JP6885948B2 - Moving device for reciprocating body - Google Patents

Description

The present invention belongs to the field of mechanical technology capable of transporting, transferring, moving, etc. of people and / or objects, and more specifically, an improvement of a device for reciprocating a reciprocating body (moving body). Regarding. The reciprocating body moving device according to the present invention may be referred to as a reciprocating body traction device or a reciprocating body feeding device, or may be simply referred to as a moving device, a traction device, a feeding device, or a transport device. is there.

Transporting various transport objects such as raw materials, materials, parts, assemblies, finished products, and packages from a starting point to a destination is widely practiced in many technical fields. For example, in a very general line production method, a device for supplying an object to be transported (materials, parts, etc.) is installed corresponding to a processing line or an assembly line in a factory building. This device is configured so that a moving body for transportation travels along a traveling path provided in the building.

As this type of device, many devices such as a belt conveyor type transfer device, a screw type transfer device, a cylinder type transfer device, a timing belt type transfer device, and a work robot have been developed and put into practical use.

When this device is a belt conveyor type transfer device, it is suitable for long-distance transfer at a low price, but the positioning accuracy of the transported object is low, the transfer speed is slower than other devices, and the belt conveyor is proportional to the transfer distance. Requires a long installation space. Further, in the screw type transfer device, the transfer accuracy is improved by using the polishing ball screw, and the transfer is possible at medium and high speeds. However, if an expensive polishing ball screw is used, the device becomes expensive because it causes a cost push factor. The screw type transfer device is not a space-saving type and has a short transfer distance, so that it is difficult to transfer a long distance like a belt conveyor. Similar to the screw type feeder, the cylinder type transfer device has problems of difficulty in long-distance transfer and high cost, and the compactness required for space saving cannot be achieved. The cylinder-type transfer device is less practical because it is difficult to arbitrarily change the transfer stroke. On the other hand, the timing belt type transfer device is less expensive than the screw type feed device using the polished ball screw, but if a high precision product is used in order to obtain high positioning accuracy, the price is higher than that of the belt conveyor. Moreover, although the timing belt can set a longer transfer distance than the screw type transfer device and the cylinder type transfer device, the transfer distance of the belt conveyor is secured due to manufacturing restrictions and loosening of the belt. Is difficult. That is, the timing belt type transfer device does not increase in length like the belt conveyor, but the transfer distance becomes shorter accordingly. Work robots are extremely accurate and highly functional, but they are extremely expensive and are not suitable for continuous transportation over long distances.

The following Patent Documents 1 to 8 disclose techniques that can solve the problems of the conventional apparatus. The technology of these documents is a reciprocating method of a moving body, in which the moving body is pulled in the forward movement direction (forward direction) or in the reverse movement direction (backward direction) by a linear body that can be rewound and rewound. can do. In this technology, if the linear body on the moving side of the moving body or the linear body on the returning side of the moving body is connected to the moving body, positioning accuracy, long-distance transport, remote transport, controllability, high precision feed, It can satisfy high-speed feed, low price, simple configuration, space saving, weight reduction, dust generation countermeasures, safety measures against accident occurrence, etc.

However, the devices disclosed in Patent Documents 1 to 8 also have common technical problems pointed out in the following (1) to (6).
(1) The technology of the above patent document is that a moving body (reciprocating operating body) is advanced by a forward winder and a forward winding linear body, or a reverse winding device and a reverse winding linear body are used. Retreat the moving body. This moves the moving body forward and backward with only one forward winding linear body and only one reverse winding linear body. If the method of moving the moving body with only one linear body as in the techniques of these documents, it cannot be adapted to the weighted moving body. The reason is that only one linear body may be overloaded and the linear body may be stretched or broken, and therefore tends to cause an unexpected accident.
(2) In order to avoid the above-mentioned drawbacks, it is conceivable to increase the strength of the linear body. A typical example is the adoption of a striatum with a large diameter. However, when a linear body having a large diameter is adopted, the diameter of the winder must be increased in order to secure the bending resistance life of the linear body. Increasing the diameter of the winder can be technically easily achieved, but the following problems arise with it.
(3) This type of linear body is generally composed of a wire in which a plurality of strands are twisted together. However, the diameter of the winder must be set to about 500 times the diameter of the wire of the striatum. For example, if the wire diameter of the linear body is set to 2 mmφ, the diameter of the winder is 1000 mm = 1 m. Therefore, if the diameter of the linear body is increased, the diameter of the winder is increased, and it is necessary to increase the diameter and strength of the rotating shaft of the winder. Larger diameter and higher strength are required. Further, when searching for a linear body, peripheral parts such as a pulley have to be increased in size. As described above, if the diameter of the linear body is increased in order to apply it to a moving body having a large weight, the entire device component is affected accordingly, and the cost of the moving device is significantly increased.
(4) When the diameter of the winder (high-speed rotating body) is increased as described above, irregular vibration (rotational runout) is likely to occur in the rotating winder. For example, when the rotating shaft of the winder is bent due to centrifugal force due to imbalance during rotation, this bending causes a swinging phenomenon of the rotating shaft. Of particular note is the "critical speed of the rotating shaft" seen in the rotation of the winder under these circumstances. That is, when the rotation speed of the rotating shaft matches the bending natural frequency of the rotating shaft, the bending suddenly increases, resulting in a dangerous state. Therefore, if the diameter of the winder is increased, the rotation speed of the winder must be suppressed. In other words, high-speed rotation of the winder to improve work efficiency cannot be required unless a high degree of safety measures are taken.
(5) On the other hand, there is a demand for adopting a horizontally long structure such as a rod-shaped, columnar, or frame-shaped moving body of this type of moving device. When a moving body composed of such a horizontally long structure is used, only one normal winding linear body or only one reverse winding linear body is divided into the central part of the moving body (the part where the total length is bisected). It is necessary to connect accurately to. Further, during operation, the moving body is advanced or retracted by the forward winding linear body or the reverse winding linear body wound through the winder. In such an operation, in particular, it is necessary to move the moving body while maintaining the left-right balance, but if the balance is lost and the moving body tilts to the right or left, the moving body becomes immovable. In the existing method of applying a moving force (traction force) to the central part of the moving body with only one linear body, the moving body tends to lose the left-right balance. The reason is that there are many factors that cause imbalance, such as imbalance of the moving resistance of the moving body, fluctuation of the moving load, and vibration and vibration of the linear body. In order to prevent this balance collapse, for example, it is conceivable to provide balance-maintaining guide means on both sides of the moving region of the moving body, and to hold the left and right side portions of the moving body by the guide means. However, since the moving distance of the moving body may reach 50 to 100 m, a high equipment cost is required to maintain the balance. Auntie who cannot take this balance maintenance measure refuses to realize the mobile device itself.
(6) In this type of moving device, it is important to accurately stop the moving body at the target position. This is especially important when the production line is used to supply the required articles (parts, members). However, the conventional moving device that winds and rewinds the forward winding linear body and the reverse winding linear body via a single winder is a moving body while reducing the winding and rewinding speed of the linear body. When controlling the speed of the moving body, the moving body may be slightly deviated from the target position and stopped because the forward winding linear body or the reverse winding linear body tends to be slackened. Therefore, an improvement is desired so that the moving body can always be accurately stopped at the target position.

Japanese Unexamined Patent Publication No. 2006-017292 JP-A-2007-127138 JP-A-2009-204134 Japanese Unexamined Patent Publication No. 2011-002004 Japanese Unexamined Patent Publication No. 2011-08548 Japanese Unexamined Patent Publication No. 2012-002297 Re-table 2013-137139 Japanese Unexamined Patent Publication No. 2015-164821

In view of the above problems, the present invention provides a moving device for a reciprocating body having the following object. The first purpose is to move a reciprocating body such as a heavy (mass) reciprocating body, a horizontally long reciprocating body, and a heavy and long reciprocating body to move forward and backward smoothly, lightly, and stably. At the same time, it enables high-speed movement. The second purpose is to simplify and compact the moving device for the reciprocating actuator without increasing the size of the main components including the forward winding linear body, the reverse winding linear body, and the winder. That is. The third purpose is to ensure that each part is less likely to break down and to extend the life of the moving device for the reciprocating actuator. A fourth object is to provide a highly versatile moving device for a reciprocating body at a low cost. A fifth object is to provide a highly functional moving device for a reciprocating body at a low cost.

The present invention provides a moving device for a reciprocating actuator, which is the following 12 problem-solving means (11) to (22) in order to achieve the intended object.
(11) Provided with a reciprocating actuator that can move forward in the moving area when a force in the forward direction is received and backward in the moving area when a force in the backward direction is received.
Multiple forward and reverse rotatable forwards to apply forward force to the reciprocating actuator through the wound linear body and to allow the reciprocating actuator to retreat through the unwound linear body. Winder and
Multiple retreats that can rotate forward and backward to apply a backward force to the reciprocating actuator through the wound linear body and to allow the reciprocating actuator to advance through the unwound linear body. Winder and
A plurality of forward-winding linear bodies that are wound and rewound freely via the plurality of forward winders, and a plurality of forward-winding linear bodies.
Equipped with multiple reverse winding striatum that can be wound and rewound freely via multiple retracting winders.
Each forward winding linear body is routed across the reciprocating actuator and the plurality of forward winders so that the forward force of the plurality of forward winders is transmitted to the reciprocating actuator.
Each reverse winding linear body is routed across the reciprocating actuator and the plurality of retracting winders so that the force in the retracting direction of the plurality of retracting winders is transmitted to the reciprocating actuator.
Each forward winder during winding rotation and each reverse winder during rewinding rotate in synchronization and synchronization with each other in the respective winding and rewinding directions, and during rewinding rotation. Each forward winder and each reverse winder during winding rotation are synchronized and synchronized with each other and rotate in their respective rewinding and winding directions.
The winding amount of each forward winding linear body by each forward winding device and the unwinding amount of each reverse winding linear body by each reverse winding device are equal to each other, and each forward winding A moving device for a reciprocating actuator, characterized in that the amount of rewinding of each forward winding linear body by the winder and the amount of winding of each reverse winding linear body by each retreating winder are equal to each other. ..
(12) The moving device for a reciprocating actuator according to item (11) above, wherein all the forward winders are lined up in a row on the same axis.
(13) The moving device for a reciprocating actuator according to item (11) above, wherein all the retracting winders are lined up in a row on the same axis.
(14) The moving device for a reciprocating actuator according to item (11) above, wherein all the forward winders and all the reverse winders are lined up in a row on the same axis.
(15) The moving device for a reciprocating actuator according to any one of the above items (11), (12), and (14), wherein all the forward winders are integrated.
(16) The moving device for a reciprocating actuator according to any one of the above items (11), (13), and (14), wherein all the retracting winders are integrated.
(17) The moving device for a reciprocating actuator according to the above (11) or (14), wherein all the forward winders and all the reverse winders are integrated.
(18) All the forward winders are integrally configured, and all the reverse winders are integrated and configured, and are integrated with the integrated forward winder. The moving device for a reciprocating actuator according to the above item (11) or the above item (14), wherein the retractable winders are separate from each other.
(19) All the forward winders are arranged on one side selected from the forward movement start side and the reverse movement start side of the reciprocating body movement area, and the forward movement start of the reciprocating body movement area. For the reciprocating actuator according to the above (11) or (18), wherein all the retracting winders are arranged on the other side selected from the side and the recovery start side. Mobile device.
(20) A forward movement for winding and rewinding a plurality of dual-purpose linear bodies comprising a series of a forward-winding linear body and a reverse-winding linear body, and for winding and rewinding the dual-purpose linear body. It is provided with a winder assembly in which a winder for use and a winder for retreat are integrally formed, and further, an intermediate portion of the striatum for both sides is wound around the winder assembly and a dual-purpose wire. One end of the shape is connected to the reciprocating actuator as the end of the forward winding linear body, and the other end of the dual-purpose linear body is connected to the reciprocating actuator as the end of the reverse winding linear body. The moving device for a reciprocating body according to any one of the above items (11), (14), (17), and (19).
(21) The moving device for a reciprocating body according to any one of the above items (11) to (20), wherein the dimension of the reciprocating body in the left-right direction is larger than the dimension of the reciprocating body in the front-back direction.
(22) The moving area of the reciprocating actuator is set to any one of ground, underground, water, underwater, and air, and the reciprocating actuator reciprocates in the moving region (11). ) To the moving device for a reciprocating actuator according to any one of the above items (21).

The moving device for a reciprocating body according to the present invention has the following effects (31) to (38).
(31) The reciprocating actuator is advanced by a plurality of forward winders and a plurality of forward winding linear bodies, and the reciprocating actuator is retracted by a plurality of retracting winders and a plurality of reverse windings. Perform with a linear body. With such a movement method, a single forward winder and a single forward winding linear body can advance the reciprocating actuator, and a single reverse winder and a single reverse winding can be used. Compared to a linear body that retracts the reciprocating actuator, a stronger traction force can be applied to the reciprocating actuator to move it. Therefore, even when the reciprocating body having a large weight (mass) moves at high speed, the reciprocating body can be moved forward and backward smoothly, lightly, and stably through its strong traction force.
(32) With the above movement method, the reciprocating body having a large lateral (horizontal direction) dimension, the long reciprocating body having a long horizontal direction, and the reciprocating body having a large weight and a long length also lose their balance. It is possible to move forward and backward in a stable manner without any need. The reason is, for example, by winding the two normal winding linear bodies connected to the left side portion and the right side portion of the horizontally long reciprocating actuator in synchronization and synchronization with the forward winder, both the left and right sides. This is because the reciprocating working body (whole) including the part maintains a nearly accurate posture and moves at a constant speed. Similarly, two reverse winding linear bodies connected to the left side portion and the right side portion of the reciprocating actuator having a large lateral dimension and the horizontally long reciprocating actuator are wound synchronously and synchronously with the retracting winder. Even when it is taken, the reciprocating actuator moves at high speed and at a constant speed while maintaining a horizontally long state without impairing the balance.
(33) When a plurality of forward winding linear bodies and a plurality of reverse winding linear bodies are provided, it is not necessary to increase the diameter of the linear body even if the reciprocating working body is heavy. It is not necessary to increase the diameter of the winder. Therefore, the moving device for the reciprocating actuator can be simplified and made compact without increasing the size of the main components including the forward winding linear body, the reverse winding linear body, and the winder. In particular, all forward winders lined up in a row on the same axis, all retractable winders lined up in a row on the same axis, all forward winders and all A configuration in which the retracting winders are lined up in a row on the same axis, a configuration in which all forward winders are integrated, and a configuration in which all retracting winders are integrated. The integrated configuration of all forward winders and all reverse winders can make the reciprocating mover mobile device more concise and compact.
(34) The reciprocating actuator moving device is mainly composed of a reciprocating actuator, a plurality of forward winders, a plurality of reverse winders, a plurality of forward winding linear bodies, and a plurality of reverse winding linear bodies. It is configured in and has the above-mentioned stabilizing function. More specifically, the load applied to each part is distributed by having a plurality of forward winders, reverse winders, forward winding linear bodies, and reverse winding linear bodies, and it is impossible for each element. Since no heavy load is applied, each part is unlikely to break down. Therefore, it is possible to extend the life of the moving device for the reciprocating body.
(35) All the forward winders are arranged on one side selected from the forward movement start side and the reverse movement start side of the reciprocating body movement area, and the forward movement start of the reciprocating body movement area. In the reciprocating body moving device in which all the retracting winders are arranged on the other side selected from the side and the recovery start side, each winder is collected in one place. It becomes easy to centrally manage and monitor.
(36) All the forward winders are arranged on one side selected from the forward movement start side and the reverse movement start side of the reciprocating body movement area, and the forward movement start of the reciprocating body movement area. The reciprocating actuator moving device, in which all the retracting winders are arranged on the other side selected from the side and the recovery starting side, is each forward winding device and each retracting winding. Since the taker is separated from the taker, a large installation space for the taker is not required in one place, and when controlling the speed of the reciprocating actuator while reducing the take-up and rewind speed of the linear body. In addition, since it is possible to suppress or prevent the occurrence of slack in the forward winding linear body and the reverse winding linear body, the reciprocating operating body can be accurately stopped at the target position. As a result, it is possible to provide a moving device for a reciprocating body with high performance at a low cost.
(37) The forward winding linear body and the reverse winding linear body are composed of a dual-purpose linear body, and a forward winder and a retreat for winding and rewinding the dual-purpose linear body. A moving device for a reciprocating actuator, in which the winder is composed of a winder assembly, not only simplifies the structure of the device, but also effectively utilizes the axial region of the winder assembly. As a result, a plurality of dual-purpose linear bodies can be efficiently wound and rewound.
(38) For a reciprocating actuator mainly composed of a reciprocating actuator, a plurality of forward winders, a plurality of retracting winders, a plurality of forward winding linear bodies, and a plurality of reverse winding linear bodies. The moving device can stably move the reciprocating body forward and backward as described above. This makes it possible to stably move the reciprocating actuator regardless of whether the moving region of the reciprocating actuator is set above ground, underground, above water, underwater, or in the air. Therefore, it is possible to provide a highly versatile moving device for a reciprocating body at low cost.

A plan view (A) showing an outline of the first embodiment of the apparatus of the present invention, a side view (B) of a partially cutout state, a front view (C) showing an outline of a pulley unit in the apparatus of the present invention, and a right side view (D). ), The rear view (E), and the right side view (F). Explanatory drawing (A) to which outlines some examples of the winding method of the linear body for forward winding and the linear body for reverse winding in the apparatus of this invention together with the forward winder and the reverse winder. (E). It is a front view (A) to (C) which showed the winding method of the linear body for forward winding and the linear body for reverse winding in the apparatus of this invention by a forward winder and a reverse winder. It is a perspective view which substantially showed the outline of the 2nd Embodiment of this invention apparatus. It is a perspective view which substantially showed the structure of the main part of the 2nd Embodiment of this invention apparatus. It is a top view which substantially showed the 3rd Embodiment of this invention apparatus. It is a perspective view which substantially showed the outline of the 4th Embodiment of the apparatus of this invention. It is a perspective view which substantially showed the structure of the main part of the 4th Embodiment of the apparatus of this invention. It is a top view (A) and a side view (B) which substantially showed the 5th Embodiment of the apparatus of this invention. It is a plan view (A) which substantially showed the sixth embodiment of the apparatus of this invention, and is a plan view (B) which substantially showed the seventh embodiment of the apparatus of this invention. A plan view (A) illustrating the eighth embodiment of the apparatus of the present invention, a plan view (B) illustrating the ninth embodiment of the apparatus of the present invention, and two modifications of both embodiments are shown. It is a side view (C) (D). It is sectional drawing of the linear body winding mechanism adopted in the apparatus of this invention.

First, the reciprocating working body (moving body) used in the present invention will be described. This refers to a moving body for a target work or work. To give a few examples of typical reciprocating actuators, there are transport carts and vehicles. Other reciprocating actuators include measuring instruments, inspection machines, analysis machines, spraying machines, distribution machines, stirring machines, collecting machines, collecting machines, dust collecting machines, photographing machines, alarm machines, monitoring machines, lighting machines, and heating machines. Such machines can be mentioned, and some are equipped or equipped with these machines.

Next, the moving region of the reciprocating actuator used in the present invention will be described, which is set to any one or more of above-ground, underground, water, underwater, and air. When the moving area of the reciprocating actuator is on the ground, the moving area is the ground, various pavement surfaces, various floor surfaces, and various ground track surfaces. This also includes elevated tracks. When the moving area of the reciprocating body is underground, the inside of the tunnel and the underground passage are the moving areas. The types of reciprocating bodies when the moving area is above ground or underground are mainly trolleys and vehicles. When the moving area of the reciprocating actuator is on the water (on the liquid level), the water surface (liquid level) in natural land, artificial land, pool, large water tank or other water area corresponds to the moving area, and the moving area of the reciprocating actuator When is in water (in liquid), the water (in liquid) in each of the above water areas corresponds to the moving region. When the moving region of the reciprocating actuator is underwater, the forward winding linear body and the reverse winding linear body are searched so as to extend from the ground to the water. As the type of reciprocating actuator when the moving region is on the water (on the liquid surface), the one that generates buoyancy on the water is mainly used. This includes things like hulls. The type of reciprocating actuator when the moving area is underwater (in liquid) is, for example, a submersible, but is not limited thereto. When the moving region of the reciprocating actuator is in the air, the forward winding linear body and the reverse winding linear body are searched so as to extend from the ground to the air. The reciprocating body when the moving area is in the air includes, for example, a flying object such as a multicopter type unmanned aerial vehicle (drone) and an aerial floating object such as a balloon.

The terms forward winding linear body and reverse winding linear body in the present invention merely distinguish between these two linear bodies by a relative relationship. The terms "for forward winding" and "for reverse winding" do not have an absolute meaning. Therefore, when the "forward winding linear body" is changed to the "reverse winding linear body", the "reverse winding linear body" becomes the "normal winding linear body".

In the reciprocating moving body moving device according to the present invention, the reverse winding linear body and the forward winding linear body form a pair (two), and a plurality of pairs of linear bodies are provided. When there are two pairs of the reverse winding linear body and the normal winding linear body, the number of the linear bodies is four, and the reverse winding linear body and the forward winding linear body are three pairs. Then, the number of striatum is six. Therefore, the number of striatum is at least four. Furthermore, when there are two pairs of reverse winding linear body and forward winding linear body, two forward winding devices and two backward winding devices are required, and the reverse winding linear body is required. When the body and the striatum for normal winding are in three pairs, three forward winders and three reverse winders are required. Therefore, the number of striatum is also at least four.

When focusing on a pair of forward-winding striatum and reverse-winding striatum, instead of dividing a series of long striatum, one long striatum is positive from one end to the middle. The winding linear body may be used, and the other end to the intermediate portion may be used as the reverse winding linear body. This means that the forward winding linear body and the reverse winding linear body coexist in a series of long linear bodies. This series of linear bodies having both a forward winding linear body and a reverse winding linear body is referred to as a "universal linear body". On the other hand, the forward winder and the reverse winder are also paired. In this case, one forward winder corresponds to one or a plurality of linear bodies, and one reverse winder also corresponds to one or a plurality of linear bodies. A pair of forward winder and reverse winder may be separate from each other, but in many cases, the forward winder and the reverse winder are coaxially adjacent to each other and integrated. It has been transformed into a "winder assembly". In addition to this, a "winder assembly (for forward)" in which a plurality of forward winders are coaxially adjacent and integrated, and a plurality of reverse winders are coaxially adjacent and integrated. There is an integrated "winder assembly (for retreat)", and all forward winders and all retractable winders are coaxially adjacent and integrated. There is also an "aggregate (whole winder aggregate)". Such a "winder assembly" can also be referred to as a "common winder", a "shared winder", or a "combined winder". Further, regarding the "pulley unit" and the "pulley holder" in the embodiment of the present invention, the "pulley unit" may be referred to as a "pulley unit set" or a "pulley unit mechanism", and the "pulley holder" may be referred to as a "pulley unit". ..

Various embodiments of the forward winder and the reverse winder will be described in the following (1) to (13). (1) All forward winders are lined up on the same axis. (2) All retracting winders are lined up on the same axis. (3) All forward winders and all reverse winders are lined up on the same axis. (4) All forward winders are integrated. (5) All retracting winders are integrated. (6) All forward winders and all reverse winders are integrated. (7) All the integrated forward winders and all the integrated reverse winders are separate from each other. (8) All the forward winders are integrated as described above, but each reverse winder is an independent and independent body. (9) On the contrary, all the retracting winders are integrated as described above, but each forward winding device is an independent separate body. (10) All forward winders and all reverse winders are separate and independent bodies. (11) All the forward winders and all the reverse winders are arranged on one of the forward movement start side and the reverse movement start side of the reciprocating body movement area. To. (12) All the forward winders are arranged on one side selected from the forward movement start side and the reverse movement start side of the reciprocating body movement area, and the forward movement start of the reciprocating body movement area. All retracting winders are placed on the other side selected from the side and the recovery start side. (13) The individually independent forward winders are dispersedly arranged around the reciprocating actuator moving region, and the individually independent retracting winders are also distributed around the reciprocating actuator moving region. It is distributed and arranged around.

The moving device for a reciprocating actuator according to the present invention will be described with reference to the embodiments exemplified in FIGS. 1A to 1F.

In the moving device for a reciprocating body illustrated in FIG. 1, each component is made of a material having excellent mechanical properties such as a metal, a synthetic resin, and a composite material. Of these, a flexible material is selected for the forward winding linear body and the reverse winding linear body. To give a specific example, a linear body for normal winding and a linear body for reverse winding are made of a metal wire in which a large number of strands are twisted. The forward winding linear body and the reverse winding linear body may be made of a tensile strength body made of a material such as aramid fiber.

In the embodiment of FIG. 1, the shaft support (mounting base) 11 is equipped with a winder assembly 21X that can rotate in the forward and reverse directions. The winder assembly 21X includes a plurality of forward winders 22a and 22b and a plurality of reverse winders 23a and 23b, and the respective winders 22a, 22b, 23a and 23b are integrated. There is. In other words, each of the divided parts of the winder assembly 21X is a winder 22a, 22b, 23a, 23b, respectively. The winder assembly 21X moves in the axial direction (reciprocating in the axial direction) at a predetermined pitch when it rotates in the forward direction or in the reverse direction. The forward winding linear bodies 51a and 51b and the reverse winding linear bodies 52a and 52b are aligned and wound around the peripheral surfaces of the winders 22a, 22b, 23a and 23b.

The reciprocating actuator 71 illustrated in FIG. 1 is made of a horizontally elongated structure, an example of which has buoyancy. The reciprocating body 71 has a moving region on the water surface (on the liquid surface) in the pool PL, and reciprocates in the F1 direction and the F2 direction in FIG. 1A. The shaft support 11 equipped with the winder assembly 21X that can rotate in the forward and reverse directions is installed at the center of the front edge of the pool PL. Pulleys P01 to P08, which are also called sheaves, guide rollers, and pulleys, are arranged on the front edge of the pool PL, and similar pulleys P09 and P10 are arranged on the rear edge of the pool PL. Each of the pulleys P01 to P08 is rotatably mounted on a well-known pulley unit and installed at the above location. In a specific example, one pulley unit equipped with two pulleys is installed at the above location. Further, each of the pulleys P09 to P10 is also rotatably mounted on a well-known pulley unit and installed at the above-mentioned place. In a specific example, one pulley unit equipped with one pulley is installed at the above location.

In the pulley units PU01 to PU04 shown in FIGS. 1 (C), (D), (E), and (F), the pulleys P01 to P08 are of a type that freely rotates horizontally with the vertical axis as the axis. is there. Of these, the pulley unit PU01 shown in FIG. 1C is attached to the vertical shaft SV provided on the unit base UB1 so that the two pulleys P01 and P03 rotate freely. Regarding the relative relationship between the two pulleys P01 and P03, one pulley P01 is relatively lower and the other pulley P03 is relatively higher. Similarly, in the pulley units PU02, PU03, and PU04 of FIGS. 1 (D), (E), and (F), the two pulleys P02, P04, P05, P07, P06, and P08 that maintain the vertical relationship are the unit bases. It is attached to the vertical axis SV provided on the UB1 so as to rotate freely.

With reference to FIG. 1A, which is a plan view of the apparatus of the present invention, the pulleys P01 to P08 are shown in this figure with the pulley units PU01 to PU04 omitted. In the state of FIG. 1A, the lower pulleys P01, P03, P05, and P07, which are normally hidden and invisible, are intentionally illustrated for convenience of explanation.

In the two pulley units PU05 and PU06 shown in FIGS. 1A and 1B, the two pulleys P09 and P10 equipped therein are of a type that freely rotates vertically with the horizontal axis as the axis. belongs to. Of these, one of the pulleys P09 is attached and held so as to freely rotate on the horizontal shaft SH provided in the pulley holder PH. A screw shaft (bolt) SB projecting in the orthogonal direction of the back surface of the pulley holder PH is attached to the back surface portion. The pulley holder PH having the pulley P09 and the screw shaft SB is arranged so as to be movable back and forth on the horizontal bottom plate portion BP of the angle-shaped unit base UB2. The screw shaft SB of the pulley holder PH penetrates the vertical back plate portion BB of the unit base UB2 and protrudes to the outside of the unit base UB2. A female screw (nut) SN is screwed in.

Each of the above-mentioned pulley units PU01 to PU06 reciprocates the reciprocating operating body 71 as predetermined in cooperation with the winder assembly 21X, the forward winding linear bodies 51a and 51b, and the reverse winding linear bodies 52a and 52b. It is what works. The shaft support 11 equipped with the winder assembly 21X that can rotate in the forward and reverse directions is installed at the center of the front edge of the pool PL as described above. Two pulley units PU01 and PU01 adjacent to each other on the front side of the winder assembly 21X are also installed at the center of the front side edge of the pool PL. On the other hand, the other two pulley units PU03 and PU04 are installed on the right side of the front edge and the left side of the front edge of the pool PL, respectively. Further, the remaining two pulley units PU05 and PU06 are installed on the right side of the rear edge and the left side of the rear edge of the pool PL, respectively.

The winder assembly 21X of FIG. 1 is a combination of a plurality of forward winders 22a and 22b and a plurality of reverse winders 23a and 23b, but the plurality of forward winders 23a and 23b are integrated. It includes 22a and 22b and a plurality of retracting winders 23a and 23b. In this winder assembly 21X, the forward winder 22a corresponds to the forward winding linear body 51a, the forward winder 22b corresponds to the forward winding linear body 51b, and the reverse winding The device 23a corresponds to the reverse winding linear body 52a, and the reverse winding device 23b corresponds to the reverse winding linear body 52b, but the boundary portion of each winding device 22a, 22b, 23a, 23b is fixed. The winder assembly 21X is displaced in the axial direction as it rotates in the forward and reverse directions.

Explaining the forward winding linear bodies 51a and 51b and the reverse winding linear bodies 52a and 52b in FIG. 1, the normal winding linear body 51a and the reverse winding linear body 52a form a pair and are used for normal winding. The linear body 51b and the reverse winding linear body 52b form a pair. Further, as shown in FIG. 1, a series of long dual-purpose linear bodies 51R constitutes a pair of a forward-winding linear body 51a and a reverse-winding linear body 52a8, and a series of long dual-purpose linear bodies 51a. The body 51S constitutes a pair of the normal winding linear body 51b and the reverse winding linear body 52b.

Explaining the dual-purpose linear bodies 51R and 51S (linear bodies 51a and 51b for normal winding and linear bodies 52a and 52b for reverse winding) in FIG. 1, the intermediate portion of these striatums is several to several tens of times. It is wound around the outer peripheral surface of the winder assembly 21X within the range of. In a specific example, the dual-purpose linear bodies 51R and 51S are wound around the outer peripheral surface of the winder assembly 21X about 10 to 15 times. In this case, the winding portion of the one dual-purpose linear body 51R and the winding portion of the other dual-purpose linear body 51S are axially adjacent to each other on the outer peripheral surface of the winder assembly 21X. Further, usually, an adjacent interval (a portion in which the linear body is not wound) is interposed between the adjacent portions of both winding portions. When the distance between the winding portions adjacent to each other is described with reference to the number of windings of the dual-purpose linear body, the number of windings is in the range of about 2 to 5 times.

The dual-purpose linear bodies 51R and 51S (linear bodies 51a and 51b for normal winding and linear bodies 52a and 52b for reverse winding) in which an intermediate portion is wound around the outer peripheral surface of the winder assembly 21X are related thereto. It is searched as follows in relation to each part. The forward winding linear body 51a rewound from the advancing winder 22a of the winder assembly 21X is located at one end of the reciprocating actuator 71 after passing through the pulleys P01, P05, and P09. It is fixed to the fixed portion EF1. The forward winding linear body 51b rewound from the advancing winder 22a of the winder assembly 21X is located at the other end of the reciprocating actuator 71 after passing through the pulleys P02, P06, and P10. It is fixed to the fixed portion EF2. The reverse winding linear body 52a rewound from the retreating winder 23a of the winder assembly 21X passes through the pulleys P03 and P07, and then is a fixed portion at one side end of the reciprocating actuator 71. It is fixed to EB1. Further, the reverse winding linear body 52b rewound from the retracting winder 23b of the winder assembly 21X is located at the other end of the reciprocating actuator 71 after passing through the pulleys P04 and P08. It is fixed to the fixed portion EB2.

In FIG. 1, when the forward rotation of the prime mover (for example, a servomotor) 34 mounted on the shaft support 11 is transmitted to the rotating shaft 26 of the winder assembly 21X via the transmission means (coupling 81). , The winder assembly 21X rotates in the forward direction. The forward rotation of the winder assembly 21X is a forward rotation for the forward winders 22a and 22b, but a reverse rotation for the reverse winders 23a and 23b. Therefore, the forward winders 22a and 22b rotate in the direction of winding the forward linear bodies 51a and 51b, and at the same time, the reverse winders 23a and 23b wind the reverse winding linear bodies 52a and 52b. Rotate in the rewinding direction. When the reverse winding linear bodies 52a and 52b are rewound while the forward winding linear bodies 51a and 51b are being wound in this way, the traction force of the wound forward winding linear bodies 51a and 51b causes the winding linear bodies 51a and 51b. The reciprocating actuator 71 moves forward and backward in the F1 direction of FIG. 1 (A). On the other hand, when the reverse rotation of the prime mover 34 is transmitted to the rotation shaft 26 of the winder assembly 21X via the transmission means (coupling 81), the winder assembly 21X rotates in the reverse direction. The reverse rotation of the winder assembly 21X is a reverse rotation for the forward winders 22a and 22b, but a forward rotation for the reverse winders 23a and 23b. Therefore, the forward winders 22a and 22b rotate in the direction of rewinding the forward linear bodies 51a and 51b, and at the same time, the reverse winders 23a and 23b rotate the reverse winding linear bodies 52a and 52b. Rotate in the winding direction. When the reverse winding linear bodies 52a and 52b are wound while the forward winding linear bodies 51a and 51b are being rewound in this way, the traction force of the wound reverse winding linear bodies 52a and 52b causes the winding linear bodies 52a and 52b to wind up. The reciprocating actuator 71 retreats and rewinds in the F2 direction of FIG. 1 (A).

Each of the winder assemblies 21X illustrated in FIGS. 2A to 2E has a plurality of forward winders 22a and 22b and a plurality of reverse winders 23a and 23b. Moreover, each of the winders 22a, 22b, 23a, and 23b is provided with a linear body. Hereinafter, the winder assembly 21X of each example will be specifically described.

In the winder assembly 21X of FIG. 2A, two forward winding linear bodies 51a and 51b are freely wound and rewound on the forward winders 22a and 22b, and the winding device assembly 21X is used for retreating. Two reverse winding linear bodies 52a and 52b are freely wound and rewound on the winders 23a and 23b. In the winder assembly 21X of FIG. 2B, four forward winding linear bodies 51a, 51b, 51c, 51d are freely wound and rewound on the forward winders 22a, 22b, 22c, and 22d. In addition, four reverse winding linear bodies 52a, 52b, 52c, 52d are freely wound and rewound on the retreating winders 23a, 23b, 23c, and 23d. The winder assembly 21X of FIG. 2C has six forward winding linear bodies 51a, 51b, 51c, 51d, 51e on the forward winders 22a, 22b, 22c, 22d, 22e, 22f. 51f is freely wound and rewound, and six reverse winding linear bodies 52a, 52b, 52c, 52d, 52e, and six reverse winding linear bodies 52a, 52b, 52c, 52d, 52e, are provided on the retracting winders 23a, 23b, 23c, 23d, 23e, 23f. 52f is freely rewound and rewound.

The winder aggregates 21X of FIGS. 2A to 2C are merely examples, but the linear bodies 51a to 51f and 52a to 52f are fixed portions (mounting portions) X1 to X6 and winder 22a. It is fixed to to 22f. As such a linear body fixing means, a well-known fixing means such as screwing is used. Fixing the striatum to the winder in this way is just one example. In this case, the fixing portions X1 to X6 are boundary portions between the forward winding linear bodies 51a to 51f and the reverse winding linear bodies 52a to 52f.

As another example of the winder assembly 21X, there is also a form in which the linear bodies 51a to 51f and 52a to 52f are not fixed to the respective winders 22a to 22f. Specific examples of the form will be described below with reference to FIGS. 2 (D) and 2 (E).

In the form of FIG. 2D, the dual-purpose linear body 51R constitutes one forward-winding linear body 51a and one reverse-winding linear body 52a. In other words, the dual-purpose linear body 51R is composed of a series of forward-winding linear bodies 51a and reverse-winding linear bodies 52a. Similarly, the dual-purpose linear body 51S also constitutes one forward-winding linear body 51b and one reverse-winding linear body 52b. The winder assembly 21X of FIG. 2D is a forward winder 22a and a reverse winder 23a for winding and rewinding one dual-purpose linear body 51R, and the other dual-purpose linear body. It constitutes a forward winder 22b and a reverse winder 23b for winding and rewinding the body 51S. As in the previous example, the winders 22a, 22b, 23a, and 23b are integrated as one winder assembly 21X, and each part is utilized as the winders 22a, 22b, 23a, and 23b. In the form of FIG. 2D, the intermediate portion of the dual-purpose linear body 51R and the intermediate portion of the dual-purpose linear body 51S are wound around the outer peripheral surface of the winder assembly 21X, respectively. The coiled winding portions C01 and C02 generated on the outer peripheral surface of the winder assembly 21X by this winding are adjacent to each other in the axial direction of the winder assembly 21X with a gap between the adjacent portions. Of course, the winding portions C01 and C02 of the dual-purpose linear bodies 51R and 51S are not fixed to the winder assembly 21X. Further, in the form of FIG. 2D, one end of each of the dual-purpose linear bodies 51R and 51S is connected to and fixed to the reciprocating operating body 71 as the end of the normal winding linear bodies 51a and 51b, and is fixed. The other ends of the dual-purpose linear bodies 51R and 51S are also connected to and fixed to the reciprocating operating body 71 as the end portions of the reverse winding linear bodies 52a and 52b.

The form of FIG. 2 (E) is basically the same as that of FIG. 2 (D), but in this form, the dual-purpose wire constituting the forward winding linear body 51c and the reverse winding linear body 52c is formed. The shape 51T is used together with the above two dual-purpose linear bodies 51R and 51S. The intermediate portions of these three dual-purpose linear bodies 51R, 51S, and 51T are also wound around the outer peripheral surface of the winder assembly 21X. The coiled winding portions C01, C02, and C03 formed on the outer peripheral surface of the winder assembly 21X by this winding are adjacent to each other in the axial direction of the winder assembly 21X with a gap between the adjacent portions. .. Of course, the winding portions C01, C02, and C03 of the dual-purpose linear bodies 51R, 51S, and 51T are also not fixed to the winder assembly 21X. Also in the form of FIG. 2 (E), one end of each of the dual-purpose linear bodies 51R, 51S, and 51T is connected to and fixed to the reciprocating operating body 71 as the end of the normal winding linear bodies 51a, 51b, and 51c. The other ends of the dual-purpose linear bodies 51R, 51S, and 51T are also connected to and fixed to the reciprocating operating body 71 as the end portions of the reverse winding linear bodies 52a, 52b, and 52c.

As described above, in the form of FIGS. 2D and 2E, the dual-purpose linear bodies 51R and 51S are not fixed to the winder assembly 21X. The fact that this linear body is not fixed to the winder assembly 21X is the same in the form of FIGS. 2 (A), (C), and (E).

In the dual-purpose linear bodies 51R and 51S of FIG. 2D, when the winder assembly 21X rotates in the forward direction, the forward winding linear bodies 51a and 51b are wound and at the same time the reverse winding linear bodies 52a and 52b are wound. Is rewound, and when the winder assembly 21X rotates in the reverse direction, the reverse winding linear bodies 52a and 52b are wound and at the same time the normal winding linear bodies 51a and 51b are rewound. By winding and rewinding the forward winding linear bodies 51a and 51b and the reverse winding linear bodies 52a and 52b in this way, the reciprocating moving body 71 moves forward and backward and backwards and backwards. Or Similarly, in the dual-purpose linear bodies 51R, 51S, and 51T of FIG. 2 (E), when the winder assembly 21X rotates in the forward direction or in the reverse direction, the linear bodies 51a, 51b, 51c for normal winding and the reverse winding Since the linear bodies 52b, 52b, and 52c are wound and rewound, the reciprocating moving body 71 similarly moves forward and backward and backwards and backwards.

In the dual-purpose linear bodies 51R and 51S of FIG. 2 (D), the lengths of the forward winding linear body 51a and the reverse winding linear body 52a change relatively as they are wound and rewound. .. For example, when the reverse winding linear body 52a is wound while the forward winding linear body 51a is being rewound, the reverse winding linear body 52a is shortened while the normal winding linear body 51a is lengthened, and the reverse winding linear body 52a is shortened. When the reverse winding linear body 52a is rewound while the normal winding linear body 51a is being wound, the reverse winding linear body 52a becomes longer while the normal winding linear body 51a becomes shorter. Similarly, when the forward winding linear body 51b and the reverse winding linear body 52b are wound or rewound, the lengths of both of them change relatively. Further, for the dual-purpose linear bodies 51R, 51S, and 51T of FIG. 2 (E), the lengths of the normal winding linear body 51a and the reverse winding linear body 52a and the normal winding linear body 51b are the same as described above. The length of the reverse winding linear body 52b and the length of the forward winding linear body 51c and the reverse winding linear body 52c vary relatively in these winding and rewinding.

The linear bodies 51a, 51b, 51c, 52a, 52b, and 52c are aligned with the winders 22a, 22b, 23a, 23b, and 23c in a single-row manner as shown in FIGS. 2 (A), (D), and (E). When winding, a single spiral groove 53 as shown in FIG. 3A is formed on the outer peripheral surface of the winder assembly 21X, and each linear body fits into the spiral groove 53. As such, it is wound around the outer peripheral surface of the winder assembly 21X. When the linear bodies 51a, 51b, 51c, 51d, 52a, 52b, 52c, 52d are aligned and wound around the winders 22a, 22b, 23a, 23b in the double-row winding mode of FIG. 2B, the winding is performed. Two spiral grooves 53, 54 as shown in FIG. 3B are formed on the outer peripheral surface of the collector assembly 21X, and each linear body is wound so as to be fitted in the spiral grooves 53, 54. It is wound around the outer peripheral surface of the vessel assembly 21X. Further, in the three-row winding mode shown in FIG. 2C, the linear bodies 51a, 51b, 51c, 51d, 51e, 51f, 52a, 52b, 52c, 52d, 52e, 52f are used in the winders 22a, 22b, 22c, respectively. In the case of aligning and winding in 22d, 22e, 22f, 23a, 23b, 23c, 23d, 23e, 23f, the outer peripheral surface of the winder assembly 21X has the embodiment of Article 3 shown in FIG. Spiral grooves 53, 54, 55 are formed, and each linear body is wound around the outer peripheral surface of the winder assembly 21X so as to fit into the spiral grooves 53, 54, 55.

The linear body winding mechanism (the shaft support 11, the winder assembly 21X, the prime mover 34, and the mechanism including the transmission system) adopted in the embodiment of FIG. 1 is disclosed in Patent Documents 1 to 3. The mechanism that has been used can be used. Incidentally, the embodiment of FIG. 1 corresponds to the one described in Patent Document 1 or Patent Document 2.

The forward winding linear bodies 51a and 51b and the reverse winding linear bodies 52a and 52b of FIG. 1 are attached to the winder assembly 21X (22a, 22b, 23a, 23b) in the manner shown in FIGS. It can be wound up and rewound. This will be described below.

The forward winding linear bodies 51a and 51b and the reverse winding linear bodies 52a and 52b of FIGS. 4 and 5 are composed of a series of long linear bodies, and the long linear bodies ( Each part of (hereinafter referred to as a long linear body) is used properly as a normal winding linear body 51a and 51b and a reverse winding linear body 52a and 52b.

In FIGS. 4 and 5, an example of winding the long linear body around the winder assembly 21X will be described. First, as shown by the fixed portion X7 in FIG. 4, one end of the long linear body is described. Is fixed to one end of the winder assembly 21X with an appropriate fixture. Next, the long linear body is wound around the outer peripheral surface of the winder assembly 21X. When this winding reaches the other end of the winder assembly 21X, as shown by the fixing portion X8 in FIG. 4, the other end of the long linear body is wound with an appropriate fixture with the winder assembly. It is fixed to the other end of 21X.

In the embodiment of FIGS. 4 and 5, when the long linear body is wound around the winder assembly 21X as described above, the two long loop-shaped relaxation portions RA1 and RB1 shown in FIGS. 4 and 5 are formed. Both loop-shaped relaxation portions RA1 and RB1 of the elongated linear body are fixed to one side end portion and the other side end portion of the reciprocating actuator 71, as in the form of FIG. Specifically, it is fixed to the fixing portions EF1, EB1, EF2, and EB2 at one side end and the other side end of the reciprocating body 71 in FIGS. 4 and 5. Each part of the long linear body connected to the reciprocating actuating body 71 in this way is a linear body for forward winding 51a, 51b and a linear body for reverse winding 52a, 52b with the reciprocating actuating body 71 as a boundary. It becomes.

As a typical example, the reciprocating body 71 of FIGS. 4 and 5 is arranged in the pool PL as shown in FIG. The winder assembly 21X in this case is installed at the center of the front edge of the pool PL, for example, as shown in FIG. Further, the forward winding linear bodies 51a and 51b and the reverse winding linear bodies 52a and 52b are also searched through a plurality of pulleys P01 to P10 as in the example of FIG. That is, as shown in FIG. 5, the forward winding linear bodies 51a and 51b and the reverse winding linear bodies 52a and 52b are hung around the pulleys P01 to P10 of the pulley units arranged at key points around the pool. It is searched for as prescribed.

In the reciprocating body moving device having the main part configuration shown in FIGS. 4 and 5, other matters omitted from the description are substantially the same as or substantially the same as those described with reference to FIGS. 1 to 3. It is similar. Therefore, the description of other matters concerning the moving device for the reciprocating body having the main part configuration shown in FIGS. 4 and 5 will be omitted by referring to the matters described with reference to FIGS. 1 to 3.

In the form of FIGS. 4 and 5, the forward winding linear bodies 51a and 51b and the reverse winding linear bodies 52a and 52b when the winder assembly 21X is rotated forward and reverse are It is wound up by the winder assembly 21X and rewound from the winder assembly 21X. Along with this, the reciprocating actuator 71 moves forward (advances) and backwards (returns). Further, each of the linear bodies 51a, 51b, 52a and 52b is wound and rewound in each of the winders 22a, 22b, 23a and 23b included in the winder assembly 21X. In this case, the winding area and the rewinding area of the winders 22a, 22b, 23a, and 23b in the winder assembly 21X are not definite, and the winding amount changes of the linear bodies 51a, 51b, 52a, and 52b. And relative displacement as the amount of rewinding changes. By the way, in the form of FIGS. 4 and 5, when the winder assembly 21X is rotated counterclockwise to rewind the forward winding linear bodies 51a and 51b to the maximum, the reverse winding is synchronized with this. The linear bodies 52a and 52b can be completely wound over the effective winding area (entire outer peripheral surface that can be wound) of the winder assembly 21X. In the modes of FIGS. 4 and 5, when the winder assembly 21X is rotated clockwise to rewind the reverse winding linear bodies 52a and 52b to the maximum extent in the opposite direction to the above, the normal winding is synchronized with this. The linear bodies 51a and 51b can be completely wound over the effective winding area of the winder assembly 21X. In the modes of FIGS. 4 and 5, the linear body can be continuously wound over almost the entire outer peripheral surface of the winder assembly 21X without causing a portion that does not contribute to winding. , A large effective take-up stroke can be secured for each of the linear bodies 51a, 51b, 52a, 52b.

Next, the form of FIG. 6 will be described. In this form, a pair of forward winding linear bodies 51c and a reverse winding linear body 52c are added to the above example, and the winder assembly A forward winder 22c and a reverse winder 23c are added to the 21X. Further, a pulley unit PU07 having a pulley P11 has also been added. The winder assembly 21X of FIG. 6 is of the type shown in FIG. 2 (E), for example. The forward winding linear body 51c and the reverse winding linear body 52c in the form of FIG. 6 are fixedly connected to the fixing portions EF3 and EB3 in the central portion of the reciprocating moving body 71.

Also in the embodiment of FIG. 6, the reciprocating moving body 71 is made the same by rotating the winder assembly 21X including the plurality of forward winders 22a to 22c and the plurality of reverse winders 23a to 23c in the forward and reverse directions. It is moved forward (forward) in the direction of arrow F1 in the figure, or backward (returned) in the direction of arrow F2 in the figure.

Also in the form of FIG. 6, it can be deformed as described with reference to FIGS. 4 and 5. This will be described with reference to FIGS. 7 and 8.

The forward winding linear bodies 51a, 51b, 51c and the reverse winding linear bodies 52a, 52b, 52c of FIGS. 7 and 8 are also composed of a series of long linear bodies as in the previous example, and the long lines thereof. Each part of the shape (hereinafter referred to as a long linear body) is used properly as a forward winding linear body 51a, 51b, 51c or a reverse winding linear body 52a, 52b, 52c.

In the form of FIGS. 7 and 8, when the long linear body is wound around the winder assembly 21X (22a, 22b, 22c, 23a, 23b, 23c), first, one end of the long linear body is used. Is fixed to the fixing portion X7 (one end of the winder assembly 21X) of FIG. 7 with an appropriate fixture, and then the long linear body is wound around the outer peripheral surface of the winder assembly 21X. When this winding reaches the other end of the winder assembly 21X, the other end of the long linear body is fixed with an appropriate fixture to the fixing portion X8 of FIG. 7 (the other end of the winder assembly 21X). Fix it to the part).

In the form of FIGS. 7 and 8, when the long linear body is wound around the winder assembly 21X as described above, the three long loop-shaped relaxation portions RA1 and RB1 as shown in FIGS. 7 and 8 are also formed. , RC1 is formed. Each loop-shaped relaxation portion RA1, RB1, and RC1 of the elongated linear body is fixed to one side end portion and the other side end portion of the reciprocating actuator 71, as in the above example. Specifically, it is fixed to the fixing portions EF1, EB1, EF2, EB2, EF3, and EB3 at one side end and the other side end of the reciprocating body 71 in FIGS. 7 and 8. Each part of the long linear body connected to the reciprocating actuating body 71 in this way is a forward winding linear body 51a, 51b, 51c or a reverse winding linear body 52a with the reciprocating actuating body 71 as a boundary. , 52b, 52c.

In the embodiments of FIGS. 7 and 8, the reciprocating actuator 71 is arranged in the pool PL, and the winder assembly 21X is installed in the central portion of the front edge of the pool PL, as in the embodiment of FIG. Substantially unchanged. The forward winding linear bodies 51a, 51b, 51c and the reverse winding linear bodies 52a, 52b, 52c are searched through a plurality of pulleys P01 to P11, as in the example of FIG. That is, the forward winding linear bodies 51a, 51b, 51c and the reverse winding linear bodies 52a, 52b, 52c are the pulleys P01 to P01 of the pulley units arranged at key points around the pool, as shown in FIG. It is hung around P11 and searched as prescribed.

In the moving device for the reciprocating body having the main part configuration shown in FIGS. 7 and 8, are the other matters omitted from the description substantially the same as the matters described with reference to FIGS. 1 to 3 and the like? Follow it. Therefore, the description of other matters concerning the moving device for the reciprocating body having the main part configuration shown in FIGS. 7 and 8 will be omitted by referring to the matters described with reference to FIGS. 1 to 3.

In the form of FIGS. 7 and 8, the forward winding linear bodies 51a, 51b, 51c and the reverse winding linear bodies 52a, 52b, 52c when the winder assembly 21X is rotated forward or reverse. Also, it is wound up by the winder assembly 21X or rewound from the winder assembly 21X, and the reciprocating actuator 71 moves forward (advances) or backwards (returns) accordingly. Further, the linear bodies 51a, 51b, 51c, 52a, 52b, 52c are also wound or rewound by the winders 22a, 22b, 22c, 23a, 23b, 23c included in the winder assembly 21X. To do. In this case, the winding area and the rewinding area of the winding devices 22a, 22b, 22c, 23a, 23b, 23c in the winding device assembly 21X are also not deterministic as in the previous example, and the linear bodies 51a, 51b. , 51c, 52a, 52b, 52c are relatively displaced as the winding amount and the rewinding amount change. By the way, in the form of FIGS. 7 and 8, when the winder assembly 21X is rotated counterclockwise to rewind the linear bodies 51a, 51b, 51c for normal winding to the maximum extent, reverse winding is performed in synchronization with this. The linear bodies 52a, 52b, and 52c can be completely wound over the effective winding area (entire outer peripheral surface that can be wound) of the winder assembly 21X. In the embodiments of FIGS. 7 and 8, contrary to the above, when the winder assembly 21X is rotated clockwise to rewind the reverse winding linear bodies 52a, 52b, 51c to the maximum extent, the winding device assembly 21X is synchronized with the winding device assembly 21X. The linear bodies 51a, 51b, and 51c for normal winding can be completely wound over the effective winding region of the winder assembly 21X. In the embodiments of FIGS. 7 and 8, similarly to the previous example, the linear body is continuously wound over almost the entire outer peripheral surface of the winder assembly 21X without causing a portion that does not contribute to winding. Therefore, a large effective take-up stroke can be secured for each of the linear bodies 51a, 51b, 51c, 52a, 52b, and 52c.

Next, the form of FIG. 9 will be described. In this form, the reciprocating moving body 71 having a relatively small width dimension is reciprocated. Specifically, the reciprocating mobile body 71 is reciprocated by the winder assembly 21X having three pairs of forward winders 22a to 22c and reverse winders 23a to 23c. Therefore, the winder assembly 21X used in the form of FIG. 9 can also be of the type shown in FIG. 2 (E), for example.

In the pulley unit PU00 of FIG. 9, the pulley holder PH provided with the three pulleys P12 to P14 utilizes the rotational force of the pulley shaft PX together with the pulleys P12 to P14 to form the forward winding linear bodies 51a to 51c and the pulley holder PH. The slack of the reverse winding linear bodies 52a to 52c can be removed, and the respective linear bodies 51a to 51c and 52a to 52c can always be maintained in an appropriate tightening state (tension state). The tightening mechanism TM includes parts such as a shaft XX, a magnet gear MG, a cam C, an arm AM, a tension spring SP, a roller R, a one-way clutch W, a screw shaft RX, and a nut N that operate with the rotation of the pulley shaft PX. Alternatively, it is composed of members, and the operation of the tensioning mechanism TM is as described in (1) to (8) below, as described with reference to FIG.

(1) The pulley shaft PX rotates with the driving of the apparatus of the present invention for winding and rewinding the linear body.
(2) In the tensioning mechanism TM, the shaft XX rotates via the magnet gear MG as the pulley shaft PX rotates.
(3) The cam C connected to the shaft XX rotates.
(4) In the case of the arm AM, the arm AM swings and rotates by the rotation of the cam C whose eccentricity is “e”. That is, since the arm AM is always in contact with the cam C via the tension spring SP, it swings with the rotation of the cam.
(5) The roller R rotates a small amount to the left and right due to the swing of the arm AM.
(6) The nut N is rotated only when rotating clockwise in FIG. 5B via the one-way clutch W built in the roller R.
(7) By the rotation of the nut N, the screw shaft RX pulls the pulley holder PH on the pulley unit PU00 in the direction of the arrow F1 in FIG. 5A to add tension to the linear bodies 51a to 51c and 52a to 52c.
(8) Since the tension spring SP has characteristics commensurate with the proper tension of the linear bodies, the respective linear bodies 51a to 51c and 52a to 52c always maintain the proper tension.

Next, an embodiment of the reciprocating moving body moving device shown in FIGS. 10A and 10B will be described.

In the embodiment shown in FIGS. 10A and 10B, the winder assembly 21X for winding and rewinding each linear body is separated and independent. Of these, in FIG. 10A, the right-hand winder assembly 21X and the left-side winder assembly 21X separated from each other are provided, and in FIG. 10B, the right-hand windings separated from each other are provided. A winder assembly 21X, a winder assembly 21X on the left side, and a winder assembly 21X in the center are provided. Since the matters omitted from the description in the embodiments of FIGS. 10A and 10B are substantially the same as or similar to those of the precedents, the contents can be understood by referring to each precedent. ..

In the embodiment shown in FIGS. 10A and 10B, the plurality of winder aggregates 21X are operated in a synchronized and synchronized manner, whereby the reciprocating actuator 71 is operated in the same manner as in the previous example. be able to.

Embodiments of the apparatus of the present invention other than the above will be described with reference to FIGS. 11A to 11D.

In the embodiment of FIG. 11A, a pair of forward winders 22a and a reverse winder 23a, and another pair of forward winders 22b and reverse winders 23b are front and rear. Alternatively, they are arranged so as to face each other on the left and right sides, and the reciprocating actuator 71 is configured to be able to move forward and backward via the winders 22a, 23a, 22b, and 23b. In the embodiment of FIG. 11B, the reciprocating actuator 71 can move forward and backward via three pairs of winders 22a, 23a, 22b, 23b, 22c, and 23c, one pair for forward movement and one pair for backward movement. It is configured in. In this case, the winders 22a, 23a, 22b, 23b and the winders 22a, 23a, 22b, 23b, 22c, 23c have a configuration as shown in FIGS. 11C and 11D. That is, in the form of FIG. 11C, one linear body 51a, 51b, 51c is directly wound and rewound via the winders 22a, 22b, 22c, and the other linear body 52a, 521b, The 52c directly winds and rewinds the winders 23a, 23b, and 23c. Further, in the form of FIG. 11D, one linear body 51a, 51b, 51c is wound and rewound by one winder 22a, 22b, 22c via the other winders 23a, 23b, 23c. And the other linear bodies 52a, 52b, 52c are wound and rewound by the other winders 23a, 23b, 23c via the one winders 22a, 22b, 22c. In FIG. 11D, one of the striatums is intentionally staggered, as shown by the imaginary line, to make this situation easier to understand. Since the matters for which the description is omitted in the embodiment of FIG. 11 are substantially the same as or similar to those of the precedents, the contents can be understood by referring to each precedent.

Also in the case of each embodiment shown in FIG. 11, the reciprocating actuator 71 is advanced as in the previous example by operating the winders 22a, 23a, 22b, 23b, 22c, and 23c in synchronization with each other. It can be moved back and forth.

FIG. 12 shows a main part of the linear body winding mechanism that can be used in the present invention. The linear body winding mechanism of FIG. 12 is a known one disclosed in Patent Document 3. Therefore, the details of the linear body winding mechanism of FIG. 12 will be referred to Patent Document 3, and FIG. 12 will only show the outline thereof.

When the prime mover 34, which can rotate in the forward and reverse directions in FIG. 12, rotates, the rotation is transmitted to the rotating shaft 26 of the winder assembly 21X via the coupling 81. The screw shaft SSS provided so as to be parallel to the rotation shaft 26 transmits the rotation of the rotation shaft 26 via the belt transmission means BMM. On the other hand, the holder frame FWF holding the winder assembly 21X is provided with a screw hole (female screw) SHA, and the screw hole SHA and the screw shaft SSS are in a screw fitting state.

In FIG. 12, when the prime mover 34 is rotated to rewind and rewind the linear bodies 51a, 51b, and 51c by the winder assembly 21X, the rotating shaft 26 rotates and the screw shaft SSS rotates accordingly. To do. Since the screw shaft SSS and the screw hole SHA of the holder frame FWF are in the screw fitting state, the winder assembly 21X held by the holder frame FWF moves in the axial direction of the rotating shaft 26 together with the holder frame FWF. .. Since the winder assembly 21X moves in the axial direction of the rotating shaft 26 in this way, it is possible to stably align and wind each linear body on the outer peripheral surface of each winder included in the winder assembly 21X. it can. Regarding the aligned winding of each linear body with respect to the outer peripheral surface of each winder, for example, a traverser for the linear body or a shifter for the linear body for guiding and moving the linear body in the axial direction of the winder assembly 21X, etc. It can also be done through.

In a typical embodiment of the apparatus of the present invention, the lateral (horizontal) dimension of the reciprocating actuator 71 is larger than the longitudinal (longitudinal) dimension of the reciprocating actuator 71. Of course, the width (dimension in the left-right direction) of the reciprocating actuator 71 may be as narrow as 50 cm, for example, but the width of the reciprocating actuator 71 may exceed 50 m or 100 m. Therefore, the width of the reciprocating body 71 in the apparatus of the present invention can be in the range of 50 cm to 200 m.

The moving device for a reciprocating actuator according to the present invention can perform a wide variety of operations simply and rationally through the reciprocating actuator that moves reciprocating, and therefore can be used in various fields requiring movement.

11 Axis Support 21X Winder Assembly 21Y Winder Assembly 21Z Winder Assembly 22a Forward Winder 22b Forward Winder 22c Forward Winder 22d Forward Winder 22e Forward Winder 22f Forward winder 23a Retreat winder 23b Retreat winder 23c Retreat winder 23d Retreat winder 23e Retreat winder 23f Retreat winder 26 Rotating shaft 34 Motor 51a Striatum for normal winding 51b Striatum for normal winding 51c Striatum for normal winding 51d Striatum for normal winding 51e Striatum for normal winding 51f Striatum for normal winding 52a Striatum for reverse winding 52a Reverse winding linear body 52b Reverse winding linear body 52c Reverse winding linear body 52d Reverse winding linear body 52e Reverse winding linear body 52f Reverse winding linear body 52a Reverse winding linear body 51R For both Striatum 51S Striatum 51T Striatum 71 Reciprocating actuator 81 Coupling X1 Striatum fixing part X2 Striatum fixing part X3 Striatum fixing part X4 Striatum fixing part X5 Line Striatum fixing part X6 Striatum fixing part P01 Pulley P02 Pulley P03 Pulley P04 Pulley P05 Pulley P06 Pulley P07 Pulley P08 Pulley P09 Pulley P10 Pulley P12 Pulley P13 Pulley P14 Pulley PU00 Pulley Unit PU PU04 Pulley unit PU05 Pulley unit PU06 Pulley unit PU07 Pulley unit

Claims (10)

It is equipped with a reciprocating actuator that can move forward in the moving area when it receives a force in the forward direction and retracts in the moving area when it receives a force in the backward direction.
A plurality of forward / reverse rotation-rotable bodies for applying a forward force to the reciprocating actuator via a wound linear body and allowing the reciprocating actuator to retreat via a rewinding linear body. Forward winder and
Multiple retreats that can rotate forward and backward to apply a backward force to the reciprocating actuator through the wound linear body and to allow the reciprocating actuator to advance through the unwound linear body. Winder and
A plurality of forward-winding linear bodies that are wound and rewound freely via the plurality of forward winders, and a plurality of forward-winding linear bodies.
It is provided with a plurality of reverse winding linear bodies that are rewound and rewoundly held via the plurality of retreating winders.
Each forward winding linear body is sought across the reciprocating actuator and the plurality of forward winders so that the forward force of the plurality of forward winders is transmitted to the reciprocating actuator.
Each of the reverse winding linear bodies is sought across the reciprocating actuator and the plurality of retracting winders so that the force in the retracting direction of the plurality of retracting winders is transmitted to the reciprocating actuator.
Each forward winder during winding rotation and each reverse winder during rewinding rotate in synchronization and synchronization with each other in the respective winding and rewinding directions, and during rewinding rotation. Each forward winder and each reverse winder during winding rotation are synchronized and synchronized with each other and rotate in their respective rewinding and winding directions.
The winding amount of each forward winding linear body by each forward winding device and the unwinding amount of each reverse winding linear body by each reverse winding device are equal to each other, and each forward winding The amount of rewinding of each forward winding linear body by the winder and the amount of winding of each reverse winding linear body by each retreating winder are equal to each other.
Further, all the forward winders are integrated and configured, and all the reverse winders are integrated and integrated with the integrated forward winder. A moving device for a reciprocating body, characterized in that the retracting winder and the winder are separate from each other. The moving device for a reciprocating actuator according to claim 1, wherein all the forward winders are arranged in a row on the same axis. The moving device for a reciprocating actuator according to claim 1, wherein all the retracting winders are arranged in a row on the same axis. The moving device for a reciprocating actuator according to claim 1, wherein all the forward winders and all the reverse winders are arranged in a row on the same axis. Claims in which all forward winders and all reverse winders are located on one of the forward and backward start sides of the reciprocating actuator movement region. The moving device for a reciprocating actuator according to claim 1 or 4. Forward and reverse rotatable multiple forward to or allow retraction of the reciprocating body via the linear member to be rewound or to impart a force in the forward direction to the reciprocating body via a linear body to be wound Winder and
Multiple retreats that can rotate forward and backward to apply a backward force to the reciprocating actuator through the wound linear body and to allow the reciprocating actuator to advance through the unwound linear body. Winder and
A plurality of forward-winding linear bodies that are wound and rewound freely via the plurality of forward winders, and a plurality of forward-winding linear bodies.
It is provided with a plurality of reverse winding linear bodies that are rewound and rewoundly held via the plurality of retreating winders.
Each forward winding linear body is sought across the reciprocating actuator and the plurality of forward winders so that the forward force of the plurality of forward winders is transmitted to the reciprocating actuator.
Each of the reverse winding linear bodies is sought across the reciprocating actuator and the plurality of retracting winders so that the force in the retracting direction of the plurality of retracting winders is transmitted to the reciprocating actuator.
Each forward winder during winding rotation and each reverse winder during rewinding rotate in synchronization and synchronization with each other in the respective winding and rewinding directions, and during rewinding rotation. Each forward winder and each reverse winder during winding rotation are synchronized and synchronized with each other and rotate in their respective rewinding and winding directions.
The winding amount of each forward winding linear body by each forward winding device and the unwinding amount of each reverse winding linear body by each reverse winding device are equal to each other, and each forward winding The amount of rewinding of each forward winding linear body by the winder and the amount of winding of each reverse winding linear body by each retreating winder are equal to each other.
All the forward winders are arranged on one side selected from the forward movement start side and the reverse movement start side of the reciprocating body movement area, and the forward movement start side and the return movement of the reciprocating body movement area. A moving device for a reciprocating actuator, characterized in that all retracting winders are arranged on the other side selected from the moving start side. It is equipped with a reciprocating actuator that can move forward in the moving area when it receives a force in the forward direction and retracts in the moving area when it receives a force in the backward direction.
A plurality of forward / reverse rotation-rotable bodies for applying a forward force to the reciprocating actuator via a wound linear body and allowing the reciprocating actuator to retreat via a rewinding linear body. Forward winder and
Multiple retreats that can rotate forward and backward to apply a backward force to the reciprocating actuator through the wound linear body and to allow the reciprocating actuator to advance through the unwound linear body. Winder and
A plurality of forward-winding linear bodies that are wound and rewound freely via the plurality of forward winders, and a plurality of forward-winding linear bodies.
It is provided with a plurality of reverse winding linear bodies that are rewound and rewoundly held via the plurality of retreating winders.
Each forward winding linear body is sought across the reciprocating actuator and the plurality of forward winders so that the forward force of the plurality of forward winders is transmitted to the reciprocating actuator.
Each of the reverse winding linear bodies is sought across the reciprocating actuator and the plurality of retracting winders so that the force in the retracting direction of the plurality of retracting winders is transmitted to the reciprocating actuator.
Each forward winder during winding rotation and each reverse winder during rewinding rotate in synchronization and synchronization with each other in the respective winding and rewinding directions, and during rewinding rotation. Each forward winder and each reverse winder during winding rotation are synchronized and synchronized with each other and rotate in their respective rewinding and winding directions.
The winding amount of each forward winding linear body by each forward winding device and the unwinding amount of each reverse winding linear body by each reverse winding device are equal to each other, and each forward winding The amount of rewinding of each forward winding linear body by the winder and the amount of winding of each reverse winding linear body by each retreating winder are equal to each other.
In addition, all forward winders and all reverse winders are aligned on the same axis.
A moving device for a reciprocating actuator. It is equipped with a reciprocating actuator that can move forward in the moving area when it receives a force in the forward direction and retracts in the moving area when it receives a force in the backward direction.
A plurality of forward / reverse rotation-rotable bodies for applying a forward force to the reciprocating actuator via a wound linear body and allowing the reciprocating actuator to retreat via a rewinding linear body. Forward winder and
Multiple retreats that can rotate forward and backward to apply a backward force to the reciprocating actuator through the wound linear body and to allow the reciprocating actuator to advance through the unwound linear body. Winder and
A plurality of forward-winding linear bodies that are wound and rewound freely via the plurality of forward winders, and a plurality of forward-winding linear bodies.
It is provided with a plurality of reverse winding linear bodies that are rewound and rewoundly held via the plurality of retreating winders.
Each forward winding linear body is sought across the reciprocating actuator and the plurality of forward winders so that the forward force of the plurality of forward winders is transmitted to the reciprocating actuator.
Each of the reverse winding linear bodies is sought across the reciprocating actuator and the plurality of retracting winders so that the force in the retracting direction of the plurality of retracting winders is transmitted to the reciprocating actuator.
Each forward winder during winding rotation and each reverse winder during rewinding rotate in synchronization and synchronization with each other in the respective winding and rewinding directions, and during rewinding rotation. Each forward winder and each reverse winder during winding rotation are synchronized and synchronized with each other and rotate in their respective rewinding and winding directions.
The winding amount of each forward winding linear body by each forward winding device and the unwinding amount of each reverse winding linear body by each reverse winding device are equal to each other, and each forward winding The amount of rewinding of each forward winding linear body by the winder and the amount of winding of each reverse winding linear body by each retreating winder are equal to each other.
A plurality of dual-purpose linear bodies in which the forward-winding linear body and the reverse-winding linear body are formed in a series are provided, and for winding and rewinding the dual-purpose linear body. A winder assembly in which the forward winder and the reverse winder are integrated is provided.
Further, the intermediate portion of the dual-purpose linear body is wound around the winder assembly, and one end of the dual-purpose linear body is connected to the reciprocating operating body as the end portion of the normal winding linear body, and the dual-purpose linear body is formed. the other end portion of the body is connected to the reciprocating body as an end of the reverse winding linear body
A moving device for a reciprocating actuator. The moving device for a reciprocating body according to any one of claims 1 to 8, wherein the dimension of the reciprocating body in the left-right direction is larger than the dimension of the reciprocating body in the front-rear direction. Claims 1 to claim that the moving area of the reciprocating actuator is set to any one of ground, underground, water, underwater, and air, and the reciprocating actuator reciprocates in the moving region. 8. The moving device for a reciprocating actuator according to any one of 8.

Images