the third member and the fourth member sandwich the belt, and the third member and the fourth member are fastened by the fastening member. Is fixed. According to the above process, the relative position between the first slider and the second slider is easily adjusted by loosening the fastening member, adjusting the positions of the third member and the fourth member with respect to the belt, and fastening with the fastening member. can do.

  The fourth means is a multi-stage telescopic device, and includes a fixed portion, a first slider that slides in a predetermined direction with respect to the fixed portion, and a second slider that slides in the predetermined direction with respect to the first slider. A slider, two rotating wheels attached to the first slider at predetermined intervals in the predetermined direction, an annular member wound around the two rotating wheels, a drive unit for rotating the rotating wheel, and the 2 A first fixing member that fixes the first portion of the annular member and the fixing portion between the two rotating wheels; and a second of the annular member that faces the first portion between the two rotating wheels. A second fixing member that fixes the portion and the second slider, wherein at least one of the first fixing member and the second fixing member is capable of adjusting a fixing position with respect to the annular member. Features .

  According to the above configuration, the rotating wheel attached to the first slider is rotated by the driving unit, and the annular member wound around the two rotating wheels is rotated. Since the first portion of the annular member and the fixed portion are fixed, the first slider is slid in a predetermined direction with respect to the fixed portion. Further, since the second portion of the annular member and the second slider are fixed, the second slider is slid in a predetermined direction with respect to the first slider.

  Here, at least one of the first fixing member and the second fixing member can adjust the fixing position with respect to the annular member. For this reason, by adjusting the fixing position of the first fixing member with respect to the annular member, the relative position between the fixing portion and the first slider, and thus the relative position between the fixing portion and the second slider can be adjusted. Further, by adjusting the fixing position of the second fixing member with respect to the annular member, the relative position between the first slider and the second slider, and thus the relative position between the fixing portion and the second slider can be adjusted. Therefore, it is possible to arbitrarily adjust the operation range of the multistage expansion / contraction apparatus by adjusting the fixing position of the fixing member with respect to the annular member without requiring the ellipse processing of the screw holes or forming a plurality of screw holes.

  In the fifth means, the annular member is a belt, the first fixing member is a first member attached to the fixing portion, a second member sandwiching the belt between the first member, and the first member. A fastening member that fastens one member and the second member.

  According to the above configuration, the first portion and the fixing portion of the annular member are fixed by fastening the first member and the second member with the fastening member while sandwiching the belt between the first member and the second member. ing. For this reason, by loosening the fastening member, adjusting the positions of the first member and the second member with respect to the belt, and fastening with the fastening member, the relative position between the fixed portion and the first slider can be easily adjusted. . Furthermore, since the first member and the second member are fastened by the fastening member, there is no need to form a hole or the like in the belt, and the durability of the belt can be maintained.

  In a sixth means, the annular member is a belt, the second fixing member is a third member attached to the second slider, a fourth member sandwiching the belt with the third member, A fastening member that fastens the third member and the fourth member.

  According to the above configuration, the second member of the annular member and the second slider are fixed by clamping the belt between the third member and the fourth member and fastening the third member and the fourth member with the fastening member. Has been. For this reason, it is possible to easily adjust the relative position between the first slider and the second slider by loosening the fastening member, adjusting the positions of the third member and the fourth member with respect to the belt, and fastening with the fastening member. it can. Further, since the third member and the fourth member are fastened by the fastening member, it is not necessary to form holes or the like in the belt, and the durability of the belt can be maintained.

  The seventh means includes a first stopper that is provided on the first slider and limits a sliding range of the first slider with respect to the fixed portion.

  According to the above configuration, the first slider provided on the first slider can mechanically limit the sliding range of the first slider with respect to the fixed portion. For this reason, by adjusting the fixing position of the first fixing member with respect to the annular member, the sliding range of the first slider with respect to the fixing part can be ensured even when the relative position between the fixing part and the first slider changes. Can be limited.

  In an eighth means, a second stopper is provided on the first slider and limits a sliding range of the second slider with respect to the first slider.

  According to the above configuration, the sliding range of the second slider relative to the first slider can be mechanically limited by the second stopper provided on the first slider. Therefore, even if the relative position between the first slider and the second slider is changed by adjusting the fixing position of the second fixing member with respect to the annular member, the sliding range of the second slider with respect to the first slider is increased. It can be surely limited.

The perspective view which shows a multistage expansion-contraction apparatus. The perspective view which shows the state which extended the multistage expansion-contraction apparatus of FIG. The schematic diagram corresponding to FIG. The schematic diagram corresponding to FIG. The schematic diagram which shows the multistage expansion-contraction apparatus of the state which adjusted the fixing position of the lower side fixing member. The schematic diagram which shows the state which extended the multistage expansion-contraction apparatus of FIG. The schematic diagram which shows the multistage expansion-contraction apparatus of the state which adjusted the fixing position of the upper side fixing member. The schematic diagram which shows the state which extended the multistage expansion-contraction apparatus of FIG.

  Hereinafter, an embodiment will be described with reference to the drawings. This embodiment is embodied as a multi-stage telescopic device attached to a robot, a linear actuator, or the like.

  FIG. 1 is a perspective view showing a multistage telescopic device 10. The multistage telescopic device 10 includes a fixed plate 11, a first slider 20, a drive unit 40, a second slider 60, and the like. Here, an example will be described in which the fixed plate 11 is disposed on the lower side and the second slider 60 is disposed on the upper side, but the direction in which the multistage telescopic device 10 is attached to the robot or the like is arbitrary.

  The fixed plate 11 (fixed portion) is formed in a rectangular plate shape, and is fixed to a robot or the like. A lower rail guide 12 extending in the longitudinal direction (predetermined direction) of the fixed plate 11 is attached to the fixed plate 11. The lower rail guide 12 is formed in a long shape, and the longitudinal direction of the fixed plate 11 coincides with the longitudinal direction of the lower rail guide 12. The lower rail guide 12 is formed with grooves 12a and ridges 12b for guiding a lower rail 22 described later. The groove 12 a and the protrusion 12 b extend in the longitudinal direction of the lower rail guide 12.

  The first slider 20 includes a first plate 21, a lower rail 22, a first support portion 23, a first pulley 24, a second support portion 25, a second pulley 26, a belt 27, an upper rail 28, and the like.

  The first plate 21 is formed in a rectangular plate shape, and the longitudinal direction of the fixed plate 11 coincides with the longitudinal direction (predetermined direction) of the first plate 21. A lower rail 22 extending in the longitudinal direction of the first plate 21 is attached to the lower surface of the first plate 21. The lower rail 22 is formed in a long shape, and the longitudinal direction of the first plate 21 coincides with the longitudinal direction of the lower rail 22. The lower rail 22 is formed with a groove 22 a that engages with the protrusion 12 b of the lower rail guide 12. The groove 22 a extends in the longitudinal direction of the lower rail 22. The first rail 20 is slidable in the longitudinal direction with respect to the fixed plate 11 by the lower rail guide 12 and the lower rail 22. An upper rail 28 having the same configuration as that of the lower rail 22 is attached to the upper surface of the first plate 21.

  The first support part 23 and the second support part 25 are attached to the first plate 21 (first slider 20) at predetermined intervals in the longitudinal direction. The first pulley 24 and the second pulley 26 are rotatably supported by the first support portion 23 and the second support portion 25, respectively. That is, the first pulley 24 and the second pulley 26 (rotating wheel) are attached to the first plate 21 (first slider 20) at predetermined intervals in the longitudinal direction. A belt 27 is wound around the first pulley 24 and the second pulley 26. The belt 27 (annular member) rotates together with the first pulley 24 and the second pulley 26.

  A drive unit 40 is attached to the first slider 20. The drive unit 40 includes a support plate 41, a motor 42, a motor pulley 43, a relay pulley 44, a belt 45, and the like. The support plate 41 is formed in a rectangular plate shape and is attached to the first plate 21. A motor 42 is attached to the support plate 41. A motor pulley 43 is attached to the drive shaft of the motor 42. A relay pulley 44 having a diameter larger than that of the first pulley 24 is coaxially provided on the first pulley 24. The first pulley 24 and the relay pulley 44 are integrated and rotate integrally. A belt 45 is wound around the motor pulley 43 and the relay pulley 44. The belt 45 rotates together with the motor pulley 43 and the relay pulley 44. The rotational force of the motor 42 is transmitted to the first pulley 24 in the order of the motor pulley 43, the belt 45, and the relay pulley 44, and rotates the first pulley 24, the belt 27, and the second pulley 26. The rotation of the motor 42 is controlled by a controller (not shown).

  The second slider 60 includes a second plate 61, an upper rail guide 62, and the like. The second plate 61 is formed in a rectangular plate shape, and a tool or the like is attached to the second plate 61. An upper rail guide 62 extending in the longitudinal direction (predetermined direction) of the second plate 61 is attached to the second plate 61. The upper rail guide 62 has the same configuration as the lower rail guide 12. By the upper rail guide 62 and the upper rail 28, the second slider 60 can slide in the longitudinal direction (predetermined direction) with respect to the first slider 20.

  Here, between the first pulley 24 and the second pulley 26, the lower portion 27 a (first portion) of the belt 27 and the fixing plate 11 are fixed by the lower fixing member 71. The lower fixing member 71 (first fixing member) includes sandwiching pieces 72 and 73 and a screw 74. The sandwiching piece 72 (first member) is formed in a rectangular plate shape, and is attached to the fixed plate 11. The clamping piece 73 (second member) is formed in a rectangular plate shape. Screw holes are respectively formed in the holding pieces 72 and 73. The sandwiching piece 72 and the sandwiching piece 73 are fastened by a screw 74 (fastening member) inserted into the screw hole with the sandwiching piece 72 and the sandwiching piece 73 sandwiching the lower portion 27a of the belt 27. That is, the lower fixing member 71 can adjust the fixing position with respect to the belt 27 by loosening the screw 74.

  Between the first pulley 24 and the second pulley 26, the upper portion 27b (second portion) of the belt 27 and the second plate 61 (second slider 60) facing the lower portion 27a are connected to the upper fixing member 76. It is fixed by. The upper fixing member 76 (second fixing member) includes sandwiching pieces 77 and 78 and screws 79 (not shown). The sandwiching piece 77 (third member) is formed in a rectangular parallelepiped shape and is attached to the second plate 61. The clamping piece 78 (fourth member) is formed in a rectangular plate shape. Screw holes are formed in the sandwiching pieces 77 and 78, respectively. The sandwiching piece 77 and the sandwiching piece 78 are fastened by a screw 79 (fastening member) inserted into the screw hole with the sandwiching piece 77 and the sandwiching piece 78 sandwiching the upper portion 27 b of the belt 27. That is, the upper fixing member 76 can adjust the fixing position with respect to the belt 27 by loosening the screw 79.

  In such a configuration, the first pulley 24 attached to the first slider 20 is rotated by the driving unit 40, and the belt 27 wound around the first pulley 24 and the second pulley 26 is rotated. Since the lower portion 27 a of the belt 27 and the fixed plate 11 are fixed, the first slider 20 is slid in the longitudinal direction with respect to the fixed plate 11. Further, since the upper portion 27 b of the belt 27 and the second slider 60 are fixed, the second slider 60 is slid in the longitudinal direction with respect to the first slider 20.

  In FIG. 1, the multistage telescopic device 10 is in the most contracted state. In this state, the sandwiching piece 72 is in contact with the second support portion 25, and the sandwiching piece 77 is in contact with the support plate 41. That is, the second support portion 25 (first stopper) functions as a stopper that limits the sliding range of the first slider 20 with respect to the fixed plate 11 when the multistage telescopic device 10 is contracted. The support plate 41 (second stopper) functions as a stopper that limits the sliding range of the second slider 60 relative to the first slider 20 when the multi-stage telescopic device 10 is contracted. FIG. 3 is a schematic diagram corresponding to FIG.

  In FIG. 2, the multistage telescopic device 10 is in the most extended state. In this state, the clamping piece 72 is in contact with the first support portion 23, and the clamping piece 77 is in contact with a part 21 a (not shown) of the first plate 21. That is, the first support portion 23 (first stopper) functions as a stopper that limits the sliding range of the first slider 20 relative to the fixed plate 11 when the multi-stage telescopic device 10 is extended. A part 21 a (second stopper) of the first plate 21 functions as a stopper that limits the sliding range of the second slider 60 relative to the first slider 20 when the multistage telescopic device 10 is extended. FIG. 4 is a schematic diagram corresponding to FIG.

  Next, with reference to FIG. 5, an adjustment process for adjusting the fixing position of the lower fixing member 71 with respect to the lower portion 27a of the belt 27 will be described. FIG. 5 is a schematic diagram showing the multistage telescopic device 10 in a state where the fixing position of the lower fixing member 71 is adjusted.

  First, in the lower fixing member 71, a screw 74 (not shown) is loosened (first step). The screw 74 may be removed, or the screw 74 may be loosened.

  Subsequently, the positions of the clamping pieces 72 and 73 with respect to the lower portion 27a of the belt 27 are adjusted (second step). Here, with the fixed plate 11 as a reference, the first slider 20 and the second slider 60 are slid by a length L1 in the direction in which the multistage telescopic device 10 is extended (the right direction in FIG. 5). At this time, the clamping piece 73 may be removed, or the clamping piece 73 may be left attached only by loosening the screw 74.

  Subsequently, the lower part 27a of the belt 27 is sandwiched between the sandwiching piece 72 and the sandwiching piece 73, and the sandwiching piece 72 and the sandwiching piece 73 are fastened by the screw 74 (third step). Thus, the adjustment process is completed. In this case, in the state where the multistage telescopic device 10 is most contracted, the tip of the second plate 61 (the right end in FIG. 5) is positioned to the right by the length L1 compared to the case of FIG.

  FIG. 6 is a schematic view showing a state in which the multistage telescopic device 10 of FIG. 5 is extended.

  As shown in the figure, the first slider 20 is slid in the longitudinal direction (right direction in FIG. 6) with respect to the fixed plate 11, and the second slider 60 is moved in the longitudinal direction (right in FIG. 6) with respect to the first slider 20. Slide in the direction). Here, since the relative position between the fixed plate 11 and the first slider 20 is adjusted, the sandwiching piece 72 hits the first support portion 23 first. Therefore, extending the multistage expansion / contraction apparatus 10 further is restricted. At this time, with the fixed plate 11 as a reference, the tip of the second plate 61 (the right end in FIG. 6) is positioned to the left by the length L1 compared to the case of FIG.

  Next, an adjustment process for adjusting the fixing position of the upper fixing member 76 with respect to the upper portion 27b of the belt 27 will be described with reference to FIG. FIG. 7 is a schematic view showing the multistage telescopic device 10 in a state where the fixing position of the upper fixing member 76 is adjusted.

  First, in the upper fixing member 76, a screw 79 (not shown) is loosened (fourth step). The screw 79 may be removed or the screw 79 may be loosened.

  Subsequently, the positions of the clamping pieces 77 and 78 with respect to the upper portion 27b of the belt 27 are adjusted (fifth step). Here, with the first slider 20 (fixed plate 11) as a reference, the second slider 60 is slid by a length L2 in the direction in which the multistage telescopic device 10 is extended (the right direction in FIG. 7). At this time, the clamping piece 78 may be removed, or the clamping piece 78 may be left attached only by loosening the screw 79.

  Subsequently, the upper piece 27b of the belt 27 is held between the holding piece 77 and the holding piece 78, and the holding piece 77 and the holding piece 78 are fastened by the screw 79 (sixth step). Thus, the adjustment process is completed. In this case, in the state where the multistage telescopic device 10 is most contracted, the tip of the second plate 61 (the right end in FIG. 7) is positioned to the right by the length L2 compared to the case of FIG.

  FIG. 8 is a schematic diagram showing a state in which the multi-stage telescopic device 10 of FIG. 7 is extended.

  As shown in the figure, the first slider 20 is slid in the longitudinal direction (the right direction in FIG. 8) with respect to the fixed plate 11, and the second slider 60 is moved in the longitudinal direction (the right side in FIG. 8) with respect to the first slider 20. Slide in the direction). Here, since the relative position between the first slider 20 and the second slider 60 is adjusted, the clamping piece 77 first hits a part 21 a of the first plate 21. Therefore, extending the multistage expansion / contraction apparatus 10 further is restricted. At this time, with the fixed plate 11 as a reference, the tip of the second plate 61 (the right end in FIG. 8) is positioned to the left by a length L2 compared to the case of FIG.

  The embodiment described in detail above has the following advantages.

  The operation range adjustment method of the multistage telescopic device 10 includes an adjustment step of adjusting the fixing position with respect to the belt 27 in at least one of the lower fixing member 71 and the upper fixing member 76. For this reason, by adjusting the fixing position of the lower fixing member 71 with respect to the belt 27, the relative position between the fixing plate 11 and the first slider 20 and consequently the relative position between the fixing plate 11 and the second slider 60 can be adjusted. Can do. Further, by adjusting the fixing position of the upper fixing member 76 with respect to the belt 27, the relative position between the first slider 20 and the second slider 60, and hence the relative position between the fixing plate 11 and the second slider 60 can be adjusted. it can. Therefore, the operation range of the multi-stage telescopic device 10 is arbitrarily adjusted by adjusting the fixing position of the fixing members 71 and 76 with respect to the belt 27 without requiring ellipse processing of the screw holes or forming a plurality of screw holes. be able to.

  In the multistage telescopic device 10, the belt 27 is sandwiched between the sandwiching piece 72 and the sandwiching piece 73, and the sandwiching piece 72 and the sandwiching piece 73 are fastened with screws 74, thereby fixing the lower portion 27 a of the belt 27. The plate 11 is fixed. According to the adjustment process of the present embodiment, the screws 74 are loosened to adjust the positions of the holding pieces 72 and the holding pieces 73 with respect to the belt 27 and fastened with the screws 74, so that the fixing plate 11 and the first slider 20 are fixed. The relative position can be easily adjusted. Furthermore, since the clamping piece 72 and the clamping piece 73 are fastened by the screw 74, it is not necessary to form a hole or the like in the belt 27, and the durability of the belt 27 can be maintained.

  In the multi-stage telescopic device 10, the belt 27 is sandwiched between the sandwiching piece 77 and the sandwiching piece 78, and the sandwiching piece 77 and the sandwiching piece 78 are fastened with the screw 79, whereby the upper portion 27 b of the belt 27 and the second portion The slider 60 is fixed. According to the adjustment process of the present embodiment, the first slider 20 and the second slider 60 are adjusted by loosening the screw 79, adjusting the positions of the holding piece 77 and the holding piece 78 with respect to the belt 27, and fastening with the screw 79. The relative position of can be easily adjusted. Furthermore, since the clamping piece 77 and the clamping piece 78 are fastened with the screw 79, it is not necessary to form a hole or the like in the belt 27, and the durability of the belt 27 can be maintained.

  The sliding range of the first slider 20 relative to the fixed plate 11 can be mechanically limited by the first support portion 23 and the second support portion 25 provided on the first slider 20. For this reason, even if the relative position between the fixing plate 11 and the first slider 20 changes by adjusting the fixing position of the lower fixing member 71 with respect to the belt 27, the first slider 20 with respect to the fixing plate 11 is changed. The slide range can be surely limited.

  The sliding range of the second slider 60 relative to the first slider 20 can be mechanically limited by the part 21 a of the first plate 21 and the support plate 41 provided on the first slider 20. Therefore, even if the relative position between the first slider 20 and the second slider 60 is changed by adjusting the fixing position of the upper fixing member 76 with respect to the belt 27, the second slider 60 with respect to the first slider 20. The sliding range can be surely limited.

  In addition, the said embodiment can also be changed and implemented as follows.

  As shown in FIGS. 5 and 6, when the fixing position of the lower fixing member 71 with respect to the lower portion 27 a of the belt 27 is adjusted, the clamping piece 72 does not hit the second support portion 25, and the clamping piece 77 is It does not hit the part 21a of the first plate 21. Therefore, the function as a stopper of the second support portion 25 and the part 21a of the first plate 21 may be omitted. Further, the rotation of the motor 42 can be limited in software (controllable) at a position where the clamping piece 77 hits the support plate 41 in FIG. 5 and a position where the clamping piece 72 hits the first support portion 23 in FIG. In that case, the functions of the support plate 41 and the first support portion 23 as stoppers can be omitted. Even in this case, the relative position between the fixed plate 11 and the second slider 60 changes as compared with FIGS. However, in order to reliably limit the sliding range of the first slider 20 with respect to the fixed plate 11 and the sliding range of the second slider 60 with respect to the first slider 20, the support plate 41 and the first support portion 23 function as stoppers. It is desirable.

  7 and 8, when the fixing position of the upper fixing member 76 with respect to the upper portion 27b of the belt 27 is adjusted, the sandwiching piece 72 does not hit the first support portion 23, and the sandwiching piece 77 is the support plate. No 41. Therefore, the function as a stopper of the first support portion 23 and the support plate 41 may be omitted. Further, the rotation of the motor 42 is limited in a software (controllable) position at a position where the clamping piece 72 hits the second support portion 25 in FIG. 7 and a position where the clamping piece 77 hits a part 21a of the first plate 21 in FIG. You can also In that case, the function as a stopper of the second support part 25 and the part 21a of the first plate 21 can be omitted. Even in this case, the relative position between the fixed plate 11 and the second slider 60 changes as compared with FIGS. However, in order to reliably limit the sliding range of the first slider 20 relative to the fixed plate 11 and the sliding range of the second slider 60 relative to the first slider 20, the second support portion 25 and a part 21 a of the first plate 21. It is desirable to function as a stopper.

  In the above embodiment, the clamping pieces 72 and 73 (75, 76) are fastened by the screws 74 (79). However, the clamping pieces 72 and 73 may be fastened by bolts and nuts (fastening members). In addition, the sandwiching pieces 72 and 73 are sandwiched and fixed by clip-shaped members, or the engaging part and the engaged part are provided on the sandwiching piece 72 and the sandwiching piece 73, respectively. You may fix the clamping pieces 72 and 73 by engaging.

  Even if both of the adjusting step of adjusting the fixing position of the lower fixing member 71 with respect to the lower portion 27a of the belt 27 and the adjusting step of adjusting the fixing position of the upper fixing member 76 with respect to the upper portion 27b of the belt 27 are performed. Good.

  The second plate 61 can be fixed to a robot or the like, and the fixed plate 11 can be slid in the longitudinal direction (predetermined direction).

  A third slider, a drive unit, and a fourth slider having the same configuration as the first slider 20, the drive unit 40, and the second slider 60 can be attached to the upper surface of the second plate 61.

  The shape of the fixed plate 11, the first plate 21, and the second plate 61 is not limited to a rectangular plate shape, and any shape such as a rectangular parallelepiped shape or a columnar shape can be adopted.

  In place of the belt 27, the first pulley 24, and the second pulley 26, a chain (annular member), a first sprocket (rotating wheel), and a second sprocket (rotating wheel) may be employed. In that case, the configuration of the lower fixing member 71 (first fixing member) and the upper fixing member 76 (second fixing member) may be changed corresponding to the change from the belt 27 to the chain.

  In the above embodiment, the belt 27 and the second pulley 26 are rotated by rotating the first pulley 24 by the driving unit 40 including the motor 42. However, the belt 27, the first pulley 24, and the second pulley 26 can be rotated by moving the first plate 21 in the longitudinal direction (predetermined direction) by a ball screw or the like (driving unit).

  DESCRIPTION OF SYMBOLS 10 ... Multi-stage expansion-contraction apparatus, 11 ... Fixed plate (fixed part), 20 ... 1st slider, 21 ... 1st plate, 21a ... Part (2nd stopper), 23 ... 1st support part (1st stopper) , 24 ... first pulley (rotating wheel), 25 ... second support portion (first stopper), 26 ... second pulley (rotating wheel), 27 ... belt (annular member), 27a ... lower part (first part) ), 27b... Upper part (second part), 40... Drive unit, 41... Support plate (second stopper), 60. , 72 ... clamping piece (first member), 73 ... clamping piece (second member), 74 ... screw (fastening member), 76 ... upper fixing member (second fixing member), 77 ... clamping piece (third member) ), 78... Sandwiching piece (fourth member), 79... Screw (fastening member).

Claims (5)

A fixed part;
A first slider that slides in a predetermined direction with respect to the fixed portion;
A second slider that slides in the predetermined direction relative to the first slider;
Two rotating wheels attached at predetermined intervals in the predetermined direction in the first slider;
An annular member wound around the two rotating wheels;
A drive unit for rotating the rotating wheel;
A first fixing member that fixes the first portion of the annular member and the fixing portion between the two rotating wheels;
A second fixing member that fixes the second portion of the annular member facing the first portion and the second slider between the two rotating wheels;
A first stopper provided on the first slider for limiting a sliding range of the first slider relative to the fixed portion;
With
The multi-stage telescopic device, wherein at least one of the first fixing member and the second fixing member can adjust a fixing position with respect to the annular member. The annular member is a belt;
The first fixing member includes a first member attached to the fixing portion, a second member that sandwiches the belt with the first member, and a fastening member that fastens the first member and the second member. A multi-stage telescopic device according to claim 1 . The annular member is a belt;
The second fixing member includes a third member attached to the second slider, a fourth member that sandwiches the belt between the third member, and a fastening member that fastens the third member and the fourth member. And a multi-stage telescopic device according to claim 1 or 2 . The first is provided on the slider, a plurality stage telescopic device according to any one of claims 1 to 3 comprising a second stopper for limiting the sliding range of the second slider relative to the first slider. A fixed part;
A first slider that slides in a predetermined direction with respect to the fixed portion;
A second slider that slides in the predetermined direction relative to the first slider;
Two rotating wheels attached at predetermined intervals in the predetermined direction in the first slider;
An annular member wound around the two rotating wheels;
A drive unit for rotating the rotating wheel;
A first fixing member that fixes the first portion of the annular member and the fixing portion between the two rotating wheels;
A second fixing member that fixes the second portion of the annular member facing the first portion and the second slider between the two rotating wheels;
A second stopper provided on the first slider for limiting a sliding range of the second slider relative to the first slider;
With
The multi-stage telescopic device, wherein at least one of the first fixing member and the second fixing member can adjust a fixing position with respect to the annular member.

Images