WO2018021536A1 - Movement device for reciprocating body - Google Patents

Abstract

A movement device for a reciprocating body is equipped with: multiple forward winding linear bodies 51a, 51b held by means of multiple forward winders 22a, 22b so as to be capable of being wound and unwound, wherein the forward winding linear bodies 51a, 51b are strung between a reciprocating body 71 and the forward winders 22a, 22b; and multiple reverse winding linear bodies 52a, 52b held by multiple backward winders 23a, 23b so as to be capable of being wound and unwound, wherein the reverse winding linear bodies 52a, 52b are strung between the reciprocating body 71 and the backward winders 23a, 23b. Thus, heavy reciprocating bodies, horizontally long reciprocating bodies, and heavy and horizontally long reciprocating bodies can be moved forward and backward smoothly, easily, and stably, and can be moved at a high speed.

Description

Reciprocating body moving device

The present invention belongs to the field of mechanical technology that can be used for transporting, transferring, moving, and the like of people and / or things. More specifically, the present invention improves an apparatus for reciprocating a reciprocating body (moving body). About. The reciprocating body moving device according to the present invention can be called a reciprocating body traction device, a reciprocating body feeding device, or simply called a moving device, a traction device, a feeding device, or a conveying device. is there.

Transporting various transport objects such as raw materials, materials, parts, assemblies, finished products, and packages from the starting point to the target point is widely performed in many technical fields. For example, in a very general line production system, an apparatus for supplying a conveyance object (material, parts, etc.) corresponding to a processing line or an assembly line in a factory building is installed. This apparatus is configured such that a transfer moving body travels along a traveling path provided in a 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 to practical use.

If this device is a belt conveyor type transport device, it is suitable for long distance transport at a low price, but the positioning accuracy of transported objects is low, the transport speed is slower than other devices, and the belt conveyor is proportional to the transport distance Requires a large installation space. In addition, the screw-type transport device can be transported at medium and high speeds in addition to improved transport accuracy by using a polished ball screw. However, the use of an expensive grinding ball screw causes a cost push factor, which makes the device expensive. In addition, the screw-type conveying device is not a space-saving type and has a short conveying distance, so that it is difficult to convey a long distance like a belt conveyor. As with the screw-type feeding device, the cylinder-type conveying device is a problem of long-distance conveyance 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 conveying device is less expensive than the screw type feeding device using the abrasive ball screw, but if a high precision product is used to obtain high positioning accuracy, the timing belt type conveying device is expensive compared to the belt conveyor. In addition, the timing belt can set a longer conveying distance than the screw-type conveying device and the cylinder-type conveying device, but due to production restrictions and belt slack, the conveying distance of the belt conveyor is ensured. Is difficult. That is, the timing belt type conveying device does not become longer like the belt conveyor, but the conveying distance is shortened accordingly. The work robot has extremely high accuracy and high functionality, but is extremely expensive and is not suitable for continuous conveyance over a long distance.

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 system of the moving body, and the moving body is pulled in the forward movement direction (forward direction) with the linear body that can be wound and rewound, or pulled in the backward movement direction (reverse direction). can do. In this technology, when the linear body on the moving body forward side and the linear body on the moving body backward side are connected to the moving body, positioning accuracy, long distance transport, remote transport, controllability, high precision feed, High speed feed, low price, simple configuration, space saving, light weight, dust generation countermeasures, safety measures against accidents, etc. can be satisfied.

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-mentioned patent document is such that a moving body (reciprocating body) is advanced by a forward winder and a linear body for forward winding, or a reverse winder and a reverse winding linear body. Move the moving object backward. This moves the moving body forward and backward with only one forward winding linear body and only one reverse winding linear body. If the moving body is moved by only one linear body as in the techniques of these documents, it cannot be applied to a weighted moving body. The reason is that there is a possibility that only one linear body is overloaded and the linear body may be stretched or disconnected, and therefore, an unexpected accident tends to occur.
(2) In order to avoid the above drawbacks, it is conceivable to increase the strength of the linear body. A typical example is to employ a linear body having a large diameter. However, when a linear body having a large diameter is adopted, the winder diameter must be increased in order to ensure the bending life of the linear body. Increasing the winder diameter can be technically easily achieved, but the following problems occur.
(3) This type of linear body is generally made 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 wire diameter of the linear body. For example, when the strand diameter of the linear body is set to 2 mmφ, the diameter of the winder is 1000 mm = 1 m. Therefore, when the diameter of the linear body is increased, the diameter of the winder is increased, and the winder rotating shaft needs to be increased in diameter and strength. Larger diameter and higher strength are required. In addition, peripheral parts such as pulleys must be enlarged when the linear body is cabled. Thus, when the diameter of the linear body is increased in order to be applied to a moving body having a large weight, the entire apparatus component is affected accordingly, and the cost of the moving apparatus is significantly increased.
(4) When the diameter of the winder (high-speed rotating body) is increased as described above, unauthorized vibration (rotational vibration) is likely to occur in the rotating winder. For example, when a bending occurs in the rotating shaft of the winder due to a centrifugal force due to unbalance during rotation, the bending causes a swinging phenomenon of the rotating shaft. Of particular note is the “dangerous speed of the rotating shaft” seen in the rotation of the winder under such circumstances. That is, when the rotational speed of the rotating shaft matches the bending natural frequency of the rotating shaft, the deflection becomes abruptly increased and a dangerous state is caused. Therefore, when the diameter of the winder is increased, the rotational speed of the winder must be suppressed. In other words, unless a high level of safety measures are taken, high-speed rotation of the winder for improving work efficiency cannot be obtained.
(5) On the other hand, there is a demand for adopting a horizontally long structure such as a rod shape, a column shape, or a frame shape as a moving body of this type of moving device. When using a moving body consisting of such a horizontally long structure, only one forward winding linear body or only one reverse winding linear body is the central part of the moving body (a part that bisects the overall length). It is necessary to connect to the correct. Furthermore, during operation, the moving body is moved forward or backward by a linear body for normal winding or a linear body for reverse winding wound up via a winder. In such operation, in particular, the moving body must be moved while maintaining the left and right balance. If the balance is lost and the moving body tilts to the right or left, the moving body cannot move. In an existing system in which a moving force (traction force) is applied to the center of a moving body with only one linear body, the moving body tends to break the left-right balance. The reason is that there are many factors that cause the balance to be lost, such as imbalance in the movement resistance of the moving body, fluctuations in the moving load, rocking and vibration of the linear body. In order to prevent this balance collapse, for example, it is conceivable to provide guide means for maintaining balance on both sides of the moving area of the moving body and hold the left and right side portions of the moving body with the guide means. However, since the moving distance of the moving body may reach 50 to 100 m, a large equipment cost is required for maintaining the balance. If this balance maintenance measure cannot be taken, the mobile device itself is rejected.
(6) In this type of moving device, it is important to accurately stop the moving body at the target position. This is particularly important when a required article (part, member) is supplied using a production line. However, the conventional moving device that controls the winding and rewinding of the linear body for forward winding and the linear body for reverse winding via a single winder is a moving body while reducing the winding and unwinding speed of the linear body. When the speed is controlled, there is a tendency that the forward winding linear body or the reverse winding linear body is slackened, so that the moving body may be slightly shifted from the target position and stopped. Therefore, an improvement that always stops the moving body at the target position accurately is desired.

JP 2006-017292 A JP 2007-127138 A JP 2009-204134 A JP 2011-002004 A JP 2011-038548 A JP 2012-002297 A No. 2013-137139 Japanese Patent Laying-Open No. 2015-164821

In view of the above-described problems, the present invention provides a moving device for a reciprocating body having the following object. The first object is to smoothly and lightly and stably advance and retreat a reciprocating body such as a reciprocating body having a large weight (mass), a long and long reciprocating body, and a large and long reciprocating body, And it is to enable high-speed movement. The second object is to simplify and compact the reciprocating body moving device without increasing the size of the main components including the linear body for forward winding, the linear body for reverse winding, and the winder. That is. The third object is to make the parts difficult to break down and to extend the life of the reciprocating device moving device. The 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 reciprocating device moving device having high functionality at low cost.

In order to achieve the intended object, the present invention provides a moving device for a reciprocating body as the following 12 problem solving means (11) to (22).
(11) A reciprocating body that can reciprocate to move forward in the moving region when receiving a force in the forward direction or to move backward in the moving region when receiving a force in the backward direction,
A plurality of forward and reverse rotations for applying a forward force to the reciprocating body through the wound linear body and allowing the reciprocating body to retreat through the rewinding linear body A winder,
A plurality of forward and backward reversible rotations for applying a backward force to the reciprocating body through the wound linear body and allowing the reciprocating body to advance through the rewinding linear body. A winder,
A plurality of forward winding linear bodies that are held so as to be freely wound and rewound via the plurality of advance winders;
A plurality of reverse winding linear bodies that are held so as to be freely wound and rewound through a plurality of rewinding winders;
Each forward winding linear body is roped across the reciprocating body and the plurality of forward winders so that the force in the forward direction by the plurality of forward winders is transmitted to the reciprocating body.
Each reverse winding linear body is roped over the reciprocating body and the plurality of retreating winders so that the force in the retreating direction by the plurality of rewinding winders is transmitted to the reciprocating body.
Each forward winder during winding rotation and each backward winder during rewinding rotation synchronize and synchronize with each other and rotate in the respective winding direction and rewinding direction. Each forward winder and each reverse winder during winding rotation are synchronized and synchronized with each other and rotated in the respective rewinding direction and winding direction,
The amount of winding of each forward winding linear body by each forward winder is equal to the amount of rewinding of each reverse winding linear body by each backward winding device, and each forward winding The moving device for a reciprocating body characterized in that the rewinding amount of each linear body for normal winding by the winder and the winding amount of each linear body for reverse winding by each rewinding winder are equal to each other .
(12) The reciprocating body moving device according to the above (11), wherein all the advance winders are arranged in a line on the same axis.
(13) The reciprocating device moving device according to the above (11), wherein all the retracting winders are arranged in a line on the same axis.
(14) The reciprocating body moving device according to (11), wherein all the advance winders and all the reverse winders are arranged in a line on the same axis.
(15) The reciprocating body moving device according to any one of (11), (12), and (14) above, wherein all the advance winders are integrated.
(16) The reciprocating body moving device according to any one of (11), (13), and (14), wherein all the retracting winders are integrated.
(17) The reciprocating body moving device according to (11) or (14), wherein all the advance winders and all the reverse winders are integrated.
(18) All the advance winders are integrated and configured, and all the reverse winders are integrated and integrated with the integrated advance winder. The reciprocating body moving device according to the above (11) or (14), wherein the reversed winder is separate from each other.
(19) All the advance winders are arranged on one side selected from the forward movement start side and the backward movement start side of the reciprocating motion body movement area, and the forward movement start of the reciprocating movement body movement area For the reciprocating body described in the above item (11) or (18), wherein all the retracting winders are arranged on the other side selected from the other side and the reverse movement starting side Mobile device.
(20) A forward movement for winding and rewinding the dual-use linear body, including a plurality of dual-use linear bodies configured by a series of forward-winding linear bodies and reverse-winding linear bodies. A winder assembly formed integrally with a winder for retraction and a winder for retraction, and an intermediate portion of both linear members is wound around the winder assembly, and both wires One end of the linear body is connected to the reciprocating body as the end of the linear body for forward winding, and the other end of the linear body for both ends is connected to the reciprocating body as the end of the reverse winding linear body. The moving device for a reciprocating operation member according to any one of (11), (14), (17) and (19).
(21) The reciprocating body moving device according to any one of (11) to (20), wherein a dimension of the reciprocating body in the left-right direction is larger than a dimension in the front-rear direction of the reciprocating body.
(22) The moving area of the reciprocating body is set to any one of the ground, underground, water, underwater, and air, and the reciprocating body moves back and forth in the moving area (11) ) To reciprocating body moving device according to any one of (21) to (21).

The reciprocating body moving device according to the present invention has the following effects (31) to (38).
(31) The reciprocating body is moved forward by a plurality of forward winders and a plurality of forward winding linear bodies, and the reciprocating body is moved backward by a plurality of backward winders and a plurality of reverse windings. With a linear body. With this type of movement, the reciprocating body is moved forward with a single forward winder and a single forward winding, or a single reverse winder and a single reverse winding. Compared to the linear body that reciprocates the reciprocating body, a stronger traction force can be applied to the reciprocating body to move it. Therefore, even when the reciprocating body having a large weight (mass) is moved at a high speed, the reciprocating body can be moved forward and backward smoothly, lightly and stably through the strong traction force.
(32) If the above movement method is used, the balance between a reciprocating body having a large lateral dimension (horizontal direction), a long and long reciprocating body, and a heavy and long reciprocating body also impairs the balance. It is possible to move forward and backward stably without any problems. The reason for this is that, for example, by winding up each of the two normal winding linear bodies respectively connected to the left and right sides of the horizontally long reciprocating body synchronously and synchronously with a forward winder, This is because the reciprocating body (the whole) including the portion moves at a constant speed while maintaining a substantially accurate posture. Similarly, two reciprocating linear bodies connected to the left and right sides of a reciprocating body having a large horizontal dimension or a horizontally long reciprocating body are wound synchronously and synchronously by a rewinding winder. Also when taking, the reciprocating operation body moves at a high speed and at a constant speed while maintaining a horizontally long state without impairing the balance.
(33) If 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 operation body is heavy. It is not necessary to increase the diameter of the winder. Therefore, the reciprocating device moving device can be simplified and made compact without enlarging the main components including the forward winding linear body, the reverse winding linear body, and the winder. In particular, all forward winders are in line on the same axis, all reverse winders are in line on the same axis, all forward winders and all A configuration in which the rewinding winder is arranged in a line on the same axis, a configuration in which all the forward winders are integrated, and a configuration in which all the reverse winders are integrated The configuration in which all the advance winders and all the reverse winders are integrated can make the moving device for the reciprocating body simpler and more compact.
(34) The reciprocating body moving device mainly includes a reciprocating body, 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 has the above-mentioned stability function. More specifically, the load applied to each part is distributed due to the presence of a plurality of forward winders, reverse winders, forward winding linear bodies, and reverse winding linear bodies. Since no heavy load is applied, each part is unlikely to break down. Therefore, the long life of the reciprocating body moving device can be achieved.
(35) All forward winders are arranged on one side selected from the forward movement start side and the backward movement start side of the reciprocating motion body movement area, and the forward movement start of the reciprocating movement body movement area In the reciprocating body moving device in which all the rewinding winders are arranged on the other side on the other side selected from the side and the reverse start side, each winder is gathered in one place. It is easy to centrally manage and monitor.
(36) All forward winders are arranged on one side selected from the forward movement start side and the backward movement start side of the reciprocating motion body movement area, and the forward movement start of the reciprocating movement body movement area The reciprocating body moving device in which all of the rewinding winders are arranged on the other side selected on the other side selected from the side and the backward movement starting side is composed of each rewinding winder and each rewinding winder. Since the take-up device is separated from the take-up device, there is no need for a large installation space for the take-up device in one place, and when controlling the speed of the reciprocating operation body while reducing the winding / rewinding speed of the linear body. Moreover, 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 operation body can be accurately stopped at the target position. As a result, a high-performance reciprocating device moving device can be provided at low cost.
(37) A forward winding device and a retraction unit for winding up and rewinding both the linear members for forward winding and reverse winding, or for winding and unwinding the dual linear members. The moving device for reciprocating members, in which the winder is composed of a winder assembly, not only simplifies the configuration of the device, but also effectively utilizes the axial region of the winder assembly. Thus, a plurality of dual-use linear bodies can be efficiently wound or rewound.
(38) For a reciprocating operation body mainly composed of a reciprocating operation body, a plurality of advance winders, a plurality of retraction winders, a plurality of forward winding linear bodies, and a plurality of reverse winding linear bodies. As described above, the moving device can stably move the reciprocating body forward and backward. This makes it possible to stably move the reciprocating body regardless of whether the moving area of the reciprocating body is set on the ground, underground, water, underwater, or air. Therefore, a highly versatile moving device for a reciprocating member can be provided at a low cost.

The top view (A) which shows the outline of 1st embodiment of this invention apparatus, the side view (B) of a partially notched state, the front view (C) which shows schematically the pulley unit in this invention apparatus, right view (D) ), A rear view (E), and a right side view (F). Explanatory drawing (A) thru | or which showed the outline | summary of some examples of the winding method of the linear body for forward winding in this invention apparatus and the linear body for reverse winding with the winder for advance, and the winder for reverse | retreat (E). It is the front view (A) thru | or (C) which showed the winding method of the linear body for forward winding in the apparatus of this invention, and the linear body for reverse winding with the winder for advance, and the winder for retreat. It is the perspective view which outlined the outline of 2nd embodiment of this invention apparatus. It is the perspective view which showed schematically the structure of the principal part of 2nd embodiment of this invention apparatus. It is the top view which showed schematically the third embodiment of the device of the present invention. It is the perspective view which showed schematically the outline | summary of 4th embodiment of this invention apparatus. It is the perspective view which simplified the structure of the principal part of 4th embodiment of this invention apparatus. It is the top view (A) and side view (B) which outlined 5th embodiment of this invention apparatus. It is the top view (A) which outlined the 6th embodiment of this invention apparatus, and the top view (B) which simplified the 7th embodiment of this invention apparatus. A plan view (A) schematically illustrating the eighth embodiment of the device of the present invention, a plan view (B) schematically illustrating the ninth embodiment of the device of the present invention, and two variations of these two embodiments are schematically illustrated. It is a side view (C) (D). It is sectional drawing of the linear body winding mechanism employ | adopted in this invention apparatus.

First, a reciprocating body (moving body) used in the present invention will be described. This means a body that moves for a desired work or work. A few examples of typical reciprocating members include a carriage for transportation and a vehicle. Other reciprocating elements include measuring instruments, inspection machines, analysis machines, spraying machines, distribution machines, stirring machines, collecting machines, sampling machines, dust collecting machines, imaging machines, alarming machines, monitoring machines, lighting machines, and heating machines. Such machines can be mentioned, and there are also those equipped or mounted with these machines.

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

In the present invention, the term “forward winding linear body” and “reverse winding linear body” merely distinguish these two linear bodies in a relative relationship. The words “for forward winding” and “for reverse winding” do not represent absolute meanings. Therefore, when the “forward winding linear body” is changed to the “reverse winding linear body”, the “reverse winding linear body” becomes the “forward winding linear body”.

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

When paying attention to a pair of forward winding and reverse winding linear bodies, instead of dividing a series of long linear bodies, one end of the long linear body is moved from one end to the middle. There is a case where a winding linear body is used and the other end portion to the intermediate portion are properly used as a reverse winding linear body. This means that the linear body for forward winding and the linear body for reverse winding coexist in a series of long linear bodies. This series of linear bodies having both a normal winding linear body and a reverse winding linear body are referred to as “both linear bodies”. On the other hand, the forward winder and the reverse winder are also paired. In this case, one forward winder corresponds to one or more linear bodies, and one backward winder also corresponds to one or more linear bodies. The forward winder and the reverse winder that form a pair may be separate from each other, but in many cases, the forward winder and the reverse winder are coaxially adjacent to each other. It has become a “winder assembly”. In addition to this, a “winder assembly (for forward movement)” in which a plurality of advance winders are coaxially and adjacently integrated, and a plurality of reverse winders are coaxially adjacent and integrated. “Winder assembly (for retraction)”, and all the advance winders and all the reverse winders are coaxially and adjacently integrated. There is also an “aggregate (all winder assembly)”. Such a “winder assembly” may also be referred to as a “common winder”, a “common winder”, or a “combined winder”. Furthermore, regarding the “pulley unit” and “pulley holder” in the embodiment of the present invention, the “pulley unit” may be referred to as “pulley unit set” or “pulley unit mechanism”, and the “pulley holder” may be referred to as “pulley unit”. .

Various embodiments of the forward winder and the backward winder are described as follows (1) to (13). (1) All the advance winders are arranged in a line on the same axis. (2) All retractor winders are arranged in a line on the same axis. (3) All forward winders and all backward winders are arranged in a line on the same axis. (4) All the advance winders are integrated. (5) All retractor winders are integrated. (6) All forward winders and all backward winders are integrated. (7) All the integrated advance winders and all the integrated reverse winders are separate from each other. (8) All forward winders are integrated as described above, but each backward winder is a separate and independent one. (9) On the contrary, all the rewind winders are integrated as described above, but each forward winder is a separate independent body. (10) All the advance winders and all the reverse winders are individually independent bodies. (11) All the advance winders and all the reverse winders are arranged on one side selected from the forward movement start side and the backward movement start side of the reciprocating body moving region. The (12) All forward winders are arranged on one side selected from the forward movement start side and the backward movement start side of the reciprocating movement body movement area, and the forward movement start of the reciprocating movement body movement area All the reverse winders are arranged on the other side selected from the side and the backward movement start side. (13) Respective retractors are arranged in the reciprocating body moving area, and the independently retracting winders are distributed around the reciprocating body moving area. Are distributed in the vicinity of

A moving device for a reciprocating body according to the present invention will be described with reference to an embodiment illustrated in FIGS.

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

In the embodiment shown in FIG. 1, the shaft support (mounting base) 11 is equipped with a winder assembly 21X so as to be rotatable forward and backward. The winder assembly 21X includes a plurality of forward winders 22a and 22b and a plurality of backward winders 23a and 23b. These winders 22a, 22b, 23a and 23b are integrated. Yes. In other words, the sections of the winder assembly 21X are the winders 22a, 22b, 23a, and 23b, respectively. The winder assembly 21X moves in the axial direction (reciprocates in the axial direction) at a predetermined pitch when it rotates forward or backward. The forward winding linear bodies 51a and 51b and the reverse winding linear bodies 52a and 52b are aligned and wound around the circumferential surfaces of the winders 22a, 22b, 23a, and 23b.

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

In each of the pulley units PU01 to PU04 schematically shown in FIGS. 1C, 1D, 1E, and 1F, the pulleys P01 to P08 are of a type that freely rotates horizontally around the vertical axis. is there. Among these, the pulley unit PU01 of FIG. 1C is attached so that the two pulleys P01 and P03 can freely rotate on a vertical axis SV provided on the unit base UB1. Describing the relative relationship between the pulleys P01 and P03, one pulley P01 is relatively lower and the other pulley P03 is relatively higher. Similarly, the pulley units PU02, PU03, PU04 in FIGS. 1D, 1E, and 1F are each composed of two pulleys P02, P04, P05, P07, P06, and P08 that maintain the vertical relationship. Each of them is attached to a vertical axis SV provided on UB1 so as to freely rotate.

Referring to FIG. 1A, which is a plan view of the device of the present invention, this figure shows the pulleys P01 to P08 without the pulley units PU01 to PU04. In the state of FIG. 1A, the lower pulleys P01, P03, P05, and P07, which are not supposed to be hidden, are intentionally illustrated for convenience of explanation.

In each of the two pulley units PU05 and PU06 shown in FIGS. 1 (A) and 1 (B), the two pulleys P09 and P10 equipped on the pulley units PU05 and PU06 are free to rotate vertically around the horizontal axis. belongs to. Among these, one pulley P09 is attached and held so as to freely rotate on a horizontal shaft SH provided in the pulley holder PH. A screw shaft (bolt) SB that protrudes in the orthogonal direction on 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 disposed on the horizontal bottom plate portion BP of the angle-shaped unit base UB2 so as to be movable back and forth. The screw shaft SB of the pulley holder PH passes through the vertical back plate portion BB of the unit base UB2 and protrudes out of the unit base UB2. The threaded shaft SB has a penetrating end on the outer surface side of the back plate portion BB. A certain female screw (nut) SN is screwed.

Each of the pulley units PU01 to PU06 described above reciprocates the reciprocating operation body 71 in a predetermined manner 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 to be operated. The shaft support 11 equipped with the winder assembly 21X that can freely rotate forward and reverse is installed at the center of the front edge of the pool PL as described above. Two pulley units PU01 and PU01 adjacent to the left and right on the front side of the winder assembly 21X are also installed at the center of the front edge of the pool PL. On the other hand, the other two pulley units PU03 and PU04 are respectively installed on the front edge right side and the front edge left side of the pool PL. Further, the remaining two pulley units PU05 and PU06 are respectively installed on the right side of the rear edge and the left side of the rear edge of the pool PL.

The winder assembly 21X in FIG. 1 is formed by integrating a plurality of forward winders 22a and 22b and a plurality of backward winders 23a and 23b. 22a, 22b and a plurality of retraction winders 23a, 23b. In this winder assembly 21X, the forward winder 22a corresponds to the forward winding linear body 51a, and the forward winder 22b corresponds to the forward winding linear body 51b. The winder 23a corresponds to the reverse winding linear body 52a, and the rewinding winder 23b corresponds to the reverse winding linear body 52b, but the boundary portions of the winders 22a, 22b, 23a, and 23b are fixed. It is not typical, and is displaced in the axial direction as the winder assembly 21X rotates forward and backward.

The forward winding linear bodies 51a and 51b and the reverse winding linear bodies 52a and 52b in FIG. 1 will be described. The forward winding linear body 51a and the reverse winding linear body 52a form a pair and are used for forward winding. The linear body 51b and the reverse winding linear body 52b form a pair. In addition, as shown in FIG. 1, a series of long double-use linear bodies 51R constitute a pair of forward winding linear bodies 51a and reverse winding linear bodies 52a, and a series of long double-use linear bodies 51a. A forward winding linear body 51b and a reverse winding linear body 52b are paired with the body 51S.

The two linear bodies 51R and 51S (forward winding linear bodies 51a and 51b and reverse winding linear bodies 52a and 52b) in FIG. 1 will be described. The intermediate part of these linear bodies is several times to several tens of times. Is wound around the outer peripheral surface of the winder assembly 21X. In a specific example, the two-way 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 one dual-use linear body 51R and the winding portion of the other dual-use linear body 51S are adjacent to each other in the axial direction on the outer peripheral surface of the winder assembly 21X. More specifically, an adjacent interval (a portion where the linear body is not wound) is usually interposed between adjacent portions of both of the winding portions. When the spacing between the winding portions is described with reference to the number of windings of the two linear bodies, the number of windings is in the range of about 2 to 5 times.

The dual-use linear bodies 51R and 51S (the forward winding linear bodies 51a and 51b and the reverse winding linear bodies 52a and 52b) in which the intermediate portion is wound around the outer peripheral surface of the winder assembly 21X are related to this. It is searched as follows in relation to each part. The forward winding linear body 51a rewound from the forward winder 22a of the winder assembly 21X passes through the pulleys P01, P05, and P09, and is at one end of the reciprocating operation body 71. It is fixed to the fixing part EF1. The forward winding linear body 51b unwound from the forward winder 22a of the winder assembly 21X is located at the other end of the reciprocating operation body 71 after passing through the pulleys P02, P06, and P10. It is fixed to the fixing part EF2. The reverse winding linear body 52a that has been unwound from the retracting winder 23a of the winder assembly 21X passes through the pulleys P03 and P07 and then is fixed to the one end of the reciprocating body 71. Fixed to EB1. Furthermore, the reverse winding linear body 52b unwound from the retracting winder 23b of the winder assembly 21X is located at the other end of the reciprocating operation body 71 after passing through the pulleys P04 and P08. It is fixed to the fixing part EB2.

In FIG. 1, when the normal rotation of a prime mover (for example, servo motor) 34 mounted on the shaft support 11 is transmitted to the rotation shaft 26 of the winder assembly 21X via the transmission means (coupling 81). The winder assembly 21X rotates forward. The forward rotation of the winder assembly 21X is forward rotation for the forward winders 22a and 22b, but reverse rotation for the backward winders 23a and 23b. Accordingly, the forward winders 22a and 22b rotate in the direction of winding the forward winding linear bodies 51a and 51b, and at the same time, the backward winders 23a and 23b rotate the reverse winding linear bodies 52a and 52b. Rotate in the rewind direction. When the reverse winding linear bodies 52a, 52b are rewound while the forward winding linear bodies 51a, 51b are wound in this way, by the traction force of the forward winding linear bodies 51a, 51b, The reciprocating operation body 71 moves forward and backward in the direction F1 in FIG. On the other hand, when the reverse rotation of the prime mover 34 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 reverse direction. The reverse rotation of the winder assembly 21X is reverse for the forward winders 22a and 22b, but is normal for the backward winders 23a and 23b. Accordingly, the advance winders 22a and 22b rotate in the direction of rewinding the forward winding 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. Rotates in the winding direction. In this way, when the reverse winding linear bodies 52a and 52b are wound while the forward winding linear bodies 51a and 51b are rewound, by the traction force of the reverse winding linear bodies 52a and 52b, The reciprocating body 71 moves backward and backward in the direction F2 in FIG.

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 backward winders 23a and 23b. In addition, a linear body is applied to each of the winders 22a, 22b, 23a, and 23b. Hereinafter, the winder assembly 21X of each example will be described in detail.

In the winder assembly 21X of FIG. 2A, two forward winding linear bodies 51a and 51b are wound around the forward winders 22a and 22b so as to be freely rewound and unwound. Two linear bodies for reverse winding 52a and 52b are wound around the winders 23a and 23b so as to be freely wound and unwound. In the winder assembly 21X shown in FIG. 2B, four forward winding linear bodies 51a, 51b, 51c, 51d are wound around the forward winders 22a, 22b, 22c, 22d so that they can be wound and unwound. In addition, four reverse winding linear bodies 52a, 52b, 52c, and 52d are provided on the rewinding winders 23a, 23b, 23c, and 23d so as to be rewound and unwound. The winder assembly 21X in FIG. 2C includes six forward winding linear bodies 51a, 51b, 51c, 51d, 51e, and forward winders 22a, 22b, 22c, 22d, 22e, and 22f. 51f is provided so as to be rewound and unwound, and the six reverse winding linear bodies 52a, 52b, 52c, 52d, 52e, and the rewinding winders 23a, 23b, 23c, 23d, 23e, 23f, 52f is provided so as to be rewound and unwound.

2A to 2C are merely examples, but the linear bodies 51a to 51f and 52a to 52f are fixed portions (attachment portions) X1 to X6 and the winders 22a. To 22f. As such a linear body fixing means, a screw fixing or other known fixing means is used. Fixing the linear body to the winder in this way is merely an example. The fixing portions X1 to X6 in this case are boundaries 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 a form in which the linear bodies 51a to 51f and 52a to 52f are not fixed to the winders 22a to 22f. A specific example of this mode will be described below with reference to FIGS.

In the form of FIG. 2 (D), the two linear bodies 51R constitute one forward winding linear body 51a and one reverse winding linear body 52a. In other words, the linear body 51R for both is comprised by the series of linear body 51a for forward winding, and the linear body 52a for reverse winding. Similarly, the dual-use linear body 51S constitutes one forward winding linear body 51b and one reverse winding linear body 52b. The winder assembly 21X shown in FIG. 2D has a forward winder 22a and a reverse winder 23a for winding and unwinding one of the two linear members 51R, and the other dual-purpose linear member. A forward winder 22b and a backward winder 23b for winding and unwinding the body 51S are configured. As in the previous example, each winder 22a, 22b, 23a, 23b is integrated as a single winder assembly 21X, and each part is used as each winder 22a, 22b, 23a, 23b. In the form of FIG. 2 (D), the intermediate portion of the dual-use linear body 51R and the intermediate portion of the dual-use linear body 51S are wound around the outer peripheral surface of the winder assembly 21X. 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 an interval between adjacent portions. Of course, the winding portions C01 and C02 of the two-sided linear bodies 51R and 51S are not fixed to the winder assembly 21X. Furthermore, in the form of FIG. 2 (D), each one end portion of the two-sided linear bodies 51R and 51S is connected and fixed to the reciprocating operation body 71 as an end portion of the normal winding linear bodies 51a and 51b, and The other end portions of the two-sided linear bodies 51R and 51S are also connected and fixed to the reciprocating operation body 71 as ends 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 line constituting the forward winding linear body 51c and the reverse winding linear body 52c. A linear body 51T is used together with the two dual-purpose linear bodies 51R and 51S. These three linear bodies 51R, 51S, 51T are also wound around the outer peripheral surface of the winder assembly 21X. 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 an interval between adjacent portions. . Of course, the winding portions C01, C02, C03 of the two-sided linear bodies 51R, 51S, 51T are not fixed to the winder assembly 21X. Also in the form of FIG. 2 (E), each one end of the linear bodies 51R, 51S, 51T for both ends is connected and fixed to the reciprocating operation body 71 as the end of the linear bodies 51a, 51b, 51c for normal winding, The other end portions of the two-sided linear bodies 51R, 51S, 51T are also connected and fixed to the reciprocating operation body 71 as ends of the reverse winding linear bodies 52a, 52b, 52c.

As described above, the two linear bodies 51R and 51S are not fixed to the winder assembly 21X in the form of FIGS. 2D and 2E. The linear body is not fixed to the winder assembly 21X in the same manner in the configurations of FIGS. 2 (A), 2 (C), and 2 (E).

In the dual-use linear bodies 51R and 51S in FIG. 2D, when the winder assembly 21X rotates forward, the forward winding linear bodies 51a and 51b are wound and simultaneously the reverse winding linear bodies 52a and 52b. 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. As the forward winding linear bodies 51a, 51b and the reverse winding linear bodies 52a, 52b are wound or unwound in this manner, the reciprocating moving body 71 moves forward and backward and moves backward. Or Similarly, when the winder assembly 21X rotates in the forward or reverse direction, the linear bodies 51a, 51b, and 51c in the forward winding and the reverse winding are also used in the dual-purpose linear bodies 51R, 51S, and 51T in FIG. Since the linear bodies 52b, 52b, and 52c are wound or unwound, the reciprocating body 71 is similarly moved forward and backward.

In the dual-use linear bodies 51R and 51S in FIG. 2D, the lengths of the forward winding linear body 51a and the reverse winding linear body 52a change relatively with the winding and rewinding thereof. . For example, if the reverse winding linear body 52a is wound while the forward winding linear body 51a is rewound, the reverse winding linear body 52a becomes shorter while the forward winding linear body 51a becomes longer. If the reverse winding linear body 52a is rewound while the forward winding linear body 51a is wound, the reverse winding linear body 51a becomes shorter while the reverse winding linear body 51a becomes shorter. Similarly, when the linear body 51b for normal winding and the linear body 52b for reverse winding are wound up or rewound, the lengths of both of them change relatively. 2E, the lengths of the forward winding linear body 51a and the reverse winding linear body 52a, and the forward winding linear body 51b are the same as described above. And the lengths of the linear body for reverse winding 52b and the lengths of the linear body for forward winding 51c and the linear body for reverse winding 52c change relatively during the rewinding and rewinding.

Each linear body 51a, 51b, 51c, 52a, 52b, 52c is aligned with each winder 22a, 22b, 23a, 23b, 23c in the form of one winding like FIG. 2 (A) (D) (E). When winding, a single spiral groove 53 as shown in FIG. 3A is formed on the outer peripheral surface of the winder assembly 21 </ b> X, and each linear body is fitted into the spiral groove 53. Thus, it is wound around the outer peripheral surface of the winder assembly 21X. When the linear bodies 51a, 51b, 51c, 51d, 52a, 52b, 52c, and 52d are aligned and wound around the winders 22a, 22b, 23a, and 23b in the two-winding mode of FIG. Two spiral grooves 53 and 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 into the spiral grooves 53 and 54. It is wound around the outer peripheral surface of the vessel assembly 21X. In addition, each linear body 51a, 51b, 51c, 51d, 51e, 51f, 52a, 52b, 52c, 52d, 52e, and 52f is connected to each winder 22a, 22b, 22c, in the three-winding mode of FIG. In the case of aligned winding on 22d, 22e, 22f, 23a, 23b, 23c, 23d, 23e, and 23f, the outer peripheral surface of the winder assembly 21X has three strips as shown in FIG. Spiral grooves 53, 54, and 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, and 55.

The linear body winding mechanism (the shaft support 11, the winder assembly 21X, the prime mover 34, and a mechanism including a transmission system) employed in the embodiment of FIG. 1 is disclosed in Patent Documents 1 to 3. The mechanism that is being used can be used. Incidentally, the embodiment of FIG. 1 corresponds to that 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 shown in FIG. 1 are formed into the winder assembly 21X (22a, 22b, 23a, 23b) in the manner shown in FIGS. It can be wound up or rewound. This will be described below.

The linear body 51a, 51b for forward winding and the linear body 52a, 52b for reverse winding of FIG. 4, FIG. 5 consist of a series of long linear bodies similarly to the aspect of FIG. Each part of the linear body (hereinafter referred to as a long linear body) is properly used as the forward winding linear bodies 51a and 51b and the reverse winding linear bodies 52a and 52b.

In FIG. 4 and FIG. 5, an example of winding a long linear body around the winder assembly 21 </ b> X will be described. First, as shown by a fixing portion X <b> 7 in FIG. 4, one end of the long linear body Is fixed to one end of the winder assembly 21X with an appropriate fixing tool. Next, the long linear body is wound around the outer peripheral surface of the winder assembly 21X. When this winding reaches the other end portion of the winder assembly 21X, the other end portion of the long linear body is attached to the winder assembly with an appropriate fixing tool as shown by a fixing portion X8 in FIG. It fixes to the other end part of 21X.

4 and 5, when the long linear body is wound around the winder assembly 21X as described above, the two long loop-shaped relaxing portions RA1 and RB1 shown in FIGS. 4 and 5 are formed. Both loop-like relaxing portions RA1 and RB1 of the long linear body are fixed to one end and the other end of the reciprocating operation body 71 in the same manner as in the embodiment of FIG. Specifically, it is fixed to fixing portions EF1, EB1, EF2, and EB2 at one end and the other end of the reciprocating body 71 in FIGS. In this way, the long linear body connected to the reciprocating body 71 is configured such that each part thereof is a forward winding linear body 51a, 51b and a reverse winding linear body 52a, 52b with the reciprocating body 71 as a boundary. It becomes.

4 and 5, as a typical example, the reciprocating operation body 71 is disposed in the pool PL as shown in FIG. 1. In this case, the winder assembly 21X is installed, for example, at the center of the front edge of the pool PL as shown in FIG. Further, the forward winding linear bodies 51a and 51b and the reverse winding linear bodies 52a and 52b are also roped through a plurality of pulleys P01 to P10 as in the example of FIG. That is, the forward winding linear bodies 51a and 51b and the reverse winding linear bodies 52a and 52b are wound around the pulleys P01 to P10 of the pulley unit arranged at the important points around the pool as shown in FIG. And it will be seized as prescribed.

In the moving device for the reciprocating body having the main configuration shown in FIGS. 4 and 5, other items that are not described are substantially the same as those described with reference to FIGS. 1 to 3. It is equivalent. Therefore, the description regarding the other matters regarding the moving device for the reciprocating body having the main configuration shown in FIGS. 4 and 5 will be omitted by referring to the matters described with reference to FIGS.

4 and 5, when the winder assembly 21 </ b> X is rotated forward or backward, the forward winding linear bodies 51 a and 51 b and the reverse winding linear bodies 52 a and 52 b are: The winder assembly 21X is wound or unwound from the winder assembly 21X. Along with this, the reciprocating operation body 71 moves forward (advances) or retreats (returns). More specifically, each linear body 51a, 51b, 52a, 52b is wound or unwound by each winder 22a, 22b, 23a, 23b included in the winder assembly 21X. In this case, the winding area and the rewinding area of each winder 22a, 22b, 23a, 23b in the winder assembly 21X are not definite, and the winding amount of each linear body 51a, 51b, 52a, 52b is changed. And relatively displaceable as the rewinding amount changes. 4 and 5, when the winder assembly 21X is rotated counterclockwise and the linear bodies 51a and 51b for normal winding are rewound to the maximum extent, the reverse winding is performed in synchronism with this. The wire bodies 52a and 52b can be wound up over the entire effective winding area (whole outer peripheral surface) of the winder assembly 21X. 4 and 5, when the winder assembly 21X is rotated in the clockwise direction and the reverse winding linear bodies 52a and 52b are rewound to the maximum extent, the forward winding is performed in synchronism with this. The linear bodies 51a and 51b can be wound up over the entire effective winding area of the winder assembly 21X. In the form of FIGS. 4 and 5, the linear body can be continuously wound over substantially the entire outer peripheral surface of the winder assembly 21 </ b> X without causing a portion that does not contribute to winding. A large effective winding 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 a forward winding linear body 51c and a reverse winding linear body 52c are added to the above example, and a winder assembly. In 21X, a forward winder 22c and a backward winder 23c are added. Furthermore, a pulley unit PU07 having a pulley P11 is also added. Such a winder assembly 21X in FIG. 6 is of the type as shown in FIG. 2 (E), for example. The forward winding linear body 51 c and the reverse winding linear body 52 c in the form of FIG. 6 are fixedly connected to fixed portions EF 3 and EB 3 at the center of the reciprocating moving body 71.

In the form of FIG. 6 as well, the reciprocating body 71 is moved in the same direction by rotating the winder assembly 21X including the plurality of forward winders 22a to 22c and the plurality of backward winders 23a to 23c in the forward and reverse directions. It moves forward (forward movement) in the direction of arrow F1 in the figure, or moves backward (reverse movement) in the direction of arrow F2 in the figure.

6 can be modified as described with reference to FIGS. 4 and 5. This will be described with reference to FIGS.

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

7 and 8, when winding a long linear body around the winder assembly 21X (22a, 22b, 22c, 23a, 23b, 23c), first, one end of the long linear body Is fixed to the fixing portion X7 (one end portion of the winder assembly 21X) of FIG. 7 with an appropriate fixing tool, 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 portion of the winder assembly 21X, the other end portion of the long linear body is fixed to the fixing portion X8 (the other end of the winder assembly 21X) in FIG. Part).

7 and 8, when the long linear body is wound around the winder assembly 21X as described above, the three long loop-shaped relaxing portions RA1 and RB1 as shown in FIGS. , RC1 is formed. Each loop-like relaxing portion RA1, RB1, RC1 of the long linear body is fixed to one end and the other end of the reciprocating operation body 71 as in the above example. Specifically, it is fixed to fixing portions EF1, EB1, EF2, EB2, EF3, and EB3 at one end and the other end of the reciprocating body 71 in FIGS. In this way, the long linear body connected to the reciprocating operation body 71 has its respective parts being forward winding linear bodies 51a, 51b, 51c and a reverse winding linear body 52a with the reciprocating operation body 71 as a boundary. , 52b, 52c.

7 and 8, the reciprocating operation body 71 is disposed in the pool PL, and the winder assembly 21X is installed at the center of the front edge of the pool PL as in the embodiment of FIG. It does not change substantially. The forward winding linear bodies 51a, 51b, 51c and the reverse winding linear bodies 52a, 52b, 52c are seized via a plurality of pulleys P01 to P11, as in the example of FIG. That is, as shown in FIG. 8, the forward winding linear bodies 51a, 51b, 51c and the reverse winding linear bodies 52a, 52b, 52c are respectively connected to the pulleys P01 through P11 of the pulley unit arranged at the important points around the pool. It is hung around P11 and retrieved as prescribed.

In the moving device for the reciprocating body having the main configuration shown in FIGS. 7 and 8, are the other items omitted from description substantially the same as those described with reference to FIGS. Same as that. Therefore, the description of other matters related to the reciprocating body moving device having the main configuration shown in FIGS. 7 and 8 will be omitted by referring to the matters 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 when the winder assembly 21X is rotated forward or reverse. Also, it is wound around the winder assembly 21X or unwound from the winder assembly 21X, and the reciprocating operation body 71 advances (advances) or retreats (returns) along with this. Furthermore, each linear body 51a, 51b, 51c, 52a, 52b, 52c is also wound up or rewound around each winder 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 each winder 22a, 22b, 22c, 23a, 23b, 23c in the winder assembly 21X are not definite as in the previous example, and the linear bodies 51a, 51b , 51c, 52a, 52b, 52c are relatively displaced in accordance with the change in the winding amount and the change in the rewinding amount. 7 and 8, when the winder assembly 21X is rotated counterclockwise and the linear bodies 51a, 51b, 51c for normal winding are rewound to the maximum extent, reverse winding is performed in synchronization therewith. The wire bodies 52a, 52b, and 52c can be wound up over the entire effective winding area (whole outer peripheral surface) of the winder assembly 21X. In the form of FIGS. 7 and 8, contrary to the above, when the winder assembly 21X is rotated clockwise and the reverse winding linear bodies 52a, 52b, 51c are rewound to the maximum extent, they are synchronized. Thus, the normal winding linear bodies 51a, 51b, 51c can be wound up over the entire effective winding area of the winder assembly 21X. In the embodiment of FIGS. 7 and 8, as in the previous example, the linear body is continuously wound over substantially the entire outer peripheral surface of the winder assembly 21X without causing a portion that does not contribute to winding. Therefore, a large effective winding 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 body 71 having a relatively small width is reciprocated. Specifically, the reciprocating body 71 is reciprocated by a winder assembly 21X having three pairs of forward winders 22a to 22c and backward 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 including the three pulleys P12 to P14 uses the rotational force of the pulley shaft PX to rotate together with the pulleys P12 to P14, and the linear bodies 51a to 51c for normal winding and The slack of the reverse winding linear bodies 52a to 52c can be removed, and the linear bodies 51a to 51c and 52a to 52c can always be held in an appropriate tightened state (tensed 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 are operated as the pulley shaft PX rotates. Alternatively, the operation of the tightening mechanism TM is as follows (1) to (8) when described with reference to FIG.

(1) The pulley shaft PX rotates with the driving of the device of the present invention that winds up or rewinds the linear body.
(2) In the tightening mechanism TM, the shaft XX rotates through 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 cam AM swings and rotates with the rotation of the cam C having an eccentricity amount “e”. That is, since the arm AM is always in contact with the cam C via the tension spring SP, the arm AM swings as the cam rotates.
(5) The roller R is slightly rotated left and right by the swing of the arm AM.
(6) The nut N is rotated through the one-way clutch W built in the roller R only in the clockwise direction in FIG.
(7) With 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, 52a to 52c.
(8) Since the tension spring SP has a characteristic commensurate with the appropriate tension of the linear body, each of the linear bodies 51a to 51c and 52a to 52c is always maintained at an appropriate tension.

Next, an embodiment of the reciprocating 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 unwinding each linear body is separated and independent. 10A includes a right winder assembly 21X and a left winder assembly 21X that are separated from each other. In FIG. 10B, the right winder assembly 21X is separated from each other. A winder assembly 21X, a left winder assembly 21X, and a central winder assembly 21X are provided. 10A and 10B, the description omitted in the embodiment is substantially the same as or equivalent to that of the previous example, and can be understood by referring to each of the previous examples. .

In the embodiment shown in FIGS. 10 (A) and 10 (B), the plurality of winder assemblies 21X are in an operating state such that they are synchronized and synchronized, thereby operating the reciprocating body 71 in the same manner as in the previous example. be able to.

Embodiments other than the above of the device of the present invention will be described with reference to FIGS.

In the embodiment of FIG. 11 (A), a pair of forward winders 22a and a backward winder 23a and another pair of forward winders 22b and a backward winder 23b are Alternatively, the reciprocating operation body 71 can be moved forward and backward through the winders 22a, 23a, 22b, and 23b. In the embodiment of FIG. 11 (B), the reciprocating operation body 71 can be moved forward and backward through the three pairs of winders 22a, 23a, 22b, 23b, 22c, and 23c. It is configured. In this case, each winder 22a, 23a, 22b, 23b and each winder 22a, 23a, 22b, 23b, 22c, 23c have a structure as shown to FIG. 11 (C) (D). That is, in the form of FIG. 11 (C), one linear body 51a, 51b, 51c is directly wound and unwound through each winder 22a, 22b, 22c, and the other linear body 52a, 521b, 52c winds and rewinds each winder 23a, 23b, 23c directly. Moreover, in the form of FIG. 11D, one linear body 51a, 51b, 51c is wound and unwound by one winder 22a, 22b, 22c via the other winder 23a, 23b, 23c. In addition, the other linear bodies 52a, 52b, and 52c are wound and rewound by the other winders 23a, 23b, and 23c via the respective winders 22a, 22b, and 22c. In FIG. 11D, in order to facilitate understanding of this situation, one linear body is intentionally shifted as shown by a virtual line. Since the matters omitted in the embodiment of FIG. 11 are substantially the same as or equivalent to those of the previous examples, the contents can be understood by referring to the previous examples.

In the case of each of the embodiments schematically shown in FIG. 11, the reciprocating body 71 is advanced in the same manner as the previous example by operating the winders 22a, 23a, 22b, 23b, 22c, and 23c in synchronization with each other. Can be moved back and forth.

FIG. 12 shows a main part of a 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 in FIG. 12 are referred to Patent Document 3, and FIG.

12, when the prime mover 34 that can freely rotate forward and reverse is rotated, the rotation is transmitted to the rotating shaft 26 of the winder assembly 21 </ b> X 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-fitted state.

In FIG. 12, when the prime mover 34 is rotated to take up and rewind the linear bodies 51a, 51b, 51c by the winder assembly 21X, the rotary shaft 26 and the screw shaft SSS rotate. 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 rotary shaft 26 together with the holder frame FWF. . Since the winder assembly 21X moves in the axial direction of the rotary shaft 26 in this way, each linear body can be stably aligned and wound around the outer peripheral surface of each winder included in the winder assembly 21X. it can. For the alignment winding of each linear body with respect to the outer peripheral surface of each winder, for example, a linear body traverser or a linear body shifter for guiding and moving the linear body in the axial direction of the winder assembly 21X. Can also be performed.

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

The moving device for a reciprocating body according to the present invention can perform a wide variety of operations simply and rationally via a reciprocating body that reciprocates, and thus can be used in various fields that require movement.

11 Shaft support 21X Winder assembly 21Y Winder assembly 21Z Winder assembly 22a Advance winder 22b Advance winder 22c Advance winder 22d Advance winder 22e Advance Winder 22f Advance winder 23a Retractor winder 23b Retractor winder 23c Retractor winder 23d Retractor winder 23e Retractor winder 23f Retractor winder 26 Rotating shaft 34 Motor 51a forward winding linear body 51b forward winding linear body 51c forward winding linear body 51d forward winding linear body 51e forward winding linear body 51f forward winding linear body 52a reverse winding linear body 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 Linear body 51 Bilinear body 51T Bilinear body 71 Reciprocating body 81 Coupling X1 Linear body fixing part X2 Linear body fixing part X3 Linear body fixing part X4 Linear body fixing part X5 Linear body fixing Part X6 Linear body 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 PU01 pulley unit PU02 pulley unit PU03 pulley unit PU05 pulley unit Pulley unit PU06 Pulley unit PU07 Pulley unit

Claims (13)

1. When a force in the forward direction is received, the reciprocating operation body moves forward in the moving region and retreats in the moving region when receiving the force in the reverse direction.
   A plurality of reciprocating members can be rotated forward and backward so as to apply a force in the forward direction to the reciprocating member via the wound linear member and allow the reciprocating member to retreat via the rewinding member. A forward winder;
   A plurality of reciprocations that can rotate forward and backward to give a reciprocating force to the reciprocating body through the wound linear body and to allow the reciprocating body to advance through the rewinding linear body. A winder,
   A plurality of linear bodies for forward winding that are held so as to be freely wound and unwound via the plurality of advance winders, and a plurality of reverses that are held so as to be able to wind and rewind via the plurality of rewinding winders It has a linear body for winding,
   Each forward winding linear body is roped over the reciprocating body and the plurality of forward winders so that the force in the forward direction by the plurality of forward winders is transmitted to the reciprocating body,
   Each reverse winding linear body is roped across the reciprocating body and the plurality of retreating winders so that the force in the retreating direction by the plurality of retreating winders is transmitted to the reciprocating body.
   Each forward winder during rewinding rotation and each reverse winder during rewinding rotation synchronize and synchronize with each other to rotate in the respective winding direction and rewinding direction. Each forward winder and each reverse winder during winding rotation are synchronized and synchronized with each other and rotated in the respective rewinding direction and winding direction,
   The amount of winding of each forward winding linear body by each forward winder and the amount of rewinding of each reverse winding linear body by each backward winding device are equal to each other, and each forward winding. A moving device for a reciprocating operation body, wherein the amount of rewinding of each linear body for normal winding by the device and the amount of winding of each linear body for reverse winding by each rewinding winder are equal to each other.
2. The reciprocating body moving device according to claim 1, wherein all the advance winders are arranged in a line on the same axis.
3. 2. The reciprocating body moving device according to claim 1, wherein all the rewinding winders are arranged in a line on the same axis.
4. The reciprocating body moving device according to claim 1, wherein all the forward winders and all the backward winders are arranged in a line on the same axis.
5. The reciprocating body moving device according to any one of claims 1, 2, and 4, wherein all the advance winders are integrated.
6. The reciprocating body moving device according to any one of claims 1, 3, and 4, wherein all the rewinding winders are integrated.
7. The reciprocating body moving device according to claim 1 or 4, wherein all the forward winders and all the backward winders are integrated.
8. All forward winders are integrated and configured, and all backward winders are integrated, and the reverse winder is integrated with the integrated forward winder. The moving device for a reciprocating operation body according to claim 1 or 4, wherein the collector is separate from each other.
9. All the forward winders and all the reverse winders are arranged on one side selected from the forward movement start side and the backward movement start side of the reciprocating body moving region. The moving device for a reciprocating member according to any one of claims 1, 4, 7, and 8.
10. All the forward winders are arranged on one side selected from the forward movement start side and the backward movement start side of the reciprocating motion body movement area, and the forward movement start side and the backward movement side of the reciprocating movement body movement area are arranged. The reciprocating body moving device according to claim 1 or 8, wherein all of the retracting winders are arranged on the other side selected from the movement start side.
11. A forward winder for winding and rewinding the dual-use linear body, comprising a plurality of dual-use linear bodies in which a normal winding linear body and a reverse winding linear body are formed in series And a retractor winder unit, and an intermediate portion of the two linear members is wound around the winder assembly and one end of the two linear members. The part is connected to the reciprocating body as an end of the linear body for forward winding, and the other end of the linear body for both is connected to the reciprocating body as an end of the reverse winding linear body. The moving device for a reciprocating member according to any one of claims 1, 4, 7, and 9.
12. The moving device for a reciprocating body according to any one of claims 1 to 11, wherein a dimension of the reciprocating body in the left-right direction is larger than a dimension in the front-rear direction of the reciprocating body.
13. The moving area of the reciprocating body is set to any one of the above-ground, underground, water, underwater, and air, and the reciprocating body reciprocates in the moving area. The moving device for a reciprocating body according to any one of 12.

Images