JPH08155877A - Driving device for extension/contraction arm device - Google Patents

Abstract

PURPOSE: To provide a driving device for an extension/contraction arm device capable of carrying out specific work while avoiding danger by rotating arms in a contracted state as far as possible and not rotating arms of given length. CONSTITUTION: A device comprises an extension/contraction arm device 1 provided with at least three arms A1-A5 mutually superimposed slidably and arm extension/contraction means 2 for extending/contracting arms. Further, it includes wire 40 for extension by extending plural arms in turn, wire 50 for contracting by returning plural arms in turn to be contained, and a wire handing means 60 for winding/unwinding the wire 40 for extension and the wire 50 for contraction. A rotating driving means 3 is provided for rotating the arm extension/contraction means 2 and the extension contraction arm device on horizontal plane.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a drive device for an extendable arm device, which is optimal for use in a fixed work such as a work for taking out a molded product in a factory or automatically storing dice in a game place. .

[0002]

2. Description of the Related Art As a basic structure of a simple industrial robot, an XY orthogonal motion type robot or a rotary motion type joint robot which rotates in a vertical plane and in a horizontal plane is adopted. Since these simple robots have a simple structure, can easily provide accuracy, and can easily maintain strength, they are often used for work requiring work force and work accuracy. Further, since such a simple robot has a simple structure and can be manufactured at a low cost, it is used for a fixed work such as a work for taking out a molded product in a factory.

[0003]

However, these conventional simple robots have the following problems. The arm of the conventional robot has a certain length that cannot be shortened any more, and when the arm rotates, a space for the rotating operation of the arm is necessary. In other words, if the operating space of this arm is not enough, the arm hits the worker and is dangerous. Therefore, when an industrial robot is used in the field of a manufacturing factory, or when the arm of a conventional robot is swung, rotated, or moved up and down in a work environment requiring a large number of workers, for example, in a game field, this type of robot is used. When a robot having an arm is used to perform work such as automatically storing dice, there is a great risk associated with the operation of the arm.

The present invention has been made in order to solve the above problems, and avoids the danger by rotating an arm of a fixed length instead of rotating an arm of a fixed length. It is an object of the present invention to provide a drive device for a telescopic arm device that can perform a predetermined work.

[0005]

The above object is, in the invention described in claim 1, a telescopic arm device provided with at least three arms which are superposed on each other and are slidably engaged with each other. An arm expanding / contracting means for expanding / contracting the plurality of arms, an extension wire for sequentially feeding and extending the plurality of arms, and a contraction wire for returning the plurality of arms to be housed in order. In the horizontal plane, the arm extending / contracting means, and the arm extending / contracting means and the extending / contracting arm device, each including the extension wire and the wire operating means for winding and unwinding the contraction wire. This is achieved by a drive device for the telescopic arm device, which comprises a rotation drive means for rotating. In the invention according to claim 2, preferably further provided is a vertical drive means for rotating the arm extending / contracting means and the extendable / contractible arm device in a vertical plane. In the invention according to claim 3, preferably, the wire operating means is a rotating shaft and a first part fixed to the rotating shaft for performing winding and unwinding operations of the contracting wire. A pulley, a second pulley that is fixed to the rotation shaft and that winds and rewinds the extension wire, and an actuator that can rotate the rotation shaft in the forward and reverse directions are provided. In the invention according to claim 4, preferably, the arm is a slide plate.
The above-mentioned object is a telescopic arm device comprising at least three substantially identical plate-like arms that are superposed and slidably engaged with each other according to claim 5, and a telescopic arm device for expanding and contracting the plurality of plate arms. An arm expanding / contracting means, a wire for extension for successively feeding out and extending the plurality of plate-like arms, and a wire for contraction for sequentially returning and accommodating the plurality of plate-like arms, The arm extending / contracting means having a wire for extension and a wire operating means for winding and unwinding the wire for contraction, and a rotation for rotating the arm extending / contracting means and the expandable arm device in a horizontal plane. And a drive unit of the telescopic arm device.

[0006]

According to the above construction, in the invention described in claim 1, at least three arms of the telescopic arm device are slidably engaged with each other, and these arms are slid by the arm telescopic means so as to be predetermined. Can be extended to the length of the arm, and conversely can be shortened to the length of one arm. In other words, the wire for extension of the arm expansion and contraction means sequentially extends and extends these arms,
On the contrary, the wire for contraction of the arm expansion / contraction means sequentially returns the arms and stores them. The extension wire and the contraction wire are wound and unwound by the wire operating means. Moreover, the arm extension / contraction means and the extension / contraction arm device can be rotated in the horizontal plane by the rotation drive means. Thus, by rotating the arm in the contracted state as much as possible, it is possible to avoid the danger and rotate in the predetermined direction in the horizontal plane to perform the predetermined work. In the invention according to claim 2, preferably, further, the arm expanding / contracting means and the expanding / contracting arm device can be rotated not only in a horizontal plane but also in a vertical plane.
In the invention described in claim 3, preferably, the extension wire and the contraction wire of the wire operating means can be wound and unwound by the first pulley and the second pulley. In the invention according to claim 5, at least three substantially same plate-like arms of the telescopic arm device are slidably engaged with each other, and these plate-like arms are slid by the arm telescopic means so as to be predetermined. It can be extended to length and conversely can be reduced to length in one arm. That is, the wire for extension of the arm expanding / contracting means sequentially extends and expands these plate-like arms, and conversely, the wire for expanding / contracting of the arm expanding / contracting means returns the plate-like arms in sequence and stores them. The extension wire and the contraction wire are wound and unwound by the wire operating means. Moreover, the arm extension / contraction means and the extension / contraction arm device can be rotated in the horizontal plane by the rotation drive means. Thus, by rotating the arm in the contracted state as much as possible, it is possible to avoid the danger and rotate in the predetermined direction in the horizontal plane to perform the predetermined work.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT A preferred embodiment of the present invention will be described in detail below with reference to the accompanying drawings. The examples described below are
Since it is a preferred specific example of the present invention, various technically preferable limitations are attached, but the scope of the present invention is, unless otherwise stated to limit the present invention, in the following description.
It is not limited to these modes.

DESCRIPTION OF THE PREFERRED EMBODIMENT FIG. 1 is a side view showing a drive unit for a telescopic arm device of the present invention, and FIG. 2 is a plan view of the drive unit shown in FIG. FIG. 3 is a front view of the drive unit having a cross section taken along the line WW of FIG. In FIGS. 1 and 2, a drive device for the telescopic arm device includes a telescopic arm device 1, an arm telescopic means 2 for telescopically extending each of the preferably plate-like arms of the telescopic arm device 1, and a rotational drive of the telescopic arm device 1. It has a means 3, a vertical drive means 4 for the telescopic arm device 1, a controller 5, and a robot base 6.

First, the structure of the telescopic arm device 1 will be described with reference to FIGS. As shown in FIGS. 3 and 4, the telescopic arm device 1 is configured by stacking five arms A1 to A5. The arms A1 to A5 of the telescopic arm device 1 are overlapped with each other and are slidably engaged with each other. The telescopic arm device 1 shown in FIG.
Although it has a plurality of arms A1 to A5, if it has at least three arms, it can perform a telescopic function. The arm A1 is the lowermost arm, and the arm A
Reference numeral 5 is the uppermost arm.

As shown in FIGS. 5 and 6, the uppermost arm A5 is an arm extended to the leading edge, and the lowermost arm A1 itself is fixed to the base 6 side in FIG. There is. The arms A1 to A5 have basically the same sectional shape as shown in FIG. Arm A
1 to A5 are the first engaging portion 10, the second engaging portion 12, the central bending portion 14, the third engaging portion 16, and the end bending portion 1, respectively.
Eight.

As an example, the second-stage arm A2 and the first arm
The mutual connection state of the arms A1 of the tier will be described.
The second engaging portion 12 of the arm A2 is related to the first engaging portion 10 of the arm A1, and means 2 for smoothly sliding the arms A1 and A2 therebetween.
0 and 20 are rotatably arranged. The sliding means 20 is, for example, a roller. Similarly, the means 20 for sliding between the arms A2 to A5 can smoothly slide the arms. The third engaging portion 16 of the arm A1 and the arm A2
Means 2 for sliding also between the end bends 18 of the
2 are arranged. This means for sliding 2
2 is also a roller. These rollers 20, 22 are shown in FIG.

Two pulleys 26, 26 are provided in each of the first-stage arm A1 to the fourth-stage arm A4 in FIG.
Is rotatably attached. This pulley 26, 2
The position of 6 is shown in FIG. Inside the case 28 of FIG. 3, the above-mentioned arms A1 to A5 are housed. The lowermost arm A1 is fixed to the case 28. However, the covers 30, 32, 34, 3 are respectively attached to the second stage arm A2 to the uppermost stage arm A5 which extend and retract with respect to the lowermost stage arm A1.
6 is attached. That is, arms A2 to A5
Are protected by covers 30 and 36, respectively.

As shown in FIG. 5, the pulley 26,
When a wire, which will be described later, is applied to the wire 26, both sides of the wire straddle the central bent portion 14. The central bent portion 14 reinforces the arm. Since the arms A1 to A5 of FIG. 3 are provided with the first engaging portion 10, the second engaging portion 12, and the roller 20, the lower arm and the upper arm can slide relative to each other so as not to float on each other. This is possible, and in FIG. 3, they do not shift in the direction perpendicular to the plane of the drawing. Moreover, the arms A1 to A5 are provided with the third engaging portion 16
Since it has the end bent portion 18 and the roller 22, the lower arm and the upper arm can slide relative to each other so as not to float with each other, and do not shift in the vertical direction on the paper surface of FIG.

The rollers 20 and 22 are also called rollers, and are for reducing the load of sliding of the overlapping arms A1 to A5. The rollers 20 and 22 may be ball-shaped in addition to the above. As shown in FIG. 5, the telescopic arm device 1 having the above-described structure can be extended in the arrow X1 direction and can be extended or retracted in the arrow X2 direction or housed.

Next, the arm expanding / contracting means 2 for expanding and contracting the respective arms A1 to A5 of the above-described expandable arm device 1 will be described with reference to FIG. As shown in FIG. 4, the arm extension / contraction unit 2 has two extension wires 40, 40, one contraction wire 50, and a wire operation unit 60. The contracting wire 50 is a wire for contracting by pulling the arms A1 to A5 in the direction of the arrow X2. One end 50a of the shrinking wire 50 is fixed to the rear end of the uppermost arm A5. The other end of the shrinking wire 50 is fixed to a large pulley (first pulley) 61 of the wire operating means 60 via an intermediate pulley 50b.

On the other hand, the extension wires 40, 4
As shown in FIG. 5, one end 40a of 0 is the arm A at the bottom.
1 through the central bent portion 14 and returns in the direction of the arrow X2 via the pulleys 26, 26, and the second-stage arm A
2 is fixed to the rear end portion 40b. The other end 40c of the extension wire 40 of FIG. 4 is attached to each of small pulleys (second pulleys) 62, 62.

In FIG. 4, one small pulley 62 is shown by a solid line, and the other small pulley 62 is located on the other side of the large pulley 61 and is shown by a broken line. As the extension wire, in addition to the first extension wire 40, there are three additional pairs as shown in FIG.
There are 42 and 43. One end 41a of the wire 41 for extension of the second set passes through the central bent portion 14 of the arm A2 of the second stage and the two pulleys 26, and the arm A3 of the third stage.
It is fixed to the mounting portion 41b at the rear end. The other end 41c of the extension wire 41 is fixed to the rear end of the first-stage arm A1.

Similarly, the third set of extension wires 4
One ends 42a of the second and the second 42 are fixed to a mounting portion 42b at the rear end of the fourth-stage arm A4. The other end 42c of the extension wire 42 is located at the rear end 4 of the second-stage arm A2.
It is fixed at 2d.

One end 43 of the fourth extension wire 43
The a is passed through the central bending portion 14 of the fourth-stage arm A4, and is fixed to the mounting portion 43b at the rear end of the uppermost arm A5 via the roller 20. The other end 43c of the extension wire 43 is attached to the attachment portion 4 of the third-stage arm A3.
It is fixed to 3d. In addition, as described above, one end of the contracting wire 50 of FIG.
5 is fixed to the mounting portion 50a.

1 and 4, the arms A1 to A5 of the telescopic arm device 1 are completely retracted and housed. That is, all the arms A1 to A5 are housed in the case 28 of FIG. In FIG. 4, the large pulley 61 and the small pulleys 62, 62 described above are coaxially fixed by a rotating shaft 63. A driving force is transmitted to the rotating shaft 63 via gears 65 and 66 according to an output from an output shaft 64a of a motor 64 which is an actuator. As a result, the rotation shaft 63 can perform normal rotation in the arrow R1 direction and reverse rotation in the arrow R2 direction by driving the motor 64. When the arms A2 to A5 are extended with respect to the arm A1 from the stored state in FIG. 4, the large pulley 61 and the small pulley 62 are rotated together with the rotation shaft 63 in the direction of arrow R1. As a result, the contracting wire 50 is rewound from the large pulley 61, and the expanding wire 40,
40 is wound around the small pulleys 62, 62.

On the contrary, when the arms A2 to A5 are contracted with respect to the fixed arm A1 so as to be stored as shown in FIG. 4, the large pulley 61 and the small pulleys 62, 62 together with the rotary shaft 63 are arranged. It rotates in the direction of arrow R2. As a result, the contracting wire 50 is wound up by the large pulley 61, and the expanding wires 40, 40 are unwound from the small pulley 62. In this way, the contracting wire 50 and the expanding wires 40, 40 are tensioned with each other so that the arms A2 to A5 are fixed.
It can be expanded or contracted with respect to 1.

Next, the rotation driving means 3 shown in FIGS. 1 and 2 will be described. The rotation drive means 3 is a means for rotating the arm extension / contraction means 2, the extension / contraction arm device 1 and the case 28 in the direction of the arrow θ in the horizontal plane to orient the extension / contraction arm device 1 in a desired direction. This rotation driving means 3 is
This is shown in more detail in FIGS. 6 and 7. Rotation drive means 3
As shown in FIGS. 6 and 7, is a ring type gear 8 rotated by a motor 80 and an output gear 81 of the motor 80.
Three. The ring-shaped gear 83 is rotatably provided with respect to the robot base 6. The robot base 6 can be fixed to the base ground plane F with screws as shown in FIG. By driving the motor 80, the ring-shaped gear 83 is rotated in the θ direction of FIG.

Next, the vertical drive means 4 of FIG. 1 will be described. The vertical drive means 4 is for rotating the arm contracting means 2, the telescopic arm device 1 and the case 28 in the γ direction to set the vertical direction of the telescopic arm device 1. The case 28 has a semicircular portion 90 in cross section, as shown in FIGS. 1 and 6. This semicircular portion 90 is
It is fitted into the ring-shaped gear 83 side recess 92.
As shown in FIG. 1, the gear 94 of the motor 93 is engaged with a fan-shaped gear 95 for up and down in the γ direction, and by rotating the motor 93 in the forward and reverse directions, the case 28, the telescopic arm device 1 and the arm telescopic unit. The means 2 can be moved up and down in a vertical plane about the pin 96 at a predetermined angle γ. These aforementioned motors 64, 80 and 93
The operation can be controlled by the controller (control means) 5 in FIG.

Description of Operation Next, the operation of the drive device for the above-described telescopic arm device will be described. By operating the motor 80 of FIG. 1, the telescopic arm device 1
To a predetermined direction in the θ direction. Then, the motor 93 is operated as necessary to set the inclination of the case 28 to a predetermined angle in the arrow γ direction. The motor 64 of FIG. 4 is operated to rotate the rotary shaft 63 shown in FIG. 4 in the direction of arrow R1. As a result, the contracting wire 50 in FIG.
The wire 40 for rewinding in one direction and for extension,
40 is wound in the direction of arrow X2. That is, since the contracting wire 50 shown in FIG. 5 is paid out in the arrow X1 direction, the uppermost arm A5 can move in the arrow X1 direction. At the same time, the extension wires 40, 40 are wound in the direction of arrow X2. That is, when the extension wires 40, 40 are wound in the direction of the arrow X2, a two-stage structure integrated with one end 40a of the extension wires 40, 40 stretched via the rollers 26, 26 of FIG. The arm A2 of the eye moves in the direction of the arrow X1. That is, while the extension wires 40, 40 move in the direction X2, the second-stage arm A2 relatively moves in the extension direction X1 with respect to the fixed lowermost arm A1.

Similarly, the wire 4 for extension shown in FIG.
1, 41, as the second-stage arm A2 moves in the arrow X1 direction, the third-stage arm A3 integrated with one end 41a thereof extends in the arrow X1 direction with respect to the second-stage arm A2. To do. Similarly, the fourth-stage arm A4 in FIG.
It extends in the direction of arrow X1 with respect to the third-stage arm A3.
The uppermost arm A5 extends in the direction of arrow X1 with respect to the fourth arm A4. In this way, with respect to the fixed arm A1, the second to the uppermost arms A2 to A5 simultaneously extend in the direction of arrow X1 and extend to a predetermined stroke. However, the extension wire 40,
By balancing the tensions of 40 and the wire 50 for contraction, the extension stroke of the arms A2 to A5 can be maintained at a desired value. That is, the stroke of the uppermost arm A5 from the lowermost arm A1 can be maintained at a predetermined value.

In the embodiment shown in FIG. 5, the extension wire 4 is used.
Two of 0, 41, 42 and 43 are used. The reason why the two arms are used in this manner is that the left and right tensions in the respective arms A1 to A5 can be balanced, so that when the arms A2 to A5 extend,
The tip will not be twisted left or right. Next, when the motor 64 of FIG. 4 is rotated in the reverse direction to rotate the rotary shaft 63 in the direction of the arrow R2, the contracting wire 50 is wound and the extending wires 40, 40 are rewound. As a result, contrary to the above-described arm extension operation, the second-stage arm A2 is returned to the contracted direction X2 with respect to the fixed arm A1, and at the same time, the arms A3, A4 and the uppermost arm A5 are respectively indicated by arrows. It is pulled back in the X2 direction. In this way, the arms A1 to A5 return to the contracted state as shown in FIG.

By the way, in the arms A1 to A4, the stroke relationships of the wires are as follows. The stroke of one arm A1 to A5 is L, and the number of arm members is n (the arm A1 in the embodiment of FIG. 5).
Is fixed to the side of the base 6, so if the number of expandable arms is n-1), the wires 40, 41, 42, 43
Is L, and the stroke of the contracting wire 50 is (n-1) * L. In the method of the embodiment of FIG. 5, the previous arm stroke cannot be larger than the original arm stroke. Now the wire elongation is 1
If ΔL per one arm, the total stroke of the telescopic arm device 1 is (n−1) × (L−ΔL). Therefore, if the number of the extension wires 40, 40 is reduced to two, ΔL is halved, and in comparison with the case where only one extension wire 40 is used, the extension of the wires is combined with the balance effect in the expansion and contraction operation described above. Has the effect of reducing.

If the extension wires 40, 40 corresponding to the first-stage arm A1 are double-wound by utilizing the principle that the extension of the wires is reduced as the number of wires is increased, the extension wires 40, 40 The stroke of 40 is doubled if the extension wire 40 is fixed on the distal end side of the arm A2, and tripled if it is fixed on the rear end side (an example as shown in FIG. 5). This means that the tension of the wire can be reduced, and at the same time, the reduction ratio of the wire winding pulleys 61 and 62 shown in FIG. 4 can be reduced.
Therefore, a reduction mechanism is not particularly required, and the pulleys 61, 62
It is sufficient to reduce the speed reduction ratio of the pulleys 61 and 62 with the diameter ratio of the pulleys 61 and 62.

Extension wires 40, 41, 42, 43
The number of can be set by the number of movable arms × n. In the example of FIG. 5, n is 2. The movement directions of the extension wire 40 and the contraction wire 50 are opposite to each other. The pulley 61 and the pulley 62 shown in FIG. 4 have a constant reduction ratio, whereby the tensions of the extension wire 40 and the contraction wire 50 are maintained constant.
The extension wires 40, 41, 42, 43 in FIG. 5 are preferably the same type of wires. In the embodiment shown in FIG. 5, the arms are overlapped with each other and are engaged with each other so that they can slide with respect to each other. Each arm is shaped like a flat plate bent by a press,
Not limited to this, it is of course possible to use a bar-shaped arm.

In the embodiment shown in FIG. 5, an example in which five arms are used for expansion and contraction is shown, but the number of elements is not limited to this, that is, at least three or more arms or three or more arms. Can be driven to expand and contract at the same time. In the embodiment shown in FIGS. 3 and 5, a plurality of arms can be intensively driven to perform expansion / contraction operation, and the drive mechanism thereof is simple.
In the telescopic arm device 1 of the embodiment, the lateral pressure due to the bending of each arm can be reduced. That is, the first engaging portion 10, the second engaging portion 12, the third engaging portion 16 and the end bending portion 18, and the rollers 26 and 22 of FIG. Can be slid on each other. Moreover, since the arms having the same shape can be used, the arms can be compactly stored in a contracted state. Multiple arms can be compactly retracted and stored, and the extended state can be maintained at the desired stroke position if necessary, so it is possible to use a conventional arm that does not contract when rotating. In comparison, it does not require a rotating space. Moreover, it is possible to eliminate the danger of punching or the like for the worker due to the telescopic arm device.

The vertical drive means 4 shown in FIG. 1 can employ a manual vertical operation method. That is, it is possible to rotate in the γ direction by the manual adjustment mechanism without using the actuator in the embodiment of the present invention. As shown in FIG. 1, the uppermost arm A5
1 is provided with a head block 100. Necessary actuators and sensors can be set in the head block 100. In that case, a cable for energizing the head block 100 is required. This energizing cable requires a pulley for winding the cable so that the cable does not loosen as the arm expands and contracts. Therefore, the cable does not loosen even if the arms A2 to A5 extend and contract by performing the same operation as the extension wires 40 to 43.

The covers 30, 32, 34 and 36 shown in FIG.
The pulleys and wires of the arms A1 to A5 can be protected, and at the same time, the appearance of each arm A2 to A5 can be improved.
Has the effect of making it look like it is protruding like a ladder. As shown in FIG. 5, the telescopic arm device 1 has a tapered shape in which the uppermost arm A5 extends to the outermost side in the extended state. However, not limited to this, it is of course possible to fix the uppermost arm and extend the lowermost arm to the tip. Particularly, when the number of arms is increased and the arm value is gradually lengthened, it is preferable to use the lowermost arm as the most advanced arm. In this case, it is conceivable to attach a caster to the most advanced arm and move the fixed side via this caster. In FIG. 1, an example of the position of the guide pulley 55 is shown. That is, when the number of arms increases or decreases, it is necessary to change the position of the guide pulley 55. In FIG. 1, it is conceptually shown by a profile that the guide pulley 55 changes according to the number of arms. When changing the number of arms, it is necessary to change the position of the guide pulley 55 and the length of the wire 25. However, since only these changes are necessary, it is relatively easy to change the number of arms. can do.

FIG. 8 is a view of the extending and contracting states of the telescopic arm device 1 as seen from above. FIG. 8A shows a state in which each arm is completely contracted. FIG. 8B shows a state in which the uppermost arm A5 starts moving in the arrow X1 direction. FIG. 8C shows a state in which the arms A5 to A2 are completely extended by a predetermined stroke. FIG.
On the contrary, (D) shows a state in which the arms A5 to A2 start contracting in the direction of the arrow X2, and FIG. 8 (E) shows a state in which each arm is completely contracted.

FIG. 9 differs from the embodiment of FIG. 5 in that there is one extension wire 40 to 43. The shrinking wire 50 is similar to that of the embodiment shown in FIG. The shrinking wire 50 is wound around and unwound on the pulley 61. Pulling wire 40 is pulley 62
It is designed to be wound and unwound. A large pulley 61 and a small pulley 62 are coaxially fixed to the rotating shaft 63. When the rotary shaft 63 is rotated in the R1 direction, the pulley 61 rewinds the contracting wire 50 in the same manner as in FIG.
It is designed to wind up 0. Conversely, when the rotary shaft 63 is rotated in the direction of arrow R2, the pulley 61 can wind the contracting wire 50 and the pulley 62 can rewind the expanding wire 40.

The extension wire 40 is fixed to the second-stage arm A2 via the pulley 26. Similarly, one end of the extending wire 41 is fixed to the third-stage arm A3 via the pulley 26. Wire 42 for extension
One end of is fixed to the fourth-stage arm A4 via the pulley 26. One end of the extension wire 43 is fixed to the fifth-stage arm A5 via the pulley 26.

10 to 16 show sectional shapes of arms different from the arms A1 to A5 shown in FIG. In the arm structure shown in FIG. 10, for example, the basic structure of the engaging portion of the first-stage arm A1 and the second-stage arm A2 is shown. A substantially T-shaped projection 120 is formed on each of the arms A1 and A2, and a meshing portion 130 for meshing the projection 120 is formed on the opposing arm. FIG. 11 shows a basic structure of still another engaging portion. In FIG. 11, the first engaging portion 10 is formed on the first-stage arm A1, and the second engaging portion 12 is formed on the second-stage arm A2. A roller or a ball 140 is arranged between them. Similarly, the thick part 15
A roller or ball 140 is also arranged between 0 and 150. FIG. 12 shows the thick portion 15 in the embodiment of FIG.
The example of the bending angle at the time of bending 0 is shown. FIG.
Is, for example, the first-stage arm A1 and the second-stage arm A2.
The state of the engaging part between is shown. Protrusion 16 of arm A1
A ball 180 is arranged between 0 and the protrusion 170 of the arm A2. Further, the ball 200 is also arranged between the protrusion 170 of the arm A2 and the protrusion 190 of the arm A1. The arm shown in FIG. 13 is an example in the case of being simply configured with a sash material or the like.

FIG. 14 shows that the average pitch D can be reduced by alternately arranging the arms A1 to A5. This average pitch D
Is, for example, 4.5 mm. The distance D1 is, for example, 6 mm, and the distance D2 is 3 mm. FIG. 15 shows an example in which the lowermost member arm projects most. FIG. 16 shows an example in which the uppermost arm projects most. As described above, in the embodiment of the present invention, the number of kinds of parts of the arm is small, and the arm can be manufactured at low cost. Since there are few types of parts, it is easy to obtain assembly accuracy. The extension stroke can be arbitrarily set by using a plurality of the same arms to meet the needs of the working range. Rollers, rollers, balls, or the like can be used in the sliding portion between the arms. In each arm, at least one or more pulleys are attached, and a bending structure is provided in the central portion so that the wire ends on both sides of the pulley straddle the arms and a natural pulling direction is formed vertically. ..
In the embodiment of the present invention, since the arm that expands and contracts with respect to the fixed side arm can be completely housed and the protruding length in the housed state can be shortened as much as possible, the telescopic arm device can be used as the robot base. When rotating, the operator can avoid accidents such as punching and elbow iron, and the installation space can be reduced. By extending the telescopic arm with respect to the fixed arm, desired work can be performed in a wide work range. The extension / contraction operation of the arm is simple, and its control is easy. The telescopic arm device can completely accommodate the telescopic arm with respect to the fixed side arm, and the telescopic arm device can avoid obstacles when rotating.

[0038]

As described above, according to the present invention, it is possible to avoid a danger and perform a predetermined work by rotating the arm in a contracted state as much as possible rather than rotating the arm of a fixed length. It can be performed.

[Brief description of drawings]

FIG. 1 is a side view showing a preferred embodiment of a drive device for an expandable arm device according to the present invention.

FIG. 2 is a plan view of the driving device shown in FIG.

FIG. 3 is a front view having a cross section taken along the line WW of FIG.

FIG. 4 is a perspective view showing a telescopic arm device, an arm telescopic means, and a wire operating means of the present invention.

5 is an exploded perspective view showing a drive relationship of each arm of the arm device of FIG.

FIG. 6 is an exploded perspective view showing a rotation driving means of the arm device.

FIG. 7 is a perspective view showing a ring-shaped gear and a rotor of the rotation driving means.

FIG. 8 is a plan view showing an extension / contraction operation of each arm.

FIG. 9 is a diagram showing an arm drive system of an embodiment showing another embodiment different from FIG.

FIG. 10 is a view showing another embodiment of the arm engagement structure.

FIG. 11 is a view showing still another embodiment of the engaging structure of the arm.

FIG. 12 is a diagram showing an example of a bending angle of a thick portion of an arm.

FIG. 13 is a view showing still another embodiment of the engaging portion of the arm.

FIG. 14 is a diagram showing an example of an overlapping state of arms.

FIG. 15 is a view showing an example in which the uppermost arm projects to the extreme end.

FIG. 16 is a diagram showing an example in which the lowermost arm projects to the extreme end.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Telescopic arm device 2 Arm telescopic means 3 Rotation drive means 4 Vertical drive means 28 Case 40 Wire for extension 50 Wire for contraction 50b, 55 Pulley 60 Wire operation means 61 First pulley (large pulley) 62 Second pulley (Small pulley) 63 Rotating shaft 64, 80, 93 Motor

Claims (5)

[Claims] 1. An expansion / contraction arm device including at least three arms that are overlapped with each other and are slidably engaged with each other, and an arm expansion / contraction means for expanding / contracting the plurality of arms. Wire for extending and sequentially extending, and a retracting wire for sequentially returning and accommodating the plurality of arms, winding and rewinding operation for the extending wire and the retracting wire. A drive device for the telescopic arm device, the arm telescopic device including: a wire operating unit for operating the telescopic arm device; and a rotation driving unit that rotates the arm telescopic device and the telescopic arm device in a horizontal plane. . 2. The drive device for the telescopic arm device according to claim 1, further comprising vertical drive means for rotating the arm telescopic device and the telescopic arm device in a vertical plane. 3. The wire operating means includes a rotary shaft, a first pulley fixed to the rotary shaft for performing winding and rewinding operations of the contracting wire, and fixed to the rotary shaft. The telescopic arm device according to claim 1 or 2, further comprising: a second pulley for performing a winding operation and a rewinding operation of the extension wire, and an actuator capable of rotating the rotation shaft forward and backward. Drive. 4. The drive device for the telescopic arm device according to claim 1, wherein the arm is a slide plate. 5. An extendable / contractible arm device including at least three plate-like arms that are superposed on each other and are slidably engaged with each other, and an arm extend / contract unit for extending and contracting the plurality of plate arms. A wire for extension for sequentially extending and extending the plurality of plate-like arms, a wire for contraction for storing the plurality of plate-like arms in order, and the wire for extension. A wire operating means for winding and unwinding the contracting wire; and an arm extending / contracting means, and a rotation driving means for rotating the arm extending / contracting means and the extendable / contractible arm device in a horizontal plane. A drive device for a telescopic arm device, comprising: