JP7411186B2 - Telescopic device - Google Patents

Description

The present invention relates to a telescoping device.

As a telescoping device having a high telescoping ratio and sufficient strength, Patent Document 1 discloses a manipulator mechanism that includes an arm having a plurality of elastic tapes and an arm feeding device that winds up and feeds out the arm. is disclosed.

Japanese Patent Application Publication No. 2009-196026

The telescopic device described in Patent Document 1 has a high expansion/contraction ratio compared to hydraulic cylinders, etc., but the arm feeding device has a large-scale configuration including a reel, a motor, etc. It accounts for a large proportion. Therefore, when installing the telescopic device, there is a possibility that the arm feeding device may interfere with other structures. As described above, while the telescoping device described in Patent Document 1 has the advantage of having a high telescoping ratio, the large-scale arm feeding device may become a hindrance to installation.

The present invention has been made in view of the above problems, and an object of the present invention is to provide a telescoping device with a high degree of freedom in installation.

An elastic device according to the present invention includes an elastic tape, a tape drive device that takes up and unwinds the tape, and the tape has an elastic section that expands and contracts as the tape drive device is driven, and a tape drive device. The tape is made of one continuous tape, and the stretchable part has a folded part formed at the tip and the tape is folded back 180 degrees, and an end of the tape. and a fixed end to which is fixed .

In this invention, since the tape has a non-stretchable portion extending between the tape drive device and the stretchable portion, the tape drive device can be installed away from the stretchable portion of the tape. Therefore, the expandable portion can be installed at a desired position. Moreover, since the stretchable part has a folded part and a fixed end, the tape is formed double. Therefore, the longitudinal rigidity of the expandable portion can be increased.

Further, the present invention is characterized in that the non-stretchable portion has a bent portion where the tape is bent.

In this invention, when installing the telescopic device, if there are other structures on the extension line of the telescopic portion, by forming a bent portion in the tape, the tape drive device and the non-stretchable portion and the other structure can be removed. Interference with objects can be avoided.

Further, an elastic device according to the present invention includes an elastic tape and a tape drive device that winds and unwinds the tape, and the tape has an elastic portion that expands and contracts as the tape drive device is driven, and a tape drive device that winds and unwinds the tape. The tape has a non-stretchable part extending between the drive device and the stretchable part, the tape has a cross section perpendicular to the longitudinal direction formed in an arc shape, and the non-stretchable part has a plurality of folded parts where the tape is bent. However, the plurality of bent portions are characterized in that the tape is bent in a direction in which the convex surface of the tape is directed outward.

In this configuration, the tape is fed smoothly because the plurality of bent portions are bent in a direction in which the convex surface of the tape faces outward.

Further, an elastic device according to the present invention includes an elastic tape and a tape drive device that winds and unwinds the tape, and the tape has an elastic portion that expands and contracts as the tape drive device is driven, and a tape drive device that winds and unwinds the tape. The tape has a non-stretchable part extending between the drive device and the stretchable part, and the tape has a cross section perpendicular to the longitudinal direction formed in an arc shape, and the stretchable part is formed at the tip and has a folded part where the tape is folded back 180 degrees. The non-stretchable part has a bent part where the tape is bent, and the folded part and the bent part are bent in a direction in which the convex surface of the tape is outward.

In this configuration, since the folded portion and the bent portion are bent in a direction in which the convex surface of the tape faces outward, the tape is fed smoothly.

Further, an elastic device according to the present invention includes an elastic tape and a tape drive device that winds and unwinds the tape, and the tape has an elastic portion that expands and contracts as the tape drive device is driven, and a tape drive device that winds and unwinds the tape. a non-stretchable part that extends between the drive device and the stretchable part, and further includes a bending device that is arranged at the boundary between the stretchable part and the non-stretchable part and bends the tape at a predetermined angle, and the bending device is rotatably connected. The first member is characterized in that the first member guides the tape on the side of the non-stretchable part, and the second member guides the tape on the side of the stretchable part.

In this configuration, since the bending device includes the first member and the second member that are rotatably connected, the extendable portion is rotatable relative to the non-stretchable portion.

According to the present invention, it is possible to provide a telescoping device with a high degree of freedom in installation.

FIG. 2 is a schematic diagram showing a telescoping device according to an embodiment of the present invention, with the telescoping section in an extended state. FIG. 2 is a schematic diagram showing the telescoping device according to the embodiment of the present invention, with the telescoping section in a contracted state. FIG. 3 is a cross-sectional view of the tape, showing a cross section perpendicular to the longitudinal direction of the tape. It is a top view of a binding plate. It is a figure explaining the case where a skylight is driven by an expansion-contraction device, and shows the state where a skylight is closed. It is a figure explaining the case where a skylight is driven by an expansion-contraction device, and shows the state where a skylight is open. It is a schematic diagram which shows the modification of the expansion-contraction device based on embodiment of this invention. It is a schematic diagram which shows the modification of the expansion-contraction device based on embodiment of this invention. It is a figure which shows the modification of the expansion-contraction device based on embodiment of this invention, Comprising: (a) is a perspective view of a correction tool, (b) is a front view of a correction tool. It is a figure which shows the modification of the expansion-contraction device based on embodiment of this invention, Comprising: (a) is a perspective view of a correction tool, (b) is a front view of a correction tool. It is a schematic diagram which shows the modification of the expansion-contraction device based on embodiment of this invention. It is a schematic diagram which shows the modification of the expansion-contraction device based on embodiment of this invention. It is a schematic diagram which shows the modification of the expansion-contraction device based on embodiment of this invention.

Hereinafter, a telescopic device 100 according to an embodiment of the present invention will be described with reference to the drawings.

As shown in FIG. 1, the stretching device 100 includes an elastic tape 1 and a tape drive device 30 that winds and unwinds the tape 1. The tape 1 has an elastic portion 10 that expands and contracts as the tape drive device 30 is driven, and a non-extensible portion 20 that does not expand and contract.

The telescoping device 100 is used as a manipulator by expanding and contracting the telescoping section 10 to move a driven object 101, and by attaching an attachment such as a hand 102 (see FIG. 13) to the telescoping section 10.

The tape 1 is made of an elastic material, and in this embodiment is made of stainless steel. The tape 1 is not limited to stainless steel, but may be made of any material that has appropriate springiness and rigidity, and may be made of synthetic resin or a composite material that combines synthetic resin with fibers (carbon fiber, glass fiber) or metal. It may be formed by

As shown in FIG. 3, the tape 1 has an arcuate cross section perpendicular to the longitudinal direction, and has a convex surface 1a and a concave surface 1b. The tape 1 is formed linearly in the longitudinal direction when no external force is applied. Since the tape 1 has an arcuate cross section, it exhibits high rigidity against external forces applied in the longitudinal direction and does not easily bend. On the other hand, it bends in response to an external force applied in a direction perpendicular to the longitudinal direction, and elastically returns to its original straight shape when the external force is removed.

The tape drive device 30 includes a case 34, a reel 31 that is rotatably provided in the case 34, to which the ends of the tape 1 are joined and around which the tape 1 is wound in a roll shape, and a motor 32 that rotates the reel 31 in forward and reverse directions. , a tension device 33 that applies tension to the tape 1 wound around the reel 31 to prevent winding disorder, and a guide section 35 that is provided in the case 34 and guides the tape 1. The tape 1 is unwound from the reel 31 by driving the motor 32 in the forward direction, and the tape 1 is wound around the reel 31 by driving the motor 32 in the reverse direction. The guide portion 35 is formed with an arcuate guide slit through which the tape 1 is slidably inserted and which guides the tape 1. The tension device 33 includes a roller 33a that is rotatably provided and pressed against the tape 1 wound around the reel 31, and a coil spring 33b as a biasing means for biasing the roller 33a toward the reel 31. By pressing the roller 33a with the coil spring 33b, the tape 1 is deformed from an arcuate cross-section to a rectangular cross-section and wound around the reel 31 in a substantially flat state.

As shown in FIG. 1, the stretching device 100 further includes a folding device 40 that folds the tape 1 at a predetermined angle, and a folding device 50 that folds the tape 1 180 degrees. The tape 1 consists of one continuous tape, and after being fed out from the tape drive device 30, it is bent 90 degrees by a folding device 40, and then folded back 180 degrees by a folding device 50, so that the end is bent. It is fixed to the case 41 of the device 40. Thus, the tape 1 has a bent portion 2, a folded portion 3, and a fixed end 4.

The bent portion 2 and the folded portion 3 are bent in the same direction. Specifically, both the bent portion 2 and the folded portion 3 are bent in a direction in which the convex surface 1a of the tape 1 is outward. This is because the tape 1, which has an arcuate cross section, can be bent relatively easily in the direction in which the convex surface 1a is outward, but a large force is required to bend in the direction in which the concave surface 1b is outward. Since both the bending section 2 and the folding section 3 are bent in a direction in which the convex surface 1a of the tape 1 is outward, the tape 1 is smoothly fed through the folding device 40 and the folding device 50. Note that the tape 1 wound around the reel 31 of the tape drive device 30 is also wound with the convex surface 1a bent in a direction toward the outside.

When the tape 1 is fed out from the tape drive device 30, the folded portion 3 of the tape 1 moves in a direction away from the fixed end 4 (upward in FIG. 1) depending on the amount of tape 1 fed out. On the other hand, when the tape drive device 30 winds up the tape 1, the folded part 3 of the tape 1 moves in a direction approaching the fixed end 4 (downward in FIG. 1) according to the amount of winding of the tape 1 (see FIG. ). In this way, the tape 1 has the folded portion 3 functioning as a free end, and the length between the folded portion 3 and the fixed end 4 changes as the tape drive device 30 is driven. The length between the curved portions 2 does not change. That is, the part of the tape 1 that spans the folded part 3 and the fixed end 4 functions as the stretchable part 10 that expands and contracts as the tape drive device 30 is driven, and the part of the tape 1 that spans between the tape drive device 30 and the stretchable part 10 The portion functions as a non-extensible portion 20 that does not expand or contract even when the tape drive device 30 is driven. Since the driven object 101 is attached to the case 51 of the folding device 50, the driven object 101 can be moved by expanding and contracting the extensible portion 10.

Since the tape 1 has the non-stretchable portion 20 extending between the tape drive device 30 and the stretchable portion 10, the tape drive device 30 can be placed apart from the stretchable portion 10. Therefore, when installing the expansion and contraction device 100, it is possible to avoid the tape drive device 30 from interfering with other structures, so that the tape drive device 30 does not become a hindrance when installing the expansion and contraction device 100. do not have.

In addition, since the non-stretchable part 20 has the bending part 2, if there is another structure on the extension line of the telescopic part 10 when installing the telescopic device 100, the tape drive device 30 and the non-stretchable part 20 and interference with other structures can be avoided. In this embodiment, the bending part 2 is bent at 90 degrees, but the bending angle of the bending part 2 is adjusted as appropriate depending on the positional relationship between the tape drive device 30, the non-stretchable part 20, and other structures. do it.

In this way, when installing the stretchable device 100, the length of the non-stretchable portion 20 and the bending angle of the bending portion 2 are adjusted to ensure that the tape drive device 30 and the non-stretchable portion 20 are connected to other structures. The telescopic section 10 is installed while avoiding interference.

The stretchable part 10 has a folded part 3 formed at the tip and in which the tape 1 is folded back 180 degrees, and a fixed end 4 to which the end of the tape 1 is fixed. It is formed. Therefore, for example, when the tape 1 is fed out by 1 m from the tape drive device 30, the driven object 101 moves 0.5 m upward in FIG. 101 moves 0.5 m downward in FIG. Since the tape 1 is formed double in the elastic part 10, the rigidity in the longitudinal direction is increased, and it becomes possible to support and drive the heavy object 101 to be driven.

On the other hand, the non-stretchable portion 20 is formed of one piece of tape 1. This is because the non-stretchable part 20 is not a part that directly supports the driven object 101, but is a part that has the function of feeding the tape 1 to the stretchable part 10, so it does not require greater rigidity than the stretchable part 10. be. By forming the non-stretchable portion 20 with one piece of tape 1, the length of the entire tape 1 can be shortened, and the entire length of the stretching device 100 can be reduced in weight.

The extensible portion 10 is provided with a plurality of binding plates 11 arranged at intervals in the longitudinal direction and binding two tapes 1 together. As shown in FIG. 4, the two tapes 1 are bound by a binding plate 11 so that their concave surfaces 1b face each other. Two arcuate guide slits 11a having a similar external shape to the tape 1 and slightly larger than the tape 1 are formed in the binding plate 11. The tape 1 is slidably inserted through the guide slit 11a, and is guided and sent through the guide slit 11a when the expandable portion 10 is expanded or contracted.

Adjacent binding plates 11 are connected to each other by strings 12, and the distance between adjacent binding plates 11 is set depending on the length of the string 12 that connects adjacent binding plates 11. The binding plate 11 closest to the folding device 50 (the uppermost binding plate 11 in FIG. 1) is attached to the case 51 of the folding device 50 by a string 12. In this way, each binding plate 11 is suspended from the folding device 50 via the string 12. Further, the binding plate 11 closest to the folding device 40 (the lowest binding plate 11 in FIG. 1) is attached to the case 41 of the folding device 40 by a string 12. As a result, the state in which the string 12 is fully stretched is the maximum extension state of the stretchable portion 10. That is, the maximum extension length of the elastic part 10 is defined by the entire length of the string 12. The string 12 functions as a plate interval adjustment member for adjusting the interval between adjacent binding plates 11 and as an elastic section maximum length regulating member that defines the maximum extension length of the elastic section 10. The plate spacing adjustment member and the elastic portion maximum length regulation member are not limited to the string 12, but may be in the shape of a rope or the like.

Even if an excessive external force acts on the stretchable part 10 of the tape 1 and the stretchable part 10 bends at a certain part, the tape 1 of the stretchable part 10 is bundled and supported by a plurality of binding plates 11, so the external force will not be applied. When it is removed, it elastically returns to its original straight shape. In other words, the tape 1 of the elastic part 10 is supported by the plurality of binding plates 11, thereby preventing it from bending due to external force. The interval between adjacent binding plates 11 is arranged so as to gradually increase from the base end of the expandable part 10 toward the folded part 3. This is because a larger load acts on the extensible portion 10 toward the proximal end. The number of binding plates 11 and the interval between adjacent binding plates 11 are set in consideration of the length of the expansion/contraction section 10, the weight of the driven object 101, the purpose of the expansion/contraction device 100, the rigidity of the tape 1, etc.

A pressure sensor 60 as a pressure detector is provided between the fixed end 4 of the tape 1 and the case 41 of the bending device 40. Since the case 41 also has a function of supporting the load acting on the telescoping section 10 through the fixed end 4, the load acting on the telescoping section 10 can be calculated based on the detection result of the pressure sensor 60. Based on the detection result of the pressure sensor 60, it is possible to determine an overload acting on the expandable portion 10 or to determine whether the expandable portion 10 is bent.

The bending device 40 includes a case 41, a guide roller 42 that is rotatably provided in the case 41 and guides the tape 1, a tension device 43 that applies tension to the tape 1 along the guide roller 42, and a tension device 43 that is provided in the case 41. It has a first guide part 44 that guides the tape 1 on the side of the non-stretchable part 20, and a second guide part 45 that is provided in the case 41 and guides the tape 1 on the side of the stretchable part 10.

The tension device 43 includes a roller 43a that is rotatably provided and pressed against the tape 1 along the guide roller 42, and a coil spring 43b as a biasing means for biasing the roller 43a toward the guide roller 42. By pressing the roller 43a toward the guide roller 42 by the coil spring 43b, the tape 1 is deformed from an arcuate cross section to a rectangular cross section, and is sent along the outer peripheral surface of the guide roller 42 in a substantially flat state. Therefore, the feeding direction of the tape 1 is smoothly changed by the guide roller 42.

The first guide part 44 and the second guide part 45 are formed with arc-shaped guide slits through which the tape 1 is slidably inserted and which guide the tape 1. In this embodiment, the attachment positions of the first guide part 44 and the second guide part 45 are set so that the tape 1 is bent 90 degrees. When the tape 1 is fed out from the tape drive device 30 , it gradually deforms from an arcuate cross section to a rectangular cross section from the first guide section 44 toward the guide roller 42 , and then from the guide roller 42 toward the second guide section 45 . It gradually deforms from a rectangular cross-section to an arcuate cross-section. By adjusting the positional relationship between the first guide part 44 and the second guide part 45, the bending angle of the tape 1 in the bending device 40 is adjusted.

The folding device 50 includes a case 51, a guide roller 52 that is rotatably provided on the case 51 and guides the tape 1, a guide wall 53 formed along the outer peripheral surface of the guide roller 52, and a guide wall 53 that is provided on the case 51 and guides the tape 1. 1.

The guide portion 54 is formed with two arc-shaped guide slits through which the tape 1 is slidably inserted and which guide the tape 1. The shape of the two guide slits formed in the guide portion 54 is the same as the two guide slits 11a formed in the binding plate 11 shown in FIG.

A C-shaped passage 55 is formed within the case 51 between the outer peripheral surface of the guide roller 52 and the guide wall 53. When the tape 1 passes through the passage 55, the tape 1 is deformed from an arcuate cross section to a rectangular cross section, and is sent along the outer peripheral surface of the guide roller 52 in a substantially flat state. Therefore, the feeding direction of the tape 1 is smoothly changed by the passage 55.

The operation of the telescopic device 100 configured as described above will be explained with reference to FIGS. 1 and 2.

When the motor 32 is driven to rotate normally, the tape 1 is unwound from the reel 31 of the tape drive device 30, and the unwound tape 1 is sent from the non-stretchable section 20 to the stretchable section 10. As a result, the extensible portion 10 expands (extends upward in FIG. 1), and the driven object 101 attached to the folding device 50 moves upward in FIG. 1. When the extensible portion 10 is in the maximum extension state, the string 12 is fully stretched, and each binding plate 11 is suspended from the folding device 50 via the string 12.

On the other hand, when the motor 32 is driven in reverse, the tape 1 in the stretchable section 10 is sent to the non-stretchable section 20, and the tape 1 is wound onto the reel 31 of the tape drive device 30. As a result, the extensible portion 10 contracts (contracts downward in FIG. 1), and the driven object 101 attached to the folding device 50 moves downward in FIG. FIG. 2 shows the stretchable portion 10 in its most contracted state. In this most contracted state, the string 12 is in a relaxed state (the string 12 is not shown in FIG. 2), and the case 51 of the folding device 50 comes into contact with the binding plate 11 at one end, and the case 41 of the folding device 40 By contacting the binding plate 11 at the other end, adjacent binding plates 11 are brought into contact with each other. In this way, the elastic part 10 contracts until the adjacent binding plates 11 come into contact with each other between the case 51 of the folding device 50 and the case 41 of the folding device 40.

Next, with reference to FIGS. 5 and 6, a case will be described in which the telescoping device 100 drives the skylight 103 that opens and closes the opening 70a provided in the ceiling 70. FIG. 5 shows the skylight 103 in a closed state, and FIG. 6 shows the skylight 103 in an open state. 5 and 6, illustration of the guide roller 42 of the folding device 40, the tension device 43, and the folding portion 2 of the tape 1 is omitted.

The skylight 103 is attached to the ceiling 70 so as to be freely openable and closable about a shaft 71. A case 51 of a folding device 50 of the telescoping device 100 is rotatably connected to the skylight 103 via a shaft 56 .

In the stretching device 100 shown in FIGS. 1 and 2, the bending angle of the tape 1 in the bending device 40 is fixed at 90 degrees. On the other hand, in the stretching device 100 shown in FIGS. 5 and 6, the bending angle of the tape 1 in the bending device 40 is variable. Specifically, the bending device 40 has a case 41 including a first case 41a as a first member and a second case 41b as a second member, and the first case 41a and the second case 41b are They are rotatably connected via a shaft 41c. The first case 41a is provided with a first guide part 44 that guides the tape 1 on the non-stretchable part 20 side, and the second case 41b is provided with a second guide part 45 that guides the tape 1 on the stretchable part 10 side. provided.

As shown in FIG. 5, when the skylight 103 is closed, the stretchable part 10 supports the skylight 103 with an angle of α degrees with the non-stretchable part 20.

When opening the skylight 103, the motor 32 is driven by a switch operation or the like, the tape 1 is wound up by the tape drive device 30, and the elastic part 10 is contracted. As shown in FIG. 6, as the telescopic portion 10 contracts, the skylight 103 rotates around the shaft 71 and opens. At this time, as the skylight 103 rotates, the first case 41a and the second case 41b rotate relative to each other, and the angle formed by the stretchable part 10 and the non-stretchable part 20 changes to β degrees (β>α). In this way, when the telescopic section 10 expands and contracts and the skylight 103 rotates, the telescopic section 10 rotates relative to the non-extensible section 20 and follows the rotation of the skylight 103.

A limit switch may be provided to automatically stop the telescopic device 100 when the skylight 103 is fully opened and fully closed, and the motor 32 may be stopped in conjunction with the operation of the limit switch. Further, the folding device 40 or the folding device 50 may be provided with a sensor for detecting the feeding amount and winding amount of the tape 1, and the motor 32 may be stopped based on the detection result of the sensor. Further, if the pressure detected by the pressure sensor 60 increases rapidly before the skylight 103 is fully closed, it is determined that a foreign object has become trapped between the ceiling 70 and the skylight 103, and the motor 32 is stopped. You can also do this.

According to the above embodiment, the following effects are achieved.

Since the tape 1 has the non-stretchable portion 20 extending between the tape drive device 30 and the stretchable portion 10, the tape drive device 30 can be placed apart from the stretchable portion 10. In other words, the tape drive device 30 and the stretchable section 10 can be arranged apart from each other by the length of the non-stretchable section 20. Therefore, when installing the telescopic device 100, if the tape driving device 30 interferes with other structures, the length of the non-stretchable portion 20 may be adjusted to prevent the tape driving device 30 from interfering with other structures. Interference can be avoided. In this way, the tape drive device 30, which occupies a large proportion of the expansion and contraction device 100, does not become an obstacle when installing the expansion and contraction device 100, so the degree of freedom in installing the expansion and contraction device 100 is high.

Modifications of the above embodiment will be described below. The following modifications are also within the scope of the present invention, and it is also possible to combine the following modifications with the configuration of the above embodiment, or to combine the following modifications with each other. In addition, in FIGS. 7 to 13 showing modified examples, components having the same functions as the telescopic device 100 according to the above embodiment are given the same reference numerals in the drawings.

(1) In the above embodiment, the tape 1 has an arcuate cross section. However, the cross-sectional shape of the tape 1 is not limited to an arcuate shape, but may be rectangular, circular, or the like.

(2) In the above embodiment, a configuration in which one bending device 40 is provided has been described. Alternatively, as shown in FIG. 7, two or more bending devices 40 may be provided. That is, a plurality of bent portions 2 may be formed in the non-stretchable portion 20. By providing a plurality of bending devices 40, interference between the tape drive device 30 and the non-stretchable portion 20 and other structures can be more effectively prevented. In this form, when the tape 1 has an arcuate cross section, it is preferable that the plurality of bending parts 2 and folded parts 3 be bent in the same direction so that the convex surface 1a of the tape 1 is on the outside. In addition, in this form, as shown in FIGS. 5 and 6, when the stretchable part 10 is configured to be rotatable with respect to the non-stretchable part 20, the stretchable part 10 and the non-stretchable part 10 out of the plurality of bending devices 40 are The case 41 of the bending device 40A disposed at the boundary of the section 20 may be composed of a first case 41a and a second case 41b (see FIGS. 5 and 6) that are rotatably connected.

(3) Instead of providing the bending device 40 as in the above embodiment, a guide chain is arranged along the path of the tape 1, and the tape 1 is bent along the guide chain, so that the bending part 20 is placed in the non-stretchable part 20. may be formed.

(4) In the above embodiment, the bending portion 2 is formed in the non-stretchable portion 20. However, the bending portion 2 is not an essential configuration. Depending on the relationship between the tape drive device 30 and the non-stretchable part 20 and other structures, the stretchable part 10 and the non-stretchable part 20 may be provided in a straight line, as shown in FIG. In this embodiment, a case 85 may be provided at the boundary between the stretchable portion 10 and the non-stretchable portion 20, and the fixed end 4 of the tape 1 may be fixed to the case 85. The extensible portion 10 contracts between the case 51 and the case 85 of the folding device 50 until adjacent binding plates 11 come into contact with each other.

(5) In the above embodiment, the tape 1 has an arcuate cross section perpendicular to the longitudinal direction, and both the bent portion 2 and the folded portion 3 are bent in a direction in which the convex surface 1a of the tape 1 faces outward. This is because a large force is required to bend the tape 1 in a direction in which the concave surface 1b faces outward. However, if the correction tools 90 and 95 shown in FIGS. 9 and 10 are used, even if the tape 1 has an arcuate cross section, the tape 1 can be moved so that the bent part 2 and the folded part 3 are in the direction where the concave surface 1b is on the outside. Can be bent. 9A and 10A are perspective views of the correction tools 90 and 95, respectively, and FIGS. 9B and 10B are front views of the correction tools 90 and 95, respectively. A correction tool 90 shown in FIG. 9 is for folding back the tape 1 by 180 degrees. The correction tool 90 has a U-shaped passage 91 through which the tape 1 passes. The passage 91 has entrances and exits 91a and 91b formed in end faces 90a and 90b of the correction tool 90 that have the same cross-sectional shape as the tape 1 so that the tape 1 passing therethrough is deformed from an arcuate cross-section to a rectangular cross-section. It is formed to have an arcuate cross section, while the section between the entrances and exits 91a and 91b is formed to have a rectangular cross section. A correction tool 95 shown in FIG. 10 is for bending the tape 1 by 90 degrees. The corrector 95 also has a passage 96 through which the tape 1 passes. The passage 96 has entrances and exits 96a and 96b having an arcuate cross section, while a section between the entrances and exits 96a and 96b has a rectangular cross section. As described above, by using the correction tools 90 and 95, even if the tape 1 has an arcuate cross section, the tape 1 is forcibly deformed into a rectangular cross section when passing through the passages 91 and 96, so that it can be folded. It becomes easier to bend the curved portion 2 and the folded portion 3 in a direction in which the concave surface 1b faces outward. Note that the correction tools 90 and 95 shown in FIGS. 9 and 10 are merely examples, and the bending angle of the tape 1 can be arbitrarily set depending on the positional relationship of the two entrances and exits. Further, such a correction tool having a passageway through which the tape 1 passes may also be used when bending the tape 1 in a direction such that the convex surface 1b is on the outside as in the above embodiment.

(6) In the above embodiment, the fixed end 4 of the tape 1 is fixed to the case 41 of the bending device 40. Alternatively, the fixed end 4 of the tape 1 may be fixed to the case 34 of the tape drive 30. In this form, one continuous tape 1 is fed out from the tape drive device 30, bent at 90 degrees by the folding device 40, folded back by 180 degrees by the folding device 50, and then folded back by the folding device 40. It is bent 90 degrees and the end is fixed to the case 34 of the tape drive device 30. In this way, the position where the fixed end 4 of the tape 1 is fixed is not limited to the case 41 of the bending device 40.

(7) In the above embodiment, a configuration in which one folded portion 3 functioning as the free end of the tape 1 is provided has been described. Instead, as shown in FIG. 11, two or more folded portions 3 may be provided. In this embodiment, two folding devices 50 are also provided corresponding to the folding portions 3, and the driven object 101 is attached across the cases 51 of the two folding devices 50. By providing two folded parts 3, the stretchable part 10 is formed into a quadruple structure in which four tapes 1 are overlapped. Therefore, compared to the above embodiment in which the stretchable part 10 is formed double, the rigidity of the stretchable part 10 in the longitudinal direction is increased, and it becomes possible to support and drive a heavier driving object 101. . The stretchable part 10 has a proximal folded part 3a formed at the proximal end and in which the tape 1 is folded back 180 degrees. The proximal folded portion 3a of the tape 1 is guided by correction tools 82 and 83 (similar to the correction tool 95 shown in FIG. 10) provided in the case 81. Fixed end 4 of tape 1 is fixed to case 81. The extensible portion 10 contracts until adjacent binding plates 11 come into contact with each other between the cases 51 of the two folding devices 50 and the case 41 of the folding device 40.

(8) In the above embodiment, the tape 1 has the folded portion 3 and the fixed end 4. Alternatively, as shown in FIG. 12, the leading end of the tape 1 may be attached to the driven object 101 without folding back the tape 1. In this form, the elastic section 10 may be composed of a plurality of tapes 1. Specifically, a plurality of stacked tapes 1 may be fed out simultaneously from one tape drive device 30. Further, the tapes 1 fed out from the plurality of tape drive devices 30 may be bundled using the binding plate 11.

(9) In the embodiment described above, the tape drive device 30 has a configuration in which the tape 1 is fed out and wound up by driving the reel 31 with the motor 32. Instead, the tape drive device 30 is configured to feed out and take up the tape 1 wound around the reel 31 by sandwiching the tape 1 between a pair of rollers and driving one of the pair of rollers with a motor. Good too. In this way, the configuration of the tape drive device 30 that feeds and winds up the tape 1 is not limited to a specific configuration.

(10) In the above embodiment, the case where the skylight 103 is driven by the expansion and contraction device 100 has been described. The telescoping device 100 can be used in various applications such as a door opening/closing device and a stay for opening and closing a rear hatch of a vehicle. Furthermore, as shown in FIG. 13, the telescopic device 100 can also be used as a manipulator by attaching an attachment such as a hand 102 capable of opening and closing operations to the folding device 50 instead of the driving object 101.

Hereinafter, the configuration, operation, and effects of the embodiments of the present invention will be collectively described.

The stretching device 100 includes an elastic tape 1 and a tape drive device 30 that takes up and unwinds the tape 1. The tape 1 has a stretchable section 10 that expands and contracts as the tape drive device 30 is driven; It has a tape drive device 30 and a non-stretchable section 20 extending over the stretchable section 10.

In this configuration, since the tape 1 has the non-stretchable portion 20 extending between the tape drive device 30 and the stretchable portion 10, the tape drive device 30 can be installed apart from the stretchable portion 10 of the tape 1. Therefore, the expandable portion 10 can be installed at a desired position. Therefore, it is possible to provide the telescopic device 100 with a high degree of freedom in installation.

Further, the non-stretchable portion 20 has a bent portion 2 where the tape 1 is bent.

In this configuration, if there is another structure on the extension line of the stretchable part 10 when installing the stretchable device 100, the tape drive device 30 and the non-stretchable Interference between the section 20 and other structures can be avoided.

Further, the tape 1 is made of one continuous tape, and the elastic part 10 has a folded part 3 formed at the tip and the tape is folded back 180 degrees, and a fixed end 4 to which the end of the tape 1 is fixed. has.

In this configuration, since the stretchable part 10 has the folded part 3 and the fixed end 4, the tape 1 is formed double. Therefore, the longitudinal rigidity of the stretchable portion 10 can be increased.

Further, the tape 1 has an arcuate cross-section perpendicular to the longitudinal direction, and the non-stretchable portion 20 has a plurality of bent portions 2 where the tape 1 is bent. The convex surface 1a of 1 is bent outward.

In this configuration, the plurality of bent portions 2 are formed by bending the convex surface 1a of the tape 1 toward the outside, so that the tape 1 is fed smoothly.

Further, the tape 1 has an arcuate cross section perpendicular to the longitudinal direction, the stretchable part 10 has a folded part 3 formed at the tip and the tape is folded back 180 degrees, and the non-stretchable part 20 has a tape The tape 1 has a bent part 2 which is bent, and the folded part 3 and the bent part 2 are formed by bending the convex surface 1a of the tape 1 in a direction toward the outside.

In this configuration, since the folded portion 3 and the bent portion 2 are bent in a direction in which the convex surface 1a of the tape 1 is outward, the tape 1 is fed smoothly.

The stretching device 100 further includes a folding device 40 that is arranged at the boundary between the stretchable portion 10 and the non-stretchable portion 20 and bends the tape 1 at a predetermined angle. 41a (first member) and a second case 41b (second member), the first case 41a guides the tape 1 on the side of the non-stretchable part 20, and the second case 41b guides the tape 1 on the side of the stretchable part 10. Guide 1.

In this configuration, since the bending device 40 has the first case 41a and the second case 41b that are rotatably connected, the extendable portion 10 is rotatable with respect to the non-stretchable portion 20.

Although the embodiments of the present invention have been described above, the above embodiments merely show a part of the application examples of the present invention, and are not intended to limit the technical scope of the present invention to the specific configurations of the above embodiments. do not have.

DESCRIPTION OF SYMBOLS 100... Telescopic device, 1... Tape, 1a... Convex surface of tape, 2... Bending part, 3... Folding part, 4... Fixed end, 10... Telescopic part, DESCRIPTION OF SYMBOLS 11... Binding plate, 12... String, 20... Non-stretchable part, 30... Tape drive device, 31... Reel, 32... Motor, 40... Folding device, 50 ... Returning device, 60... Pressure sensor, 101... Drive target, 102... Hand, 103... Skylight

Claims (5)

an elastic tape;
A tape drive device that takes up and unwinds the tape,
The tape is
an extensible part that expands and contracts as the tape drive device is driven;
a non-stretchable part extending between the tape drive device and the stretchable part;
The tape consists of one continuous tape,
The extensible device is characterized in that the extensible portion has a folded portion formed at a distal end portion and in which the tape is folded back 180 degrees, and a fixed end to which a distal end of the tape is fixed. The telescoping device according to claim 1,
The elastic device is characterized in that the non-stretchable portion has a bent portion where the tape is bent. an elastic tape;
A tape drive device that takes up and unwinds the tape,
The tape is
an extensible part that expands and contracts as the tape drive device is driven;
a non-stretchable part extending between the tape drive device and the stretchable part;
The tape has an arcuate cross section perpendicular to the longitudinal direction,
The non-stretchable part has a plurality of bent parts where the tape is bent,
The elastic device is characterized in that the plurality of bent portions are formed by bending the convex surface of the tape toward the outside. an elastic tape;
A tape drive device that takes up and unwinds the tape,
The tape is
an extensible part that expands and contracts as the tape drive device is driven;
a non-stretchable part extending between the tape drive device and the stretchable part;
The tape has an arcuate cross section perpendicular to the longitudinal direction,
The elastic part has a folded part formed at the tip part and the tape is folded back 180 degrees,
The non-stretchable part has a bent part where the tape is bent,
The elastic device is characterized in that the folded portion and the bent portion are formed by bending the convex surface of the tape toward the outside. an elastic tape;
A tape drive device that takes up and unwinds the tape,
The tape is
an extensible part that expands and contracts as the tape drive device is driven;
a non-stretchable part extending between the tape drive device and the stretchable part;
further comprising a bending device arranged at the boundary between the stretchable part and the non-stretchable part, and folds the tape at a predetermined angle;
The bending device includes a first member and a second member that are rotatably connected,
the first member guides the tape on the non-stretchable part side;
The elastic device is characterized in that the second member guides the tape on the elastic portion side.

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