WO2018186504A1 - Double-component for extendable device, extendable unit for extendable device, and extendable device - Google Patents

Abstract

The present invention is provided with: an active extendable body (11) (a pantograph type link structure); a passive extendable body (21); and an extending power generation machine (31). A force point part (15) is present in the middle of the active extendable body (11). The active extendable body (11) and the passive extendable body (21) are combined so as to be extendable in a linked manner while maintaining a common extending direction and simultaneous extendability. The force point part (15) of the active extendable body (11) and a power transmission part (34) of the extending power generation machine (31) are linked to allow extending power from the extending power generation machine (31) to be applied to the active extendable body (11). Therefore, provided is an extendable device which can be made more compact, reduced in size and weight, simplified, increased in strength, and reduced in cost, and in which controllability, stability, certainty, and rapid mobility of an extending operation can be achieved.

Description

Multiple components for telescopic devices, telescopic units and telescopic devices for telescopic devices

The present invention relates to various movements and conveyances using telescopic motion (extension motion), various operations and processing using telescopic motion (stretching motion), storage and rating of various devices using telescopic motion (stretching motion). The present invention relates to a multiple component for a telescopic device, a telescopic unit for a telescopic device, and a telescopic device that can be used for the above.

There is a slide rail that can be extended and contracted as one of the tools or tools that can perform the expansion and contraction.

S Slide rails have existed for a long time. As is well known, a plurality of rail members are combined so as to expand and contract. Such slide rails are disclosed in the following patent documents 1 and 2 and other patent documents. Slide rails are also in practical use in many technical fields.

For the telescopic structure such as a slide rail, this can be applied to the conveying means (moving means), operating means, etc. As an example, when an article is mounted on the tip of the slide rail and is expanded or contracted, the article can be transported (moved) within the stroke range. As another example, a door that opens and closes can be opened and closed by connecting the front end of the slide rail to the rear end surface of the sliding door door and extending and retracting the slide rail. Furthermore, when the rail member which is a component of a slide rail consists of a ladder structure, a ladder can be specified and stored by expanding / contracting this.

In the application example of the telescopic structure (slide rail) as described above, when the telescopic structure is expanded and contracted by power, an appropriate driving means (power source) such as an hydraulic / pneumatic cylinder mechanism or an electric feed screw mechanism is expanded and contracted. It is assembled to the body.

In the case of a hydraulic / pneumatic cylinder mechanism or a feed screw mechanism assembled to a telescopic structure such as a slide rail, the contracted stretchable structure is fully extended, or conversely, the stretched stretchable structure is restored to its original state. In order to make it contract, it is necessary to have a stroke corresponding to it. More specifically, in the case of a hydraulic / pneumatic cylinder, a mechanism with a large piston stroke must be installed, and in the case of a feed screw mechanism, a mechanism having a long feed screw shaft is essential. Become. That is, because of such circumstances, it is difficult to avoid an increase in the size of this type of device when operating a telescopic structure such as a slide rail with an existing power source. Of course, such an increase in size has an unfavorable effect on the downsizing, downsizing, and weight reduction of the apparatus, and causes an increase in the cost of the apparatus.

Therefore, in this type of technical field, there is a demand for a device that can avoid an increase in the size of the device and can reduce costs. In addition, stability and controllability during device operation are also important issues.

However, at present, the development of a telescopic device that solves the above-mentioned problems and the related technology has not been satisfied.

JP 2014-132873 A JP 2017-047166 A

In view of the technical problems as described above, the present invention is capable of reducing the size, size, weight, conciseness, improving the strength, reducing the cost, etc. A unit and a telescopic device are to be provided.

Another object of the present invention is to provide a multi-component for a telescopic device, a telescopic unit for the telescopic device, and a telescopic device capable of achieving controllability, stability, certainty, rapid movement, etc. with respect to the telescopic operation of the device. It is.

The present invention further provides a telescopic device that has high weight and flexibility in setting a transport path and can efficiently handle a moving object (conveyed object), that is, a telescopic device suitable for use in unmanned transport means. It is something to try.

In order to achieve the intended purpose, the multiple component for an expansion device according to the present invention, the expansion unit for the expansion device according to the present invention, and the expansion device according to the present invention are described in the following items 1 to 19. It is characterized by the technical contents.
<Section 1>
As a plurality of components for constituting a multiple component for the telescopic device, an active telescopic body that performs an active telescopic motion, a passive telescopic body that performs a passive telescopic motion, and a power for stretching the active telescopic body A stretching power generation machine for imparting
The active expansion / contraction body is composed of a pantograph-type link structure in which a plurality of link pieces are connected to each other by a connecting pin shaft so as to expand and contract, and a plurality of rhombic portions are continuously arranged in a line, and the active expansion / contraction body In the intermediate part between the distal end part and the base end part in the body, a force point part for receiving the transmission of expansion and contraction power is set, and
The passive stretchable body is made of a stretchable shape structure; and
The telescopic power generating machine has a power source and a power transmission unit driven by the power source; and
The active stretchable body and the passive stretchable body are adapted to be combined so as to be interlocked and stretchable while maintaining a common stretch direction and simultaneous stretchability, and
The power point portion of the active telescopic body and the power transmission unit of the telescopic power generating machine can be linked so that power for expansion and contraction from the telescopic power generating machine can be applied to the active telescopic body. Multicomponent for telescopic device, characterized by being.
<Section 2>
As a plurality of components for constituting a multiple component for the telescopic device, an active telescopic body that performs an active telescopic motion, a passive telescopic body that performs a passive telescopic motion, and a power for stretching the active telescopic body An expansion / contraction power generation machine for imparting, and a base member for equipment installation, and
The active expansion / contraction body is composed of a pantograph-type link structure in which a plurality of link pieces are connected to each other by a connecting pin shaft so as to expand and contract, and a plurality of rhombic portions are continuously arranged in a line, and the active expansion / contraction body In the intermediate part between the distal end part and the base end part in the body, a force point part for receiving the transmission of expansion and contraction power is set, and
The passive stretchable body has a stretchable shape structure; and
The telescopic power generating machine has a power source and a power transmission unit driven by the power source; and
The active stretchable body and the passive stretchable body are adapted to be combined so as to be interlocked and stretchable while maintaining a common stretch direction and simultaneous stretchability, and
The base member has a mounting surface for mounting the device; and
The power point portion of the active telescopic body and the power transmission unit of the telescopic power generating machine can be linked so that power for expansion and contraction from the telescopic power generating machine can be applied to the active telescopic body. Being and
The active telescopic body, the passive telescopic body, and the telescopic power generating machine are attached to the base member so that the active telescopic body, the passive telescopic body, and the telescopic power generating machine are attached to the mounting surface of the base member. It is a multi-component for telescopic devices, characterized in that it can be mounted.
<Section 3>
In the multiple component for a telescopic device described in item 1 or item 2,
A plurality of the active stretch bodies, a plurality of the passive stretch bodies, and a plurality of the stretching power generation machines, and
[1: 1] that the plurality of the active stretchable bodies and the plurality of the passive stretchable bodies are combined in a freely stretchable manner while maintaining a common stretch direction and simultaneous stretchability, and ,
A power point portion of each of the active telescopic bodies and a power transmission unit of each of the telescopic power generating machines are provided so that the power for expansion and contraction from the plurality of telescopic power generating machines can be applied to the plurality of active telescopic bodies. [1: 1] Corresponds to be able to be linked.
<Section 4>
In the multiple component for a telescopic device described in item 1 or item 2,
A single active stretch body, a plurality of passive stretch bodies, and a single stretch power generation machine; and
A plurality of the passive stretchable bodies are combined so as to be interlocked and stretchable in parallel with each other; and
A single active stretch body and a plurality of the passive stretch bodies are compatible with [1: plurality] such that the common stretch direction and the simultaneous stretchability are combined so that they can be interlocked and stretchable; and ,
The power point of the active telescopic body and the power transmission section of the telescopic power generating machine can be linked so that the power for expansion and contraction from the single telescopic power generating machine can be applied to the single active telescopic body. A multi-component for telescopic devices, characterized in that
<Section 5>
In the telescopic unit for configuring the telescopic device,
Among the multiple components for a telescopic device according to any one of the first to fourth aspects, the single component or the plurality of the multiple components for the telescopic device that do not have the base member for mounting the device are provided. And
The active elastic body and the passive elastic body are combined so as to be interlocked and expandable while maintaining a common expansion and contraction direction and simultaneous expansion and contraction, and
A power transmission portion of the expansion / contraction power generation machine is linked to the power point portion of the active expansion / contraction body, and is provided so that power for expansion / contraction from the expansion / contraction power generation machine is applied to the active expansion / contraction body. A telescopic unit for a telescopic device.
<Section 6>
In the telescopic unit for configuring the telescopic device,
Among the multiple components for the telescopic device according to any one of the first to fourth aspects, the single component or the multiple component for the telescopic device having the base member for mounting the device is provided. ,and,
The active stretchable body and the passive stretchable body are combined so as to be interlocked and stretchable while maintaining a common stretch direction and simultaneous stretchability, and the active stretchable body and the passive stretchable body combined with each other are combined. The base member is mounted on the mounting surface, and the base part of the active elastic member mounted on the mounting surface of the base member is pivotally held by a part of the base member; and A base end portion of the passive elastic body mounted on a mounting surface of the base member is fixedly held by a part of the base member; and
The telescopic power generation machine is mounted on the mounting surface of the base member; and
On the mounting surface of the base member, a power transmission portion of the expansion / contraction power generation machine is linked to a force point portion of the active expansion / contraction body, and power for expansion / contraction from the expansion / contraction power generation machine is applied to the active expansion / contraction body. An expansion / contraction unit for an expansion / contraction device, wherein the expansion / contraction unit is provided.
<Section 7>
Comprising the double component for a telescopic device according to any one of items 1 to 4 or the telescopic unit for the telescopic device according to item 5 or 6, and
Having an elevating mechanism, and
The telescopic device, wherein the multiple components for the telescopic device are assembled to the lifting mechanism and supported so as to be movable up and down.
<Section 8>
Comprising the double component for a telescopic device according to any one of items 1 to 4 or the telescopic unit for the telescopic device according to item 5 or 6, and
Having a vehicle that can run freely; and
A telescopic device, wherein the multiple component for the telescopic device is assembled to the vehicle.
<Section 9>
Comprising the double component for a telescopic device according to any one of items 1 to 4 or the telescopic unit for the telescopic device according to item 5 or 6, and
Having a freely-movable vehicle having an elevating mechanism; and
The telescopic device, wherein the multiple components for the telescopic device are assembled to the lifting mechanism and supported so as to be movable up and down.
<Section 10>
In the telescopic device described in item 8 or 9,
The telescopic device, wherein the vehicle is a self-propelled type.
<Section 11>
An active telescopic body that performs an active expansion / contraction operation, a passive expansion / contraction body that performs a passive expansion / contraction operation, and an expansion / contraction power generation machine for applying power for expansion / contraction to the active expansion / contraction body, and,
The active expansion / contraction body is composed of a pantograph-type link structure in which a plurality of link pieces are connected to each other by a connecting pin shaft so as to expand and contract, and a plurality of rhombic portions are continuously arranged in a line, and the active expansion / contraction body In the intermediate part between the distal end part and the base end part in the body, a force point part for receiving the transmission of expansion and contraction power is set, and
The passive stretchable body has a stretchable shape structure; and
The telescopic power generating machine has a power source and a power transmission unit driven by the power source; and
The active stretchable body and the passive stretchable body, which are combined in a freely stretchable manner while maintaining a common stretch direction and simultaneous stretchability, are mounted on an equipment object, and a base end portion of the active stretchable body. And the base end of the passive stretchable body is held on the equipment surface of the facility object, and
The power point of the active telescopic body is such that the telescopic power generating machine is mounted on the equipment surface of the facility object and the power for telescopic power from the telescopic power generating machine can be applied to the active telescopic body. And a power transmission unit of the expansion / contraction power generation machine are linked to each other.
<Section 12>
An active telescopic body that performs an active telescopic motion, a passive telescopic body that performs a passive telescopic motion, a telescopic power generating machine for imparting power for telescopic motion to the active telescopic body, and a base member for equipment attachment And, and
The active expansion / contraction body is composed of a pantograph-type link structure in which a plurality of link pieces are connected to each other by a connecting pin shaft so as to expand and contract, and a plurality of rhombic portions are continuously arranged in a line, and the active expansion / contraction body In the intermediate part between the distal end part and the base end part in the body, a force point part for receiving the transmission of expansion and contraction power is set, and
The passive stretchable body has a stretchable shape structure; and
The telescopic power generating machine has a power source and a power transmission unit driven by the power source; and
The base member has a mounting surface for mounting the device; and
The base member is mounted on the equipment surface of the facility object; and
The active stretchable body and the passive stretchable body, which are combined in a freely stretchable manner while maintaining a common stretch direction and simultaneous stretchability, are mounted on the mounting surface of the base member, and a base end portion of the active stretchable body And the base end portion of the passive stretchable body are held on the mounting surface of the base member, and the stretching power generation machine is mounted on the mounting surface of the base member, and the stretching power generation machine A telescopic device characterized in that a power point portion of the active telescopic body and a power transmission unit of the telescopic power generating machine are linked so that the power for telescopic expansion can be applied to the active telescopic body.
<Section 13>
Comprising the double component for a telescopic device according to any one of items 1 to 4 or the telescopic unit for the telescopic device according to item 5 or 6, and
An expansion / contraction device, wherein the expansion / contraction unit is mounted on an equipment surface of an equipment object.
<Section 14>
In the expansion and contraction device according to any one of Items 11 to 13,
The equipment object is provided with an operation object, and the passive telescopic body corresponds to the operation object so that the operation object can be operated.
<Section 15>
In the telescopic device according to any one of Items 11 to 14,
An expansion / contraction apparatus, wherein the equipment object has an installation surface selected from a horizontal plane, a vertical plane, and an inclined plane.

[Contrast between the prior art and the present invention]
<Prior art: Part 1>
A conventional elastic structure having an expansion / contraction function expands and contracts within an effective expansion / contraction stroke range from a contracted state to an extended state. When this conventional telescopic structure is expanded and contracted by the power of the power machine, the effective telescopic stroke of the power machine must exceed the effective telescopic stroke of the telescopic structure. That is, when S1 is an effective expansion / contraction stroke (hereinafter simply referred to as a stroke) of a telescopic structure and S2 is an effective expansion / contraction stroke (hereinafter simply referred to as a stroke) of a power machine, it is generally necessary that [S2 ≧ S1]. .

<Conventional technology: Part 2>
When the conventional telescopic structure is expanded and contracted by a power machine, if one stroke S1 is small, the other stroke S2 may be small correspondingly. This means that the power machine can be small. However, when one stroke S1 is large, it is inevitable that the other stroke S2 increases accordingly. That is, in such a case, a large-sized power machine is required. Therefore, it is difficult to make the telescopic device compact, and it is difficult to reduce the size and weight of the device.

<Technology of the Invention: Part 1>
In the present invention, the active stretchable body and the passive stretchable body are combined so as to be interlocked and stretchable while maintaining a common stretch direction and simultaneous stretchability. Among them, the active expansion / contraction body is formed of a pantograph-type link structure, and a plurality of rhombic portions (diamond portions) are continuous in a line. In this type, even if not all of the rhombic portions, the entire active elastic body expands and contracts only by expanding or contracting only one (part) rhomboid portion.

<Technology of the present invention: Part 2>
In the present invention, both expansion and contraction bodies (active and passive expansion bodies) are expanded and contracted by transmitting the expansion and contraction power from the expansion and contraction power generating machine to the active expansion and contraction body. Therefore, the power transmission part of the expansion / contraction power generation machine is linked with the power point part of the active expansion / contraction body. Therefore, the expansion / contraction power from the expansion / contraction power generation machine is applied to the active expansion / contraction body. What is important in this case is that a power point portion is set in the intermediate portion (between the distal end portion and the proximal end portion) of the active elastic body. More specifically, when the effective expansion / contraction stroke of the active expansion / contraction body is S3, the stroke S3 such as [(1/2) × (S3)] or [(1/3) × (S3)] is set. The force point is set at a position that bisects or divides. From another viewpoint, when L is the length of the active stretchable body in the stretched state or the stretched state, the focus is on a position that satisfies [(1/2) × L] or [(1/3) × L]. The part is set. When the power of the expansion / contraction power generation machine is transmitted to the force point portion of the active expansion / contraction body set in this way, as described in the above “action 1 of the present invention”, a part of the rhombic portion expands / contracts. In conjunction with this, the entire active expansion / contraction body expands and contracts.

<Technology of the present invention: Part 3>
In the case where the power point portion of the active expansion / contraction body is set as described above, the effective expansion / contraction stroke S4 of the expansion / contraction power generation machine does not need to correspond to the effective expansion / contraction stroke S3 of the active expansion / contraction body, and the above [(1/2 ) × (S3)] or [(1/3) × (S3)]. Therefore, since the expansion / contraction power generation machine does not need to correspond to the effective expansion / contraction stroke S3 of the active expansion / contraction body, it can be small and compact.

<Technology of the present invention: Part 4>
In the case of an expansion / contraction device in which a main part structure such as a multi-component or expansion / contraction unit is assembled to an elevating mechanism, the main part structure is moved up and down via the elevating mechanism to adjust it to a required level. Can do. This is because the operation operation area of the expansion / contraction device expands in the vertical direction in the form of vertical movement of the relevant structure, such as from low to high or from high to low. The range that can be expanded will be expanded and the convenience will be further enhanced.

<Technology of the present invention: Part 5>
In the case of an expansion / contraction device in which a main structure such as a multi-component or expansion / contraction unit is assembled in a vehicle that can travel, the expansion / contraction device can be moved to a required or desired position by running the vehicle. This also expands the operation operation area of the expansion / contraction device in the form of movement of the relevant part structure portion, so that the range in which the expansion / contraction device can be applied is expanded and the convenience is further enhanced. In particular, the telescopic device in this case can be applied to an “automatic guided vehicle with a robot hand” in a factory or the like.

<Technology of the Invention: Part 6>
In the case where the main structural portion such as a multi-component or expansion / contraction unit is an expansion / contraction device that is assembled in a lift mechanism of a freely movable vehicle, the expansion / contraction device can be moved to a required or desired position by running the vehicle. In addition, it can be adjusted to a required level by moving its main structure up and down via the lifting mechanism. Since this has both the traveling movement function of the whole apparatus and the up-and-down movement function of the principal part structure part, it becomes a thing with higher functionality as an expansion-contraction apparatus. Such a telescopic device can also be applied to a “automated guided vehicle with a robot hand” in a factory or the like.

Since the multi-component for a telescopic device according to the present invention, the telescopic unit for the telescopic device according to the present invention, and the telescopic device according to the present invention have the above-described configuration described in the column of problem solving means, There are effects as described in <11> to <21>.

[Compact, compact and lightweight]
<11> In the active elastic body according to the present invention, a force point portion for receiving the transmission of the expansion / contraction power is set at an intermediate portion (between the distal end portion and the base end portion). In such a case, the expansion / contraction power generation machine for transmitting the expansion / contraction power to the power point portion of the active expansion / contraction body may be compact and small, which realizes the expansion / contraction apparatus to be compact, small and light.

[Improvement of strength]
<12> As is obvious, the components of a device combined with a reinforcing member have higher strength than a single component. This is also true for the active and passive elastic bodies in the present invention. However, it is generally difficult to reinforce a stretchable body by combining non-stretchable reinforcing members.
<13> In the present invention, both stretchable bodies (active stretchable body and passive stretchable body) combined so as to be interlocked with each other reinforce one stretchable body, and the other stretchable body replaces the other stretchable body. Since they are in a mutually complementary relationship of reinforcement, the strength is significantly increased as compared with the case where each becomes a single independent component. Moreover, since this is not a combination of a non-stretchable body and a stretchable body, but a combination of stretchable bodies, it is possible to achieve consistency in terms of function. Furthermore, since it is a combination of indispensable components such as an active elastic body and a passive elastic body, that is, a combination that does not require a separate reinforcing member, an effect on strength can be obtained economically.
<14> In the present invention, there may be one or more active elastic members, one or more passive elastic members, or one or more elastic power generation machines. In this way, when it is rich in variations, it is possible to easily implement a telescopic device that can meet various requirements such as scale, capacity, strength, price, and the like. As a specific example, it is particularly desirable as a telescopic device for moving or transporting a heavy workpiece or other article.

[Conciseness]
<15> Main constituent elements in the present invention are an active stretch body, a passive stretch body, and a stretching power generation machine. That is, since the number of main components is as small as three elements, the configuration of the telescopic device can be simplified.

[Cost reduction]
<16> In general, expansion / contraction power generation machines tend to be larger and more expensive regardless of the type of hydraulic / pneumatic cylinder, feed screw mechanism, etc.
<17> As the telescopic power generating machine in the present invention, a small and low-priced machine can be adopted for the reasons already described. As is obvious, a small expansion / contraction power generation machine is less expensive than a large one. Therefore, in the case of the present invention, the cost of the telescopic device can be reduced based on this.

[Controllability of telescopic motion]
<18> In the present invention, the active expansion / contraction body, which can be called the driving expansion / contraction body, mainly controls the expansion / contraction operation. That is, the active expansion / contraction body (primary expansion / contraction body) that receives the expansion / contraction power transmitted from the expansion / contraction power generation machine dominates the expansion / contraction of the passive expansion / contraction body that can be said to be a driven expansion / contraction body. As described above, such an active expansion / contraction body is composed of a pantograph-type link structure in which a plurality of rhombic portions (diamond portions) are continuous in a line. In the case of this pantograph-type link structure, each rhombic portion expands and contracts by synchronously contracting and expanding, but the deformation amount of each rhombic portion is equal to each other. For example, when one rhombic part is deformed by [1/2], all the remaining rhombus parts are also deformed by [1/2], and the integrated value (cumulative value) of each deformation amount is the total of the active expansion and contraction body. The amount of deformation. Moreover, the amount of deformation per rhombic part can be easily calculated from the shape structure of the pantograph-type link structure to be a known amount. On the other hand, the total amount of deformation of the active expansion / contraction body is the amount of the expansion / contraction power generation machine. It is proportional to the amount of power transmission or stroke. When expanding and contracting an active expansion / contraction body via an expansion / contraction power generation machine, it is possible to precisely control the expansion / contraction operation by controlling based on these matters, and the precise expansion / contraction operation is reflected in the passive expansion / contraction body. Therefore, the controllability of the expansion / contraction operation is extremely high.

[Stability and certainty of telescopic motion]
<19> An active expansion / contraction body, that is, a pantograph-type link structure in which a plurality of rhombic portions are arranged in a row has a simple configuration in which a plurality of link pieces are connected to each other by a connecting pin shaft so as to be extendable and contractible. . On the other hand, the basic operation of the pantograph-type link structure is extremely stable, such that each link piece simply rotates about its connecting pin shaft as a fulcrum.
<20> In the case of such an active expansion / contraction body (pantograph type link structure), since it performs stable basic operation based on a simple structure, the expansion / contraction operation is naturally stable and reliable, and its stability and reliability The nature is also reflected in the passive elastic body.

[Rapid movement of telescopic motion]
<21> The force point portion of the active expansion / contraction body that receives the power transmission from the expansion / contraction power generation machine is located at the intermediate portion (between the distal end portion and the base end portion) of the active expansion / contraction body. In the case of an active expansion / contraction body that receives power transmitted from the expansion / contraction power generation machine at such a power point portion, a stroke on the expansion / contraction power generation machine side when expanding / contracting the expansion / contraction power generation unit can be shortened. The reason is as described in “Operations 2-3 of the present invention”. This is because the active telescopic body can be expanded and contracted greatly instantly with a small movement on the telescopic power generating machine side. It becomes.

[Expansion of operation operation area: Part 1]
<22> In the case of an expansion / contraction device in which a main part structure part such as a multiple component or expansion / contraction unit is assembled to an elevating mechanism that can move up and down, the operation operation area of the expansion / contraction device extends vertically.

[Expansion of operation area: Part 2]
<23> In the case of a telescopic device in which a main part structure such as a multi-component or telescopic unit is assembled in a vehicle that can travel, the operation operation area of the telescopic device is expanded depending on the traveling function of the vehicle. Such a telescopic device can also be used as an automatic guided vehicle (AGV) with a robot hand, that is, a conveying means.

[Expansion of operation area: Part 3]
<24> In the case of an expansion / contraction device in which the main structural part such as a multi-component or expansion / contraction unit is assembled to a traveling vehicle lifting mechanism, the traveling movement function of the entire device and the vertical movement function of the main structural part are provided. Since they are used in combination, they become more functional as an extension device. Such a telescopic device can also be used as an automatic guided vehicle (AGV) with a robot hand, that is, a transport means.

[Degree of freedom for setting the transport route]
<22> In the case of an expansion / contraction device having a travelable function, the conveyance path can be set to a desired one depending on the travelability of the expansion / contraction device. Such a telescopic device is also suitable as a conveying means. More specifically, when the telescopic device travels to the supply source of the conveyance object and stops, it operates the expansion / contraction power generation machine to receive the conveyance object and travels to the supply destination of the conveyance object and stops. When this occurs, the telescopic power generating machine is operated to deliver the object to be conveyed. In this way, when handling an object to be transported with a travelable telescopic device, the work can be performed with high efficiency.

It is the top view which showed each the expansion | extension state and contraction state of the active expansion-contraction body which makes a part of the multicomponent about one Embodiment of the multicomponent for elastic devices which concerns on this invention. The top view and front view which each showed the expansion state of the passive expansion-contraction body which makes a part of the multicomponent about one embodiment of the multicomponent for expansion devices concerning the present invention, and the top view which showed the contraction state, respectively It is a front view. It is a front view of the expansion-contraction power generation machine which makes a part of the multiple component about one Embodiment of the multiple component for expansion-contraction apparatuses which concerns on this invention. It is the front view which showed the base member for apparatus attachment used in other one Embodiment of the multiple component for expansion-contraction apparatuses which concerns on this invention. It is explanatory drawing which simplified and showed the structure about one Embodiment and other one Embodiment of the multiple component for expansion-contraction apparatuses which concerns on this invention by the block diagram method. It is the front view which showed one Embodiment of the expansion / contraction unit for expansion / contraction apparatuses which concerns on this invention. It is the front view of the contraction operation state which showed other one Embodiment of the expansion-contraction unit for expansion-contraction apparatuses which concerns on this invention, and the top view of an expansion | extension operation state. FIG. 8 is an enlarged front view of a main part of the telescopic unit in FIG. It is the front view which showed one Embodiment of the expansion-contraction apparatus which concerns on this invention. It is the top view which showed one Embodiment other than the above about the passive elastic body used by this invention. It is the top view which showed one Embodiment other than the above about the passive elastic body used by this invention. It is the top view which showed schematically the contraction state of the multi-component about one embodiment other than the above of the expansion-contraction apparatus which concerns on this invention. FIG. 13 is a plan view schematically showing a stretched state of multiple components in the telescopic device of FIG. FIG. 14 is a front view schematically showing a part of the telescopic device in the state of FIG. 13 in cross section. FIG. 15 is a schematic cross-sectional view taken along line XV-XV in FIG. 14.

Regarding the double component for an expansion device according to the present invention, the expansion unit for the expansion device according to the present invention, and the expansion device according to the present invention, terms such as the multiple component for the expansion device, the expansion unit for the expansion device, the expansion device, and the facility object Will be described first, then the materials or materials of the components in the multi-component, the telescopic unit, and the telescopic device will be described, and then these embodiments will be described with reference to the accompanying drawings.

The multiple component for the telescopic device has a plurality of components for constituting the telescopic device, and does not consist of only one component. More about the telescopic component, more specifically, it is a combination of multiple components, but it is simply a collection, assembled or installed as a device or unit. There is no.

The expansion / contraction unit for the expansion / contraction apparatus has a plurality of components for constituting the expansion / contraction apparatus, and each of these components is assembled into a unit.

The telescopic device has a plurality of components for constituting the device, and each of these components is assembled on the equipment object's equipment surface, and each of these components is equipped with the equipment object. It is installed on the surface. That is, the telescopic device can be used practically.

One of the objects of the equipment consists of things that do not move, which can be referred to as non-moving objects, non-animals, non-moving objects, non-moving objects. In the case of such non-moving equipment objects, this includes buildings (houses / buildings / warehouses / factories / buildings, etc.) and structures (non-building structures / facility / workpieces, etc.). Another one of the facility objects is a moving object. Such moving bodies include a traveling system moving body, an elevating system moving body, a rotating system moving body, etc., and a combined system moving body in which the traveling system and the elevating system are combined, and a traveling system and a rotating system are combined. There are a composite system mobile body, a composite system mobile body in which a lift system and a rotary system are combined, a composite system mobile body in which a traveling system, a lift system and a rotary system are combined. Specific examples of the traveling system moving body include various automobiles, various self-propelled vehicles, and various non-self-propelled vehicles. Specific examples of the lifting system moving body include various elevators and lifts. Further, specific examples of the rotating system moving body include a rotating mechanism including a rotating disk or a turntable. As is clear from this description, the facility object is a high-level concept word that includes various types of non-moving objects and various types of moving objects. On the other hand, the equipment surface of the facility object is a horizontal surface, a vertical surface, or an inclined surface. More specifically, the equipment surface includes an upper surface (eg, ceiling surface), a lower surface (eg, floor surface), an outer wall surface, an inner wall surface, and the like of a facility object.

Explaining the mutual relationship between the inventions in the present invention, the telescopic unit for the telescopic device according to the present invention can be produced by using the multiple component for the telescopic device according to the present invention. It can produce by using the expansion-contraction unit for expansion-contraction apparatuses which concerns on this invention. This is because the inventions have common components.

As described above, mechanical components (strength) that can withstand practical use are required for the components of the expansion device, the expansion unit, and the expansion device according to the present invention. That is, as individual parts or members, materials having appropriate mechanical characteristics are used. One example is a metal one represented by steel or iron. As for plastic parts and members, FRP and those whose strength is increased to the same level can be used. Alternatively, a component or member made of a composite material of metal and plastic can also be used. Accordingly, in the following description, materials that are not clearly indicated are employed as appropriate materials at the appropriate positions. Many of those employed are made of metal. However, off-the-shelf products are often used for various types of electric motors (motors / servo motors), hydraulic / pneumatic cylinders, endless rotating members (eg, loop-shaped transmission belts, transmission chains, timing belts).

In the present invention, when assembling, assembling, mounting, connecting, fastening, fixing, etc. of each component, as one means, fasteners such as bolts, nuts and screws, fastening bands, couplers, and other fasteners Or a stop member is used. In particular, welding and adhesives may be employed when fixing or fastening components. These means are properly used depending on the material of the component.

An embodiment of a multiple component for a telescopic device according to the present invention will be described with reference to FIGS. 1 to 3 and FIG. 5 (A).

As shown schematically in FIG. 5A, the multi-component 51 of this embodiment includes an active elastic body 11, a passive elastic body 21, and an expansion power generation machine 31 as constituent elements.

As can be seen from FIGS. 1A and 1B, the active elastic body 11 can be expanded and contracted by a plurality (many) of link pieces 12, 12x, and 12y by a plurality (many) of connecting pin shafts 13, 13x, 13y, and 13z. And a pantograph-type link structure in which a plurality (large number) of rhombic portions 14 are connected in a line. Such a pantograph type link structure is already known or well known. Such a pantograph type link structure is made of metal as a representative example, but such a metal pantograph type link structure is also known or well known.

Regarding each link piece of the active elastic body 11, the link pieces 12 x and 12 y at both ends of the active elastic body 11 are “1/2 lengths” of the link pieces 12 at the intermediate part of the active elastic body 11. "belongs to. A large number of X-shaped links in the middle part of the active elastic body 11 are pin-connected at both ends thereof to the adjacent counterparts, and two inverted V-characters at both end parts of the active elastic body 11 The link is pin-connected to the X-shaped link and the X-shaped link adjacent thereto. In this pin connection, a bearing is usually interposed between the inner peripheral surface of the pin insertion hole in each of the link pieces 12, 12x, and 12y and the outer peripheral surface of each of the connection pin shafts 13, 13x, 13y, and 13z. Desirably, this is the case in the illustrated embodiment.

In the case of the active expansion / contraction body 11, there is a connecting pin shaft 13z at an intermediate portion based on the length direction, and a portion where the connecting pin shaft 13z is located is set as a force point portion 15 for receiving expansion / contraction power. is there. The position of the force point portion 15 of the active expansion / contraction body 11 is such that the distance (dimension) between the connection pin shafts 13x and 13y in the active expansion / contraction body 11 is D1, and the distance between the connection pin shafts 13x and 13z in the active expansion / contraction body 11 ( When the dimension is D2, it is essential to satisfy the inequality [D1> D2]. Desirable D2 satisfies the formula [(4/5) × (D1) ≧ (D2)]. In a more desirable case, the power point portion 15 is set at a position that satisfies the expression [(1/2) × (D1) ≧ (D2)]. Accordingly, the distance (dimension) D2 is any one of [(1/2) × (D1)], [(1/3) × (D1)], [(1/4) × (D1)], and the like. There are often. The position D2 of the force point portion 15 of the active expansion / contraction body 11 satisfies the above-described formulas even when it is set using the entire length or stroke of the active expansion / contraction body 11, for example. In that case, what is necessary is just to obtain | require D2 by making the full length and stroke of the active elastic body 11 into D1.

On the other hand, for the connection pin shafts 13x and 13y at both ends of the active expansion / contraction body 11, the connection pin shaft 13x on the base end side serves as a connection portion 16 for holding the active expansion / contraction body 11 in a fixed position. The connecting pin shaft 13y on the tip end side serves as a connecting portion 16 for connecting to another device or member.

As is apparent from FIGS. 2A to 2D, the passive stretchable body 21 is a combination of a plurality of elongated stretchable members 22 to 24 that can slide and stretch. More specifically, three rail-type elastic members 22 to 24 having different widths in stages are combined so that they can slide and extend. Such a slide rail type passive elastic body 21 is publicly known or well known. The passive stretchable body 21 is made of metal as a representative example, but such a metal passive stretchable body 21 is also known or well known.

In the case of the slide rail type passive elastic body 21 illustrated in FIGS. 2A to 2D, each of the elastic members 22 to 24 is often in a groove shape as shown in this figure. . Explaining with specific examples, the inner surfaces (concave) of both sides of the elastic member 22 and the outer surfaces (convex shape) of both sides of the elastic member 23 are relatively engaged so as not to come off. 23 is slidably extendable and is relatively engaged with the rail engaging portion formed on the inner upper surface of the expanding and contracting member 23 so that the expanding and contracting member 24 having a reverse concave shape is not detached. Both the elastic members 23 and 24 are slidable and extendable. Further, in the relationship between the two elastic members 22, 23, stopper pieces (not shown) bent inwardly are formed on both sides of the front end portion of one member 22, or outward on both sides of the rear end portion of the other member 23. A stopper piece (not shown) that is bent into a circle is formed. In this case, since both the stopper pieces collide with each other in the maximum extension state of both the elastic members 22 and 23, a situation in which the both elastic members 22 and 23 are pulled out does not occur. Similarly, a stopper piece (not shown) that is bent upward is formed on the upper surface of the front end portion of one member 23 or the lower surface of the rear end portion of the other member 23 is bent downward in the relationship between the two elastic members 23 and 24. A stopper piece (not shown) may be formed. Also in this case, since both the stopper pieces collide with each other in the maximum extended state of both the elastic members 23 and 24, the both elastic members 23 and 24 are not pulled out.

As is clear with reference to FIG. 3, the telescopic power generation machine 31 has a power source 32 and a power transmission unit 34 driven by the power source 32.

In the telescopic power generation machine 31 illustrated in FIG. 3, the power source 32 is a well-known forward / reverse rotatable motor (eg, servo motor) such as a prime mover or an electric motor, and an forward / reversely rotatable output shaft 33. It has.

On the other hand, the power transmission unit 34 in the telescopic power generation machine 31 includes, for example, a feed shaft 35 made of a ball screw shaft, a moving element 36 made of a nut corresponding to the ball screw shaft, and a cylindrical connecting element 37, for example. Is. In this case, the moving element (nut) 36 is screwed into the outer periphery of the feed shaft (screw shaft) 35 and can reciprocate along the axial direction (length direction) of the feed shaft 35. On the other hand, the connecting element 37 is fitted on the outer periphery of the moving element 36 and fixed to the moving element 36 with, for example, screws. Regarding the cross-sectional shape of the connecting element 37, the outer peripheral portion is substantially square and the inner peripheral portion is circular corresponding to the moving element 36.

In the telescopic power generation machine 31, the output shaft 33 of the power source 32 and the feed shaft 35 of the power transmission unit 34 are connected to each other via a known coupling 38.

One embodiment of the multi-component for telescopic device (multi-component 51) according to the present invention is as described with reference to FIGS. In the multi-component 51 of such an embodiment, the power source 32 and the power transmission unit 34 may be separated from each other.

Referring to another embodiment of the multi-component for a telescopic device according to the present invention, the multi-component 52 of this embodiment includes an active telescopic body 11, a passive telescopic body 21 and a telescopic body as schematically shown in FIG. The power generation machine 31 and a base member 41 for equipment installation are provided as constituent elements. That is, the multi-component 52 of this embodiment is for the device mounting illustrated in FIG. 4 in addition to the active telescopic body 11, the passive telescopic body 21, the telescopic power generating machine 31 and the like described with reference to FIGS. The base member 41 is also provided.

Referring to the configuration of the base member 41 illustrated in FIG. 4, support portions 43 and 44 are erected on one end side and an intermediate portion on the substrate 42, respectively. Among them, a horizontal holding piece 45 for connection is integrally formed on one side surface of one support portion 44. In addition, the support parts 43 and 44 are subjected to post-processing for supporting, holding, and connecting other components.

The base member 41 illustrated in FIG. 4 is made of metal as a representative example, but may be made of a composite material as another example.

An embodiment of the expansion / contraction unit for the expansion / contraction apparatus according to the present invention, that is, the expansion / contraction unit 61 illustrated in FIG. 6 will be described below.

The telescopic unit 61 illustrated in FIG. 6 includes the multi-component 51 described with reference to FIG. 5A, that is, the active telescopic body 11, the passive telescopic body 21 illustrated in FIGS. The machine 31 is a main component, and is configured by connecting or linking these components.

The expansion / contraction unit 61 of this embodiment will be further described with reference to FIG. 6. The active expansion / contraction body 11 and the passive expansion / contraction body 21 are connected to the distal end side connection pin shaft 13 y (connection portion 17) of the active expansion / contraction body 11 and passive. The extensible body 21 is linked to each other by connecting the distal end side elastic member 24 to each other, and the active elastic body 11 and the elastic power generating machine 31 are connected to the connecting pin shaft 13z that forms the force point portion 15 of the active elastic body 11. And the connecting element 37 of the power transmission unit 34 in the telescopic power generating machine 31 are connected to each other. That is, the telescopic unit 61 illustrated in FIG. 6 is unitized by connecting predetermined constituent elements (11, 21, 31) in this way.

Another embodiment of the telescopic unit for the telescopic device according to the present invention will be described with reference to FIGS.

7A and 7B and FIG. 8, it can be said that the expansion / contraction unit 61 illustrated in FIG. 6 is assembled and mounted on the base member 41 for equipment attachment. More specifically, with respect to the expansion / contraction unit 62, the active expansion / contraction body 11, the passive expansion / contraction body 21, and the expansion / contraction power generation machine 31 are assembled and connected as in the case of FIG. The end side expansion / contraction member 22 is attached and fixed to the base plate 42 of the base member 41 with a stopper such as a bolt, and the power source 32 side of the expansion / contraction power generation machine 31 is supported via the support portion 43 of the base member 41. The base end side of the feed shaft 35 is rotatably supported via the support portion 44 of the base member 41, and the base end side connecting pin shaft 13x (connecting portion 16) of the active expansion / contraction body 11 is further supported by the support portion. 44 is pivotally connected to the holding piece 45 of the shaft 44. In this case, the feed shaft 35 penetrating the through hole of the support portion 43 is interposed through a bearing 46 interposed in the through hole of the support portion 43 (fitted to the outer periphery of the base end portion of the feed shaft 35). And is supported rotatably. The bearing 46 in the through hole of the support portion 43 is held in the through hole by a known means such as a nut or a stopper ring.

Referring to the telescopic device according to the present invention, an embodiment illustrated in FIG. 9 will be described.

The equipment object 81 in FIG. 9 has an equipment surface 82 for equipment. In this case, the facility object 81 is an immovable structure or an immovable structure and therefore does not move. The telescopic device 71 illustrated in FIG. 9 is equivalent to the multi-component 51 described above or the telescopic unit 61 described above being mounted on the equipment surface 82 of the equipment object 81. That is, in the case of the expansion / contraction device 71, the active expansion / contraction body 11, the passive expansion / contraction body 21, and the expansion / contraction power generation machine 31 are assembled and connected as described above, and the base end side expansion / contraction member 22 of the passive expansion / contraction body 21 is connected. In addition to being fixed and fixed on the equipment surface 82 of the equipment object 81 with a known stopper, the power source 32 side of the telescopic power generation machine 31 is supported as described above via the support portion 43 on the equipment surface 82. Alternatively, the base end side of the feed shaft 35 is rotatably supported as described above via the support portion 44 on the equipment surface 82. The proximal end side connecting pin shaft 13x (connecting portion 16) of the active expansion / contraction body 11 is also pivotally connected to the holding piece portion 45 of the support portion 44 as described above. Other multi-components 52 may be mounted on the equipment surface 82 of the installation object 81 in the same manner as the multi-component 51.

When the expansion / contraction device 71 illustrated in FIG. 9 is put into an operating state, the power source 32 of the expansion / contraction power generation machine 31 is set in an operating state (motor-on state) in order to rotate forward or backward. By the way, when the power source 32 is rotated forward and its output shaft 33 is rotated in the same direction, the feed shaft 35 connected to the output shaft 33 is rotated forward and is engaged with the feed shaft 33. Accordingly, the element 36 moves to the right in FIG. At this time, a force in the right direction in FIG. 9 is applied to the force point portion 15 (connection pin shaft 13z) in the active expansion / contraction body 11 connected to the moving element 36 via the connection element 37, and this force causes a pantograph type. The active elastic body 11 made of the link structure is in an extended state as a whole, and the passive elastic body 21 interlocked with the active elastic body 11 is also in an extended state at the same time. On the other hand, when the power source 32 is reversely rotated and its output shaft 33 is reversely rotated in the same direction, the feed shaft 35 is reversely rotated and the moving element 36 is moved leftward in FIG. The body 11 and the passive elastic body 21 are both contracted in synchronization.

In the case of such an expansion / contraction device 71, a desired operation, a desired process, a desired work, and the like are performed using the expansion / contraction operation (extension / contraction motion) of the passive expansion / contraction body 21. Typical application examples of the telescopic device 71 include the following <31> to <37>.
<31> When a moving object such as a person, an animal, a work, a material, an article, a luggage, a cargo or the like is carried on the elastic member 24 of the horizontal passive elastic body 21 and the operation described above is performed, This telescopic device 71 can be put into practical use as a moving device or a conveying device. Incidentally, the moving object (conveyance object) 83 in this case is schematically shown in FIG.
<32> When the object to be processed is ejected in a predetermined direction by the extension operation of the passive elastic body 21 (particularly at the tip of the elastic member 24), the expansion / contraction device 71 is like a pusher / pushing / extrusion machine.
<33> When the processing object (eg, workpiece) flowing on the line is protruded in a predetermined direction, the expansion / contraction device 71 is used to change the direction of the processing object in the direction orthogonal to the line by the extension operation of the passive elastic body 21. Becomes a direction change machine.
<34> Passive extension / contraction when the extension / contraction member 24 of the passive extension / contraction body 21 is equipped with a jig or equipment for suctioning articles (tip of vacuum machine, magnet, robot hand, etc.). When the passive elastic body 21 is brought into a contracted state (a state in which the processing object is taken up) after the object to be processed is grasped by the expansion / contraction member 24 of the body 21 (a jig or a tool at the tip thereof), the expansion / contraction device 71 is It will be like a puller, retractor, take-up machine.
<35> When the distal end portion of the elastic member 24 in the passive elastic body 21 is connected to a processing object that can be freely reciprocated to reciprocate, the expansion device 71 can be put to practical use as a reciprocating operation device.
<36> When the distal end portion of the elastic member 24 in the horizontal passive elastic body 21 is connected to a sliding door type door (operation object) to open and close the door, the expansion device 71 can be used as a door opening and closing device. . Incidentally, the operation target (sliding door type door) 84 in this case is schematically shown in FIG.
<37> Water for placing a moving object such as a person, an animal, a work, a material, an article, a luggage, or a cargo or an object to be transported on the tip (upper end) of the elastic member 24 in the vertical passive elastic body 21 When a flat base or a frame is attached and the passive elastic body 21 is expanded and contracted in the vertical direction, the expansion / contraction device 71 can be put into practical use as a lifting device.

10 and 11 show other examples of the passive stretchable body 21 used in the present invention. Of these, the passive stretchable body 21 of FIG. 10 is a combination of base plate-like stretchable members 22 to 24 having a large area so as to be slidably stretchable. The slidable configuration of each of the elastic members 22 to 24 in FIG. 10 is substantially the same as or equivalent to that of the passive elastic body 21 described in FIG. The thing of FIG. 11 has the two passive expansion-contraction bodies 21, and these two passive expansion-contraction bodies 21 are mutually connected through the connection member 26. FIG. In the passive elastic body 21 of FIG. 11, the distal end portion of the active elastic body 11 is connected to the connecting member 26.

10 and 11 can be applied to all the multi-components 51 and 52, all the expansion units 61 and 62, and all the expansion devices 71 described and exemplified above.

In addition, as each passive elastic body 21, what consists of a ladder (ladder) which can expand and contract is also employable. There is a ladder car as an example of an expansion / contraction device provided with a passive expansion / contraction body 21 made of a ladder.

In the multiple component for an expansion device according to the present invention, the expansion unit for the expansion device according to the present invention, and the expansion device according to the present invention, the active expansion body 11 and the passive expansion body 21 are as shown in the following <41> to <43>. There are combinations.
<41> The number of the active elastic body 11 and the passive elastic body 21 is one (single). This corresponds to the active elastic body 11 and the passive elastic body 21 being [1: 1]. For example, those illustrated in FIGS. 6 and 7 are applicable.
<42> There is one (one) active elastic body 11 and a plurality of passive elastic bodies 21. In this case, the active elastic body 11 and the passive elastic body 21 correspond to [1: plural]. For example, this is the case illustrated in FIG.
<43> There are a plurality of active elastic bodies 11 and one (single) passive elastic bodies 21. This corresponds to the [multiple: 1] between the active elastic body 11 and the passive elastic body 21. For example, this is illustrated in FIG. 15 described later.

In addition, a plurality of expansion / contraction devices according to the present invention may be arranged and used in parallel.

The example illustrated in FIG. 15 is an essential part when the multiple components 51 and 52, the expansion and contraction units 61 and 62, and the expansion and contraction device 71 include two active expansion bodies 11 and one passive expansion body 21. Is abbreviated.

15, a power distribution type transmission system 39 is provided in the power source 32 of the telescopic power generation machine 31. The power distribution type transmission system 39 is mainly composed of a driving gear 33x attached to the output shaft 33 and driven gears 33b attached to the two driven shafts 33a, respectively. The driving gear 33x and the driven gear 33b mesh with each other. On the other hand, the connecting pin shaft 13y (connecting portion 17) at the distal ends of the two active expansion / contraction bodies 11 is connected to the expansion / contraction member 24 of the passive expansion / contraction body 21 in the same manner as in the previous example. Each moving element 36 and the force point 15 (connecting pin shaft 13z) of each active telescopic body 11 are also connected in the same manner as in the previous example. Further, the feed shafts 35 and the driven shafts 33a in FIG. 15 are also connected through the couplings 38 as in the previous example. In addition, the power source 32, the feed shafts 35, the base end portions of the active telescopic bodies 11 and the like in the embodiment of FIG. 15 are also provided via the support portion 43 and the support portion 44 having the holding piece 45. And is supported and held in the same manner as the previous example.

15, the power of the power source 32 is transmitted to each feed shaft 35 via the output shaft 33 and the power distribution type transmission system 39. As a result, each moving element 36 moves, and expansion / contraction power acts on the force point portion 15 of each active expansion / contraction body 11. Therefore, the passive elastic body 21 is expanded and contracted by the two active elastic bodies 11 as in the previous example.

In the embodiment of FIG. 15, the two active expansion / contraction bodies 11 and the two expansion / contraction power generation machines 31 may be used to extend and contract each active expansion / contraction body 11 by the respective expansion / contraction power generation machines 31.

As the telescopic power generating machine 31 in the present invention, an oil / pneumatic cylinder, a belt transmission system using a motor as a power source (including a timing belt), a chain transmission system using a motor as a power source, and the like can also be adopted.

Other embodiments of the telescopic device according to the present invention will be described with reference to FIGS. 12 to 15.

In the case of the expansion / contraction apparatus illustrated in FIGS. 12 to 15, the expansion / contraction mechanism is mounted on a vehicle 91 (traveling system moving body) that can freely travel. The vehicle 91 is a self-propelled type as an example. The self-propelled vehicle 91 will be further described. This self-propelled vehicle 91 is equipped with a known motor or prime mover or electric motor as a device (not shown) for continuously generating mechanical energy, or has a wheel 92 as a main component. And a known traveling system (not shown) for moving forward and backward, or a known transmission system (not shown) for transmitting traveling power from the energy generator to the traveling system. In addition, a known traveling control system is provided.

As described above, the energy generating device, the traveling system, the transmission system, the elemental control system, and other vehicle components described above are installed in each part of the chassis and the vehicle body (base 93) of the vehicle 91. A specific example of the self-propelled vehicle 91 is a well-known electric vehicle (electric vehicle). About the vehicle 91 which consists of an electric vehicle, a commercially available thing may be employ | adopted.

On the other hand, the vehicle 91 may be a non-self-propelled type. In the case of the non-self-propelled vehicle 91, the vehicle travels by being pulled by the pulling means, or travels when the driving power is transmitted from the outside.

In the case of the vehicle 91 illustrated in FIGS. 12 to 15, the wheel 92 is made of a well-known material, and the base 93 is also made of a well-known material having an appropriate mechanical strength. More specifically, regarding the base 93, metal, synthetic resin, wood, composite material, or the like is used at an appropriate place in the right place. As the base 93, a box-type hollow body structure is often employed from the viewpoint of weight reduction and material saving.

As one to be mounted on the vehicle 91, either one of the multiple components 51 or 52 for the telescopic device or one of the telescopic units 61 or 62 for the telescopic device is arbitrarily selected. Things are mounted on the vehicle 91. Accordingly, the telescopic device illustrated in FIGS. 12 to 15 can be called a traveling telescopic device. Further, on the vehicle 91 in this case, a base member 41 is equipped for mounting a required structure, and an elevating mechanism 101 for moving the base member 41 up and down is equipped.

In the embodiment shown in FIGS. 12 to 15, when the mounted object (multi-component 51, 52, telescopic unit 61, 62) includes the base member 41, the base member 41 is used and is mounted on the vehicle 91 Equipped to. On the other hand, in the case of the above-mentioned mounted object (the multiple components 51 and 52 and the telescopic units 61 and 62) that does not include the base member 41, the base member 41 is added as a component in this embodiment, and the added base member 41 is mounted on the vehicle 91.

The main elements for constructing the lifting mechanism 101 illustrated in FIGS. 12 to 15 are a power source for lifting, a transmission system for lifting, a working member for lifting, and the like. Among them, the power source for raising and lowering is composed of a motor 111 having an output shaft 112 and capable of rotating in the forward and reverse directions. The elevating transmission system includes a driving pulley 113, four driven pulleys 121, 122, 123, and 124, a tension adjusting pulley 125, a tension applying pulley 126, and a transmission that is wound around the pulleys 113, 121 to 126. Belt 127. The raising / lowering operating member is composed of four rotatable lifting shafts 131 to 134. Further, in the case of the electric motor 111, the output shaft 112 is attached to the mounting seat 141 in a vertical arrangement in which the output shaft 112 is at the upper position, and the driving pulley 113 is attached to the output shaft 112. On the other hand, on the mounting seat 142 for mounting the tension adjustment pulley 125, an adjustment shaft 128 is provided that can move and adjust in the belt tightening direction in a vertical posture and can fix the adjustment state. In addition, a tension adjusting pulley 125 is rotatably attached to the adjusting shaft 128. Similarly, a support shaft 129 is erected in a vertical posture on the mounting seat 143, and a tension applying pulley 126 is rotatably attached to the support shaft 129.

A mounting seat 141 having a motor 111 and a mounting seat 142 having a tension adjustment pulley 125 are installed in a substantially central region on the upper surface of the vehicle 91 (a substantially central region on the upper surface of the base body 93). It has been.

As for the four lifting shafts 131 to 134, each lifting shaft 131 to 134 has a guide shaft portion 135 above the middle portion thereof and a male screw shaft portion below the middle portion thereof. 136. That is, each of the elevating shafts 131 to 134 is such that the upper guide shaft portion 135 and the lower male screw shaft portion 136 are connected in a straight line. A female screw hole 137 is formed in the shaft center portion of the driven pulleys 121 to 124 corresponding to the male screw shaft portions 136 of the elevating shafts 131 to 134 so that they can be screwed together. The driven pulleys 121 to 124 are respectively held by the male screw shaft portions 136 of the elevating shafts 131 to 134 by relatively screwing the male screw shaft portion 136 and the female screw hole 137 together.

In the four corner regions on the upper surface of the vehicle 91 (four corner regions on the upper surface of the base body 93), four columns 151 to 154 for rotatably supporting the four lifting shafts 131 to 134 are erected. The columns 151 to 154 will be described in detail. A mounting seat portion 155 is provided at the lower end portion of each column 151 to 154, and a guide support portion 156 is provided at the upper end portion of each column 151 to 154. In addition, component mounting portions 157 are provided between the lower end portions and the upper end portions of the columns 151 to 154, respectively.

In the vehicle 91, four columns 151 to 154 are fixed upright in the four corner regions on the upper surface of the base body 93 by attaching mounting seats 155 to the upper surface of the base body. The four elevating shafts 131 to 134 have four columns 151 to 154 in such a manner that the guide shaft portion 135 penetrates the guide support portion 156 and the male screw shaft portion 136 penetrates the component mounting portion 157. It is assembled to. In this case, a guide bush for holding the outer peripheral surface of the guide shaft portion 135 is mounted in the guide support portion 156, and the outer peripheral surface of the male screw shaft portion 136 is held in the component mounting portion 157. A bearing for mounting is installed.

When each of the above-described components and members is mounted or arranged on the base body 93 of the vehicle 91, the transmission belt 127 is wound around the pulleys 112 and 121 to 126 scattered on the base body 93. The required transmission system is configured. The forward and reverse rotations of the electric motor 111 are transmitted to the elevating shafts 131 to 134 via the transmission belt 127 and the pulleys 112 and 121 to 126. In such a configuration, when the motor 111 rotates in the forward direction, the driven pulleys 121 to 126 with the female screw holes 137 feed the male screw shaft 136 in the upward direction, so that the elevating shafts 131 to 134 rise. When the electric motor 111 rotates in the reverse direction, the driven pulleys 121 to 126 with the female screw holes 137 feed the male screw shaft 136 in the downward direction so that the lifting shafts 131 to 134 are lowered. Become.

The above-described base member 41 is attached to each of the lifting shafts 131 to 134 of the lifting mechanism 101 that moves up and down as described above in a four-point support manner. That is, the lower surface portion (back surface portion) of the base member 41 and the upper end portions of the lifting shafts 131 to 134 are fixed to each other. More specifically, well-known fixing means such as welding fixing, connecting tool fixing, and fixing metal fixing are appropriately adopted to fix the base member 41 and the lifting shafts 131 to 134 to each other. In the case of the base member 41 assembled to the lifting mechanism 101 in this way, it moves up and down as the lifting shafts 131 to 134 move up and down.

The base member 41 assembled to the elevating mechanism 101 is mounted with either the multiple components 51 or 52 shown in the above-described embodiments or the telescopic unit 61 or 62. There is a form. In the embodiment shown in FIGS. 12 to 15 as just one example, the multiple component 51 of the type shown in FIG. 5A is mounted on a base member 41 that can move up and down as follows.

In the embodiment of FIGS. 12 to 15, the expansion / contraction power generation machine 31 is mounted (equipped) on the lower surface side of the base member 41, and the active expansion / contraction body 11 and the passive expansion / contraction body 21 are mounted on the upper surface side of the base member 41. Has been. In this case, a well-known bearing 35a is mounted on the lower surface of the base member 41, and the feed shaft 35 is rotatably supported at both ends via the bearing 35a. On the other hand, the base end portion of the active elastic body 11 is connected and fixed to the base member 41 as the connecting portion 16, and the distal end portion of the active elastic body 11 is connected to the front-side elastic member 24 of the passive elastic body 21 as the connecting portion 17. It is fixed.

On the other hand, the moving element 36 with the connecting element 37 in the expansion / contraction power generation machine 31 is connected in a freely interlocking manner via a connecting pin shaft 13z that extends between the connecting element 37 and the power point portion 15 of the active expansion / contraction body 11. In order to enable such connection, and in order not to interfere with the expansion / contraction operation of the active expansion / contraction body 11 and the passive expansion / contraction body 21, an opening-shaped notch 47 is formed in the base member 41, and the same A notch 27 is formed in the intermediate elastic member 23 of the passive elastic body 21, and the connecting pin shaft 13 z penetrates both the notches 47 and 27.

12 to 15, the active stretchable body 11 and the passive stretchable body 21 are stretched while exhibiting a form of overlapping vertically as in the previous embodiments. Among these, the passive elastic body 21 includes an intermediate elastic member 23 and a distal-side elastic member 24, but the elastic member 22 that is on the proximal side in the previous example is provided on the base member 41. The rail member 28 is changed. A travel guide rotating wheel 23 a attached to the lower surface of the telescopic member 23, for example, a linear guide is engaged with the rail member 28, so that the telescopic member 23 reciprocates in the length direction of the rail member 28. It has become. Further, a rail member 29 is also provided on the expansion / contraction member 23, and a rotating wheel (eg, linear guide) 24 a for traveling guidance corresponding to the rail member 29 is attached to the lower surface of the expansion / contraction member 24. The telescopic member 24 in which the rotating wheel 24 a is engaged with the rail member 29 also reciprocates in the length direction of the rail member 29.

In the embodiments of FIGS. 12 to 15, the technical matters that are not described are substantially the same as or equivalent to the embodiments illustrated in FIGS. 1 to 15. is there. Accordingly, other technical matters in the embodiments of FIGS. 12 to 15 are omitted by referring to the description in the embodiments of FIGS.

12 to 15, when the motor 111 rotates in the forward direction, the driven pulleys 121 to 126 with the female screw holes 137 feed the male screw shaft portion 136 in the upward direction. 134 rises. When the electric motor 111 rotates in the reverse direction, the driven pulleys 121 to 126 with the female screw holes 137 feed the male screw shaft 136 in the downward direction, so that the lifting shafts 131 to 134 are lowered. Therefore, the base member 41 supported by the lift shafts 131 to 134 moves up and down as the lift shafts 131 to 134 move up and down. In the embodiment shown in FIGS. 12 to 15, the self-propelled vehicle 91 freely travels from the departure place (departure place) to the destination (destination place). In this case, these procedures such as the vertical movement of the base member 41 and the expansion / contraction operation of the both expansion bodies 11 and 21 are set according to the actual work content. Incidentally, it is desirable that the telescopic operations of both the telescopic bodies 11 and 21 be performed while the vehicle 91 is stopped, and it is desirable that both the telescopic bodies 11 and 21 be contracted when the vehicle 91 is traveling.

As is apparent from the above, the traveling type telescopic device illustrated in FIGS. 12 to 15 moves the workpiece or other moving object (conveyed object) 83 by the passive elastic body 21 that expands and contracts as a robot hand (robot arm). It can be received and delivered, and can be moved to the receiving location or delivery location of the moving object 83 depending on the traveling property of the vehicle 91. Therefore, in the case of this traveling type expansion-contraction apparatus, it can become an automatic guided vehicle (AGV) with a robot hand. Of course, this can be said to be extremely useful and useful as a conveying means in a production line, a logistics department, or the like.

As for the induction method when the vehicle 91 illustrated in FIGS. 12 to 15 travels, as is well known or known, a weak induced current from an electric wire embedded in the floor, a type using a drawn line, or the like There is. Moreover, in order to prevent a collision, a safety device using a sensor such as a proximity sensor or an ultrasonic distance meter may be provided. Examples of the guidance method of the vehicle 91 that can be adopted in the present invention include the following <51> to <55>.
<51> Electromagnetic induction type: A weak alternating current is passed through a metal wire installed on the floor, and the generated magnetic field is detected by a pick-up coil and moved so as not to leave the course.
<52> Optically guided: Moves along a line drawn on the floor.
<53> Magnetic induction type: A magnetic wire or tape is attached to the floor and read by a magnetic sensor.
<54> Image recognition: In the image recognition method, a two-dimensional code drawn on the floor or ceiling or a symbol such as an AR marker is read to determine the position of the vehicle.
<55> Autonomous guidance: A high-precision gyroscope, acceleration sensor, distance meter, etc. are provided inside, and it moves while checking against a map in the computer. If the moving distance is long, errors will accumulate, so correct as needed.

The lifting mechanism 101 that can be employed in the embodiment of FIGS. 12 to 15 includes the following first to third examples in addition to the illustrated examples.
[First example]
An oil / pneumatic device such as a telescopic cylinder or a telescopic jack is provided on the upper surface of the vehicle 91, and the base member 41 is moved up and down via the oil / pneumatic device.
[Second example]
A1. A total of four guide columns, each serving as a column, are erected at the four corners of the upper surface of the vehicle 91. A2. Attach the top plate to the upper end of each guide column.
A3. Guide holes are formed at the four corners of the base member 41, and the guide holes and guide columns are relatively engaged with each other so that the base member 41 can move up and down.
A4. At least two pairs of left and right endless belt rotating mechanisms are provided across the upper surface of the vehicle 91 and the lower surface of the top plate.
A5. The base member 41 is connected in a horizontal state to a part of each endless belt of a pair of endless belt rotating mechanisms with a driving mechanism.
In the configuration as in A1 to A5, the base member 41 is moved up and down by rotating the pair of endless belt rotating mechanisms forward or backward.
[Third example]
B1. A total of four guide columns, each serving as a column, are erected at the four corners of the upper surface of the vehicle 91. B2. Attach the top plate to the upper end of each guide column.
B3. Guide holes are formed at the four corners of the base member 41, and the guide holes and guide columns are relatively engaged with each other so that the base member 41 can move up and down.
B4. In the base body 93 of the vehicle 91, a linear body winding mechanism with a driving mechanism having a pair of left and right winding drums that can rotate forward and backward in the horizontal direction is equipped.
B5. A pair of left and right pulleys are provided on the lower surface of the top plate so as to correspond to the pair of left and right winding drums.
B6. A linear body is wound around a set of winding drums and pulleys, and another set of winding drums and pulleys, and the respective linear bodies are wound around each winding drum. And can be rewound.
B7. The base member 41 is connected to a part of each linear body (two linear bodies) in a horizontal state.
In the configuration as in B1 to B7, the base member 41 is moved up and down by synchronously rotating the two winding drums in the forward direction or in the reverse direction.

12 to 15 may be modified as follows. The first modification is that the lifting mechanism 101 is omitted. In this case, the base member 41 including both the stretchable bodies 11 and 21, the stretchable power generation machine 31, and the like is mounted on the base body 93 in the vehicle 91. In the first modified example, when a base plate (table) on the upper surface of the base body 93 is used as a substitute for the base member 41, the base plate is regarded as the base member 41, and both the elastic bodies 11, 21 and A required member such as the telescopic power generation machine 31 may be assembled and installed. The second modification is that the vehicle 91 is omitted and the lifting mechanism 101 is constructed on the floor surface or other installation surface. In other words, the second modified example is a stationary expansion device that does not move, and the base member 41 moves up and down via the lifting mechanism 101. In the second modification, the wheel 92 may be removed from the base body 93 and the base body 93 may be installed on the installation surface.

In the case of the telescopic device according to the present invention, the equipment object 81 having the equipment surface 82 may be a movable body. The mobile telescopic device illustrated in FIGS. 12 to 15 is an example belonging to this. Furthermore, the movable equipment object 81 is composed of a movable body movable in one direction selected from the horizontal direction, the vertical direction, the inclined direction, and the rotating direction, or two of them. There is a mobile body that can move in the above directions.

The multi-component for a telescopic device according to the present invention, the telescopic unit for a telescopic device according to the present invention, and the telescopic device according to the present invention can be used or applied for multiple purposes on the premise of moving an object. Moreover, since this is realized in a mode that can produce many effects, it can be said that the industrial applicability is high.

DESCRIPTION OF SYMBOLS 11 Active expansion-contraction body 12 Link piece 12x Link piece 12y Link piece 13 Connection pin axis | shaft 13x Connection pin axis | shaft 13y Connection pin axis | shaft 13z Connection pin axis | shaft 14 Rhombus part 15 Force point part 16 Connection part 17 Connection part 21 Passive expansion / contraction body 22 Expansion / contraction member 23 Telescopic member 23a Rotating wheel 24 Telescopic member 24a Rotating wheel 25 Telescopic member 26 Connecting member 27 Notch 28 Rail member 29 Rail member 31 Telescopic power generating machine 32 Power source 33 Output shaft 34 Power transmitting unit 35 Feed shaft 35a Bearing 36 Moving element 37 Connecting element 38 Coupling 39 Distribution type transmission system 41 Base member 42 for mounting the equipment 42 Substrate 43 Supporting part 44 Supporting part 45 Holding piece part 46 Bearing 47 Notch part 51 Multiple component 52 Multiple component 61 Condensation unit 62 stretch unit 71 expansion device 72 telescopic device 81 equipment object 82 equipped surface 83 moves the object (object to be transported)
84 Operation Object 91 Vehicle 92 Wheel 93 Base 101 Lifting Mechanism 111 Electric Motor 112 Output Shaft 113 Driving Pulley 121 Driven Pulley 122 Driven Pulley 123 Driven Pulley 124 Driven Pulley 125 Tension Adjustment Pulley 126 Tension Addition Pulley 127 Drive Belt 128 Adjusting Shaft 129 Support Shaft 131 Lifting shaft 132 Lifting shaft 133 Lifting shaft 134 Lifting shaft 135 Guide shaft portion 136 Male screw shaft portion 137 Female screw hole 141 Mounting seat body 142 Mounting seat body 143 Mounting seat body 151 Column 152 Column 153 Column 154 Column 155 Mounting seat portion 156 Guide support part 157 Parts mounting part

Claims (15)

1. As a plurality of components for constituting a multiple component for the telescopic device, an active telescopic body that performs an active telescopic motion, a passive telescopic body that performs a passive telescopic motion, and a power for stretching the active telescopic body A stretching power generation machine for imparting
   The active expansion / contraction body is composed of a pantograph-type link structure in which a plurality of link pieces are connected to each other by a connecting pin shaft so as to expand and contract, and a plurality of rhombic portions are continuously arranged in a line, and the active expansion / contraction body In the intermediate part between the distal end part and the base end part in the body, a force point part for receiving the transmission of expansion and contraction power is set, and
   The passive stretchable body is made of a stretchable shape structure; and
   The telescopic power generating machine has a power source and a power transmission unit driven by the power source; and
   The active stretchable body and the passive stretchable body are adapted to be combined so as to be interlocked and stretchable while maintaining a common stretch direction and simultaneous stretchability, and
   The power point portion of the active telescopic body and the power transmission unit of the telescopic power generating machine can be linked so that power for expansion and contraction from the telescopic power generating machine can be applied to the active telescopic body. Multicomponent for telescopic device, characterized by being.
2. As a plurality of components for constituting a multiple component for the telescopic device, an active telescopic body that performs an active telescopic motion, a passive telescopic body that performs a passive telescopic motion, and a power for stretching the active telescopic body An expansion / contraction power generation machine for imparting, and a base member for equipment installation, and
   The active expansion / contraction body is composed of a pantograph-type link structure in which a plurality of link pieces are connected to each other by a connecting pin shaft so as to expand and contract, and a plurality of rhombic portions are continuously arranged in a line, and the active expansion / contraction body In the intermediate part between the distal end part and the base end part in the body, a force point part for receiving the transmission of expansion and contraction power is set, and
   The passive stretchable body has a stretchable shape structure; and
   The telescopic power generating machine has a power source and a power transmission unit driven by the power source; and
   The active stretchable body and the passive stretchable body are adapted to be combined so as to be interlocked and stretchable while maintaining a common stretch direction and simultaneous stretchability, and
   The base member has a mounting surface for mounting the device; and
   The power point portion of the active telescopic body and the power transmission unit of the telescopic power generating machine can be linked so that power for expansion and contraction from the telescopic power generating machine can be applied to the active telescopic body. Being and
   The active telescopic body, the passive telescopic body, and the telescopic power generating machine are attached to the base member so that the active telescopic body, the passive telescopic body, and the telescopic power generating machine are attached to the mounting surface of the base member. It is a multi-component for telescopic devices, characterized in that it can be mounted.
3. In the multiple component for a telescopic device according to claim 1 or 2,
   A plurality of the active stretch bodies, a plurality of the passive stretch bodies, and a plurality of the stretching power generation machines, and
   [1: 1] that the plurality of the active stretchable bodies and the plurality of the passive stretchable bodies are combined in a freely stretchable manner while maintaining a common stretch direction and simultaneous stretchability, and ,
   A power point portion of each of the active telescopic bodies and a power transmission unit of each of the telescopic power generating machines are provided so that the power for expansion and contraction from the plurality of telescopic power generating machines can be applied to the plurality of active telescopic bodies. [1: 1] Corresponds to be able to be linked.
4. In the multiple component for a telescopic device according to claim 1 or 2,
   A single active stretch body, a plurality of passive stretch bodies, and a single stretch power generation machine; and
   A plurality of the passive stretchable bodies are combined so as to be interlocked and stretchable in parallel with each other; and
   A single active stretch body and a plurality of the passive stretch bodies are compatible with [1: plurality] such that the common stretch direction and the simultaneous stretchability are combined so that they can be interlocked and stretchable; and ,
   The power point of the active telescopic body and the power transmission section of the telescopic power generating machine can be linked so that the power for expansion and contraction from the single telescopic power generating machine can be applied to the single active telescopic body. A multi-component for telescopic devices, characterized in that
5. In the telescopic unit for configuring the telescopic device,
   Among the multiple components for a telescopic device according to any one of claims 1 to 4, the single component or the plurality of the multiple components for a telescopic device that do not have the base member for device attachment are provided. And
   The active elastic body and the passive elastic body are combined so as to be interlocked and expandable while maintaining a common expansion and contraction direction and simultaneous expansion and contraction, and
   A power transmission portion of the expansion / contraction power generation machine is linked to the power point portion of the active expansion / contraction body, and is provided so that power for expansion / contraction from the expansion / contraction power generation machine is applied to the active expansion / contraction body. A telescopic unit for a telescopic device.
6. In the telescopic unit for configuring the telescopic device,
   Among the multiple components for a telescopic device according to any one of claims 1 to 4, the single component or the plurality of the multiple components for a telescopic device having the base member for mounting the device is provided. ,and,
   The active stretchable body and the passive stretchable body are combined so as to be interlocked and stretchable while maintaining a common stretch direction and simultaneous stretchability, and the active stretchable body and the passive stretchable body combined with each other are combined. The base member is mounted on the mounting surface, and the base part of the active elastic member mounted on the mounting surface of the base member is pivotally held by a part of the base member; and A base end portion of the passive elastic body mounted on a mounting surface of the base member is fixedly held by a part of the base member; and
   The telescopic power generation machine is mounted on the mounting surface of the base member; and
   On the mounting surface of the base member, a power transmission portion of the expansion / contraction power generation machine is linked to a force point portion of the active expansion / contraction body, and power for expansion / contraction from the expansion / contraction power generation machine is applied to the active expansion / contraction body. A telescopic unit for a telescopic device, characterized in that
7. Comprising the double component for a telescopic device according to any one of claims 1 to 4, or the telescopic unit for a telescopic device according to claim 5 or 6, and
   Having an elevating mechanism, and
   The telescopic device, wherein the multiple components for the telescopic device are assembled to the lifting mechanism and supported so as to be movable up and down.
8. Comprising the double component for a telescopic device according to any one of claims 1 to 4, or the telescopic unit for a telescopic device according to claim 5 or 6, and
   Having a vehicle that can run freely; and
   A telescopic device, wherein the multiple component for the telescopic device is assembled to the vehicle.
9. Comprising the double component for a telescopic device according to any one of claims 1 to 4, or the telescopic unit for a telescopic device according to claim 5 or 6, and
   Having a freely-movable vehicle having an elevating mechanism; and
   The telescopic device, wherein the multiple components for the telescopic device are assembled to the lifting mechanism and supported so as to be movable up and down.
10. The telescopic device according to claim 8 or 9,
    The telescopic device, wherein the vehicle is a self-propelled type.
11. An active telescopic body that performs an active expansion / contraction operation, a passive expansion / contraction body that performs a passive expansion / contraction operation, and an expansion / contraction power generation machine for applying power for expansion / contraction to the active expansion / contraction body, and,
    The active expansion / contraction body is composed of a pantograph-type link structure in which a plurality of link pieces are connected to each other by a connecting pin shaft so as to expand and contract, and a plurality of rhombic portions are continuously arranged in a line, and the active expansion / contraction body In the intermediate part between the distal end part and the base end part in the body, a force point part for receiving the transmission of expansion and contraction power is set, and
    The passive stretchable body has a stretchable shape structure; and
    The telescopic power generating machine has a power source and a power transmission unit driven by the power source; and
    The active stretchable body and the passive stretchable body, which are combined in a freely stretchable manner while maintaining a common stretch direction and simultaneous stretchability, are mounted on an equipment object, and a base end portion of the active stretchable body. And the base end of the passive stretchable body is held on the equipment surface of the facility object, and
    The power point of the active telescopic body is such that the telescopic power generating machine is mounted on the equipment surface of the facility object and the power for telescopic power from the telescopic power generating machine can be applied to the active telescopic body. And a power transmission unit of the expansion / contraction power generation machine are linked to each other.
12. An active telescopic body that performs an active telescopic motion, a passive telescopic body that performs a passive telescopic motion, a telescopic power generating machine for imparting power for telescopic motion to the active telescopic body, and a base member for equipment attachment And, and
    The active expansion / contraction body is composed of a pantograph-type link structure in which a plurality of link pieces are connected to each other by a connecting pin shaft so as to expand and contract, and a plurality of rhombic portions are continuously arranged in a line, and the active expansion / contraction body In the intermediate part between the distal end part and the base end part in the body, a force point part for receiving the transmission of expansion and contraction power is set, and
    The passive stretchable body has a stretchable shape structure; and
    The telescopic power generating machine has a power source and a power transmission unit driven by the power source; and
    The base member has a mounting surface for mounting the device; and
    The base member is mounted on the equipment surface of the facility object; and
    The active stretchable body and the passive stretchable body, which are combined in a freely stretchable manner while maintaining a common stretch direction and simultaneous stretchability, are mounted on the mounting surface of the base member, and a base end portion of the active stretchable body And the base end portion of the passive stretchable body are held on the mounting surface of the base member, and the stretching power generation machine is mounted on the mounting surface of the base member, and the stretching power generation machine A telescopic device characterized in that a power point portion of the active telescopic body and a power transmission unit of the telescopic power generating machine are linked so that the power for telescopic expansion can be applied to the active telescopic body.
13. Comprising the double component for a telescopic device according to any one of claims 1 to 4, or the telescopic unit for a telescopic device according to claim 5 or 6, and
    An expansion / contraction device, wherein the expansion / contraction unit is mounted on an equipment surface of an equipment object.
14. The telescopic device according to any one of claims 11 to 13,
    The equipment object is provided with an operation object, and the passive telescopic body corresponds to the operation object so that the operation object can be operated.
15. The telescopic device according to any one of claims 11 to 14,
    An expansion / contraction apparatus, wherein the equipment object has an installation surface selected from a horizontal plane, a vertical plane, and an inclined plane.

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