WO2023058686A1 - Interlocking telescopic structure and program - Google Patents

Interlocking telescopic structure and program Download PDF

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Publication number
WO2023058686A1
WO2023058686A1 PCT/JP2022/037292 JP2022037292W WO2023058686A1 WO 2023058686 A1 WO2023058686 A1 WO 2023058686A1 JP 2022037292 W JP2022037292 W JP 2022037292W WO 2023058686 A1 WO2023058686 A1 WO 2023058686A1
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WO
WIPO (PCT)
Prior art keywords
connecting portion
arm
rotatably connected
telescopic
interlocking
Prior art date
Application number
PCT/JP2022/037292
Other languages
French (fr)
Japanese (ja)
Inventor
徳康 松岡
Original Assignee
株式会社不二宮製作所
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社不二宮製作所 filed Critical 株式会社不二宮製作所
Publication of WO2023058686A1 publication Critical patent/WO2023058686A1/en

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    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H15/00—Tents or canopies, in general
    • E04H15/32—Parts, components, construction details, accessories, interior equipment, specially adapted for tents, e.g. guy-line equipment, skirts, thresholds
    • E04H15/34—Supporting means, e.g. frames
    • E04H15/36—Supporting means, e.g. frames arch-shaped type
    • E04H15/38—Supporting means, e.g. frames arch-shaped type expansible, e.g. extensible in a fan type manner
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H15/00—Tents or canopies, in general
    • E04H15/32—Parts, components, construction details, accessories, interior equipment, specially adapted for tents, e.g. guy-line equipment, skirts, thresholds
    • E04H15/34—Supporting means, e.g. frames
    • E04H15/44—Supporting means, e.g. frames collapsible, e.g. breakdown type
    • E04H15/48—Supporting means, e.g. frames collapsible, e.g. breakdown type foldable, i.e. having pivoted or hinged means
    • E04H15/50—Supporting means, e.g. frames collapsible, e.g. breakdown type foldable, i.e. having pivoted or hinged means lazy-tongs type
    • E—FIXED CONSTRUCTIONS
    • E06—DOORS, WINDOWS, SHUTTERS, OR ROLLER BLINDS IN GENERAL; LADDERS
    • E06B—FIXED OR MOVABLE CLOSURES FOR OPENINGS IN BUILDINGS, VEHICLES, FENCES OR LIKE ENCLOSURES IN GENERAL, e.g. DOORS, WINDOWS, BLINDS, GATES
    • E06B9/00—Screening or protective devices for wall or similar openings, with or without operating or securing mechanisms; Closures of similar construction
    • E06B9/24—Screens or other constructions affording protection against light, especially against sunshine; Similar screens for privacy or appearance; Slat blinds
    • E06B9/26—Lamellar or like blinds, e.g. venetian blinds
    • E06B9/262—Lamellar or like blinds, e.g. venetian blinds with flexibly-interconnected horizontal or vertical strips; Concertina blinds, i.e. upwardly folding flexible screens
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16S—CONSTRUCTIONAL ELEMENTS IN GENERAL; STRUCTURES BUILT-UP FROM SUCH ELEMENTS, IN GENERAL
    • F16S3/00—Elongated members, e.g. profiled members; Assemblies thereof; Gratings or grilles
    • F16S3/06—Assemblies of elongated members

Definitions

  • the present invention relates to an interlocking telescopic structure in which the other telescopic arm expands and contracts in conjunction with the extension and contraction of one of the two telescopic arms, and a program for simulating the telescopic motion of the interlocking telescopic structure. .
  • the telescopic arm is configured to be telescopic by connecting in a row a plurality of cross units in which two rigid members are rotatably connected to each other.
  • Such telescopic arms are used in various fields.
  • Patent Literature 1 discloses a foldable tent using telescopic arms as described above.
  • each telescopic arm used in the folding tent is evenly extended when the folding tent is in use, and is evenly retracted when the folding tent is not in use.
  • a collapsible tent is one that opens when in use and collapses when not in use. Therefore, even if each telescoping arm extends and retracts evenly, the foldable tent will still function satisfactorily.
  • the telescopic arm structure still has room for improvement.
  • an object of the present invention is to solve the above-mentioned problems, and in conjunction with the expansion and contraction of a certain telescopic arm, a telescopic arm other than the telescopic arm is telescopically extended and retracted differently from the telescopic arm.
  • An interlocking expansion/contraction structure includes: a first telescopic arm configured to be telescopic by connecting in a row a plurality of cross units in which two rigid members are rotatably connected to each other; a second telescoping arm configured to be telescopic by connecting in a row a plurality of cross units in which two rigid members are rotatably connected to each other; a connecting member interposed between the first telescoping arm and the second telescoping arm and connecting the first telescoping arm and the second telescoping arm;
  • the connecting member is a first member; a second member rotatably connected to the first member;
  • the first member is a first one-side connecting portion rotatably connected to one of the two rigid members of the cross unit positioned at the end of the first extendable arm; a first other side connecting portion rotatably connected to one of the two rigid members of the cross unit positioned at the end of the second
  • the second telescopic arm in conjunction with the expansion and contraction of the first telescopic arm, the second telescopic arm, which is separate from the first telescopic arm, can be telescopically different from the first telescopic arm.
  • the top view of the interlocking expansion-contraction structure which concerns on 1st Embodiment of this invention The top view of the interlocking expansion-contraction structure which concerns on 1st Embodiment of this invention.
  • the top view of the interlocking expansion-contraction structure which concerns on the modification of 1st Embodiment of this invention The top view of the interlocking expansion-contraction structure which concerns on the modification of 1st Embodiment of this invention.
  • the top view of the interlocking expansion-contraction structure which concerns on the modification of 2nd Embodiment of this invention.
  • the top view of the interlocking expansion-contraction structure which concerns on 3rd Embodiment of this invention.
  • the top view of the interlocking expansion-contraction structure which concerns on 3rd Embodiment of this invention.
  • the top view of the interlocking expansion-contraction structure which concerns on 4th Embodiment of this invention.
  • the top view of the interlocking expansion-contraction structure which concerns on 4th Embodiment of this invention.
  • the top view of the interlocking expansion-contraction structure which concerns on 5th Embodiment of this invention.
  • the top view of the interlocking expansion-contraction structure which concerns on 5th Embodiment of this invention is provided.
  • the top view of the interlocking expansion-contraction structure which concerns on 6th Embodiment of this invention The front view of the interlocking expansion-contraction structure which concerns on 6th Embodiment of this invention.
  • the top view of the interlocking expansion-contraction structure which concerns on 6th Embodiment of this invention The top view of the interlocking expansion-contraction structure which concerns on 7th Embodiment of this invention.
  • the top view of the interlocking expansion-contraction structure which concerns on 7th Embodiment of this invention The block diagram which illustrates the hardware configuration for simulating the expansion-contraction operation of an interlocking expansion-contraction structure.
  • FIG. 6 is a flow chart for explaining a simulation of the expansion/contraction motion of the interlocking expansion/contraction structure.
  • the perspective view which shows the application example of an interlocking
  • the perspective view which shows the application example of an interlocking
  • An interlocking expansion/contraction structure includes: a first telescopic arm configured to be telescopic by connecting in a row a plurality of cross units in which two rigid members are rotatably connected to each other; a second telescoping arm configured to be telescopic by connecting in a row a plurality of cross units in which two rigid members are rotatably connected to each other; a connecting member interposed between the first telescoping arm and the second telescoping arm and connecting the first telescoping arm and the second telescoping arm;
  • the connecting member is a first member; a second member rotatably connected to the first member;
  • the first member is a first one-side connecting portion rotatably connected to one of the two rigid members of the cross unit positioned at the end of the first extendable arm; a first other side connecting portion rotatably connected to one of the two rigid members of the cross unit positioned at the end of the second extendable arm; a first intermediate connecting portion rotatably connected to
  • the variation rate and the variation length of the distance between the first one-side connecting portion and the second one-side connecting portion in the circumferential direction At least one of the length is different from at least one of the variation rate and variation length of the distance between the first other-side connecting portion and the second other-side connecting portion in the circumferential direction. Therefore, in conjunction with the expansion and contraction of the first telescopic arm, the second telescopic arm can be telescopically different from the first telescopic arm.
  • the first one-side connecting portion When viewed from the axial direction along the rotation shaft of the second member, the first one-side connecting portion is located outside a virtual line connecting the first intermediate connecting portion and the first other-side connecting portion. may be in The second one-side connecting portion and the second other-side connecting portion are also used as one connecting portion, and the other of the two rigid members of the cross unit positioned at the end of the first telescoping arm and the The cross unit located at the end of the second extendable arm may be rotatably connected to the other of the two rigid members.
  • the rotation of the second member in one of the circumferential directions extends the first telescoping arm and contracts the second telescoping arm.
  • the first telescoping arm contracts and the second telescoping arm extends. That is, the extension/contraction motion of the first telescopic arm and the retraction/extension motion of the second telescopic arm can be reversed.
  • the first one-side connecting portion and the first other-side connecting portion are located on one side of an intermediate imaginary line passing through the first intermediate connecting portion.
  • the second one-side connecting portion and the second other-side connecting portion may be positioned on the other side of the intermediate virtual line, When viewed from the axial direction, the first one-side connecting portion is located at the first phantom line passing through the first other-side connecting portion, the first intermediate connecting portion, and the second one-side connecting portion.
  • the second one-side connecting portion When viewed from the axial direction, the second one-side connecting portion is located at the second phantom line passing through the second other-side connecting portion, the second intermediate connecting portion, and the first one-side connecting portion. It may be located on the opposite side of the 1 other side connecting portion.
  • the interlocking telescopic structure is at least one first telescopic arm; at least one second telescopic arm; A plurality of the connecting members may be provided, The at least one first telescoping arm and the at least one second telescoping arm may be connected via the connecting member to form a ring.
  • the rotation of the first member and the second member makes it possible to change the attitude of the annularly configured interlocking telescopic structure.
  • the interlocking telescopic structure is a first imaginary line segment connecting the first one-side connecting portion and the first other-side connecting portion via the first intermediate connecting portion when viewed from the axial direction along the rotation shaft of the second member; , a second virtual line segment connecting the second one-side connecting portion and the second other-side connecting portion via the second intermediate connecting portion, may intersect, When viewed from the axial direction, the distance between the first one-side connecting portion and the first intermediate connecting portion is longer than the distance between the first other-side connecting portion and the first intermediate connecting portion, and/or A distance between the second one-side connecting portion and the second intermediate connecting portion may be longer than a distance between the second other-side connecting portion and the second intermediate connecting portion.
  • the second telescopic arm extends in conjunction with the extension of the first telescopic arm, and the second telescopic arm contracts in conjunction with the contraction of the first telescopic arm.
  • the distance between the first one-side connecting portion and the second one-side connecting portion is made larger than the distance between the first other-side connecting portion and the second other-side connecting portion. be able to. This makes it possible to make at least one of the rate of change and the length of change when the first telescoping arm expands and contracts larger than at least one of the rate of change and the length of change when the second telescoping arm expands and contracts.
  • a first imaginary line segment connecting the first one-side connecting portion and the first other-side connecting portion via the first intermediate connecting portion when viewed from the axial direction along the rotation shaft of the second member; , a second virtual line segment connecting the second one-side connecting portion and the second other-side connecting portion via the second intermediate connecting portion, may intersect, At least one of the first virtual line segment and the second virtual line segment may be V-shaped when viewed from the axial direction.
  • each of the first virtual line segment and the second virtual line segment is V-shaped, and the V-shape of the first virtual line and the V-shape of the second virtual line may face opposite each other.
  • the second telescoping arm extends in conjunction with the extension of the first telescoping arm, and the second telescoping arm contracts in conjunction with the contraction of the first telescoping arm.
  • the distance between the first one-side connecting portion and the second one-side connecting portion and the distance between the first other-side connecting portion and the second other-side connecting portion are different distances.
  • the first member is a first one-side member having the first one-side connecting portion; and a first other-side member having the first other-side connecting portion
  • the first intermediate connecting portion is a first one-side gear fixed to the first one-side member; a first other-side gear fixed to the first other-side member; an odd number of first intermediate gears
  • the second member is a second one-side member having the second one-side connecting portion; a second other-side member having the second other-side connecting portion
  • the second intermediate connecting part is a second one-side gear fixed to the second one-side member; a second other side gear fixed to the second other side member; an odd number of second intermediate gears; and
  • the first one-side gear and the first other-side gear may be meshed with each other via an odd number of the first intermediate gears
  • the second one-side gear and the second other-side gear may be meshed with each other via an odd number of the second intermediate gears
  • the first one-side gear and the second one-side gear may be meshed with each
  • the first one-side connecting portion and the second one-side connecting portion approach each other, and the first other-side connecting portion and the second other side connecting portion Leave. Further, when each gear rotates in a direction opposite to the certain rotation direction, the first one-side connecting portion and the second one-side connecting portion are separated from each other, and the first other-side connecting portion and the second other-side connecting portion are separated from each other. Get closer. Thereby, the extension/contraction motion of the first telescopic arm and the retraction/extension motion of the second telescopic arm can be reversed.
  • the extension/contraction movement of the first telescopic arm and the extension/contraction movement of the second telescopic arm are synchronized.
  • the configuration of the interlocking telescoping structure changes so that they are of the same type. That is, according to this configuration, the configuration of the interlocking expansion/contraction structure can be easily changed.
  • the first member is a first one-side member having the first one-side connecting portion; and a first other-side member having the first other-side connecting portion
  • the first intermediate connecting portion is a first one-side gear fixed to the first one-side member; and a first other side gear fixed to the first other side member
  • the second member is a second one-side member having the second one-side connecting portion; a second other-side member having the second other-side connecting portion
  • the second intermediate connecting part is a second one-side gear fixed to the second one-side member; and a second other side gear fixed to the second other side member,
  • the first one-side gear and the second one-side gear may be meshed with each other directly or through an even number of gears
  • the first one-side gear and the second other-side gear may be meshed with each other directly or via an even number of gears
  • the first other side gear and the second one side gear may be meshed with each other directly or via an even number of gears,
  • the first other gear and the second other gear may
  • the first one-side connecting portion and the second one-side connecting portion approach each other, and the first other-side connecting portion and the second other side connecting portion also approach each other.
  • the first one-side connecting portion and the second one-side connecting portion separate from each other, and the first other-side connecting portion and the second other-side connecting portion also separate from each other.
  • the extension/contraction movement of the first telescopic arm and the extension/contraction movement of the second telescopic arm can be of the same type.
  • the configuration of the interlocking telescopic structure is changed so that the extension/contraction motion of the first telescopic arm and the telescopic motion of the second telescopic arm are reversed. That is, according to this configuration, the configuration of the interlocking expansion/contraction structure can be easily changed.
  • a program according to an aspect of the present invention for simulating the expansion/contraction motion of the interlocking expansion/contraction structure comprises: Acquiring first information about the structure of the first telescopic arm, second information about the structure of the second telescopic arm, and third information about the structure of the connecting member; change of the first information, the second information, and the third information other than the changed information in accordance with a change of a part of the first information, the second information, and the third information; A computer is caused to execute a process of calculating .
  • the interlocking telescopic structure can be simulated. Therefore, it is possible to sufficiently verify the operation of the interlocking expansion/contraction structure and manufacture the interlocking expansion/contraction structure.
  • FIG. 1 is a plan view of an interlocking telescopic structure according to a first embodiment of the present invention.
  • FIG. 2 is a plan view of the interlocking telescopic structure according to the first embodiment of the present invention.
  • the interlocking telescopic structure 1 includes a first telescopic arm 2, a second telescopic arm 3, and a connecting member 4.
  • the first telescopic arm 2 includes eight cross units 20.
  • the number of cross units 20 included in the first telescoping arm 2 is not limited to eight.
  • the first extendable arm 2 may be composed of 2 to 7 cross units 20, or may be composed of 9 or more cross units 20.
  • a plurality of cross units 20 are connected to each other in a row.
  • the cross unit 20A is located at one end of the eight cross units 20 connected in a row
  • the cross unit 20B is located at the other end of the eight cross units 20 connected in a row. positioned.
  • Six cross units 20 are connected in a row between the cross units 20A and 20B.
  • Each cross unit 20 includes two rigid members 21 and 22.
  • the rigid members 21 and 22 are rod-shaped members having rectangular cross sections, in other words, rod-shaped quadrangular prisms.
  • the rigid members 21 and 22 have the same shape.
  • the shape of the rigid members 21 and 22 is not limited to a rod-like quadrangular prism.
  • rigid members 21, 22 may be hollow.
  • the cross sections of the rigid members 21 and 22 may be shapes other than rectangles, such as circles.
  • the rigid members 21 and 22 may not be bar-shaped.
  • the rigid members 21 and 22 may be plate-shaped, or may have a three-dimensional shape such as a cuboid or a sphere. Also, the rigid members 21 and 22 may have different shapes.
  • the rigid members 21 and 22 are made of resin. Note that the rigid members 21 and 22 are not limited to resin.
  • rigid members 21 and 22 may be made of glass, porcelain, wood, metal, or the like.
  • the rigid member 21 has three connecting portions 21a, 21b, and 21c.
  • the rigid member 22 has three connecting portions 22a, 22b, 22c.
  • each connection part 21a, 21b, 21c, 22a, 22b, 22c is a through-hole.
  • the connecting portions 21a, 21b, 21c, 22a, 22b, and 22c are rotatably connected to each other.
  • the connecting means of the connecting portions 21a, 21b, 21c, 22a, 22b, and 22c is not limited to the above-described through holes and pins, and various known means can be employed.
  • the connecting portions 21 a and 21 b are provided at both ends of the rigid member 21
  • the connecting portions 22 a and 22 b are provided at both ends of the rigid member 22
  • the connecting portion 21 c is provided in the central portion of the rigid member 21
  • the connecting portion 22 c is provided in the central portion of the rigid member 22 .
  • the positions of the connecting portions 21a, 21b, 21c, 22a, 22b, and 22c are not limited to the positions described above.
  • the connecting portion 21a may be provided closer to the central portion than the end portion of the rigid member 21 .
  • the connecting portions 21c and 22c are connected to each other. Thereby, the rigid members 21 and 22 are rotatably connected to each other at the connecting portions 21c and 22c.
  • the connecting portions 21a, 21b, 22a, 22b are connected to the connecting portions 21a, 21b, 22a, 22b of the other cross unit 20 or the connecting portions 41a, 42b of the connecting member 4 described later.
  • the connecting portions 21a and 22a of the cross unit 20A are connected to the connecting portions 41a and 42b of the connecting member 4, and the connecting portions 21b and 22b of the cross unit 20A connect the adjacent cross units 20 together. It is connected to the parts 21a and 22a.
  • the connecting portions 21a and 22a are connected to the connecting portions 21b and 22b of one of the two adjacent cross units 20, and the connecting portions 21b and 22b are connected to the two adjacent cross units. are connected to the other connecting portions 21a and 22a of the two cross units 20, respectively.
  • the connecting portions 21b and 22b of the cloth unit 20B are not connected to the other cloth unit 20. As shown in FIG.
  • the first telescoping arm 2 configured as described above is telescopically configured.
  • FIG. 1 shows a state in which the first telescoping arm 2 is contracted.
  • FIG. 2 shows a state in which the first telescoping arm 2 is extended.
  • the second telescopic arm 3 includes eight cross units 30. As with the first telescopic arm 2, the number of cross units 20 included in the second telescopic arm 3 is not limited to eight.
  • a plurality of cross units 30 are connected to each other in a row.
  • the cross unit 30A is positioned at one end of the eight cross units 30 connected in a row
  • the cross unit 30B is positioned at the other end of the eight cross units 30 connected in a row. positioned.
  • Six cross units 30 are connected in a row between the cross units 30A and 30B.
  • Each cross unit 30 includes two rigid members 31 and 32.
  • the rigid members 31 and 32 are rod-shaped members having rectangular cross sections, in other words, rod-shaped quadrangular prisms.
  • the rigid members 31 and 32 have the same shape.
  • the shape of the rigid members 31 and 32 is not limited to a rod-like quadrangular prism, and may be different from each other.
  • the rigid members 31 and 32 have the same shape and size as the rigid members 21 and 22, but may have a different shape and different size from the rigid members 21 and 22. good.
  • the rigid members 31 and 32 are made of resin. As with the rigid members 21 and 22, the rigid members 31 and 32 are not limited to resin.
  • the rigid member 31 has three connecting portions 31a, 31b, and 31c.
  • the rigid member 32 has three connecting portions 32a, 32b, 32c.
  • the connecting means for connecting the connecting portions 31a, 31b, 31c, 32a, 32b, and 32c to other connecting portions is through holes as in the connecting portions 21a, 21b, 21c, 22a, 22b, and 22c. and pins.
  • the connecting means of the connecting portions 31a, 31b, 31c, 32a, 32b, and 32c is not limited to through holes and pins, and various known means can be employed.
  • the connecting portions 31 a and 31 b are provided at both ends of the rigid member 31
  • the connecting portions 32 a and 32 b are provided at both ends of the rigid member 32
  • the connecting portion 31 c is provided in the central portion of the rigid member 31
  • the connecting portion 32 c is provided in the central portion of the rigid member 32 .
  • the positions of the connecting portions 31a, 31b, 31c, 32a, 32b, and 32c are not limited to the positions described above.
  • the connecting portions 31c and 32c are connected to each other. Thereby, the rigid members 31 and 32 are rotatably connected to each other at the connecting portions 31c and 32c.
  • the connecting portions 31a, 31b, 32a, 32b are connected to the connecting portions 31a, 31b, 32a, 32b of the other cross unit 30 or the connecting portions 41b, 42b of the connecting member 4 described later.
  • the connecting portions 31a and 32a of the cross unit 30A are connected to the connecting portions 41b and 42b of the connecting member 4, and the connecting portions 31b and 32b of the cross unit 30A connect the adjacent cross units 20 together. It is connected to the parts 31a and 32a.
  • the connecting portions 31a and 32a are connected to the connecting portions 31b and 32b of one of the two adjacent cross units 30, and the connecting portions 31b and 32b are connected to the two adjacent cross units.
  • the cross unit 30 is connected to the other connecting portions 31a and 32a.
  • the connecting portions 31b and 32b of the cross unit 30B are not connected to the other cross unit 30. As shown in FIG.
  • FIG. 1 shows a state in which the second telescoping arm 3 is extended.
  • FIG. 2 shows a state in which the second telescoping arm 3 is contracted.
  • the connecting member 4 is interposed between the first telescopic arm 2 and the second telescopic arm 3 to connect the first telescopic arm 2 and the second telescopic arm 3 .
  • the connecting member 4 connects the cross unit 20A of the first telescopic arm 2 and the cross unit 30A of the second telescopic arm 3 .
  • the connecting member 4 has a first member 41 and a second member 42 .
  • the first member 41 is, for example, a rigid member.
  • the second member 42 is, for example, a rigid member.
  • the first member 41 and the second member 42 are rod-shaped members with rectangular cross sections, in other words, rod-shaped quadrangular prisms.
  • the first member 41 is bent.
  • the second member 42 extends straight without bending.
  • first member 41 and the second member 42 are not limited to those shown in FIGS. 1 and 2.
  • the first member 41 and the second member 42 may be hollow.
  • the cross-sections of the first member 41 and the second member 42 may have a shape other than a rectangle, such as a circle.
  • the first member 41 may not be bent, and the second member 42 may be bent.
  • the rigid members 21 and 22 may not be bar-shaped.
  • the first member 41 and the second member 42 may be plate-shaped, or may be three-dimensional shapes such as rectangular parallelepipeds and spheres.
  • the first member 41 and the second member 42 may have the same shape.
  • the first member 41 and the second member 42 are made of resin. Note that the first member 41 and the second member 42 are not limited to resin.
  • the first member 41 and the second member 42 may be made of glass, porcelain, wood, metal, or the like.
  • the first member 41 has three connecting portions 41a, 41b, and 41c.
  • the second member 42 has two connecting portions 42a and 42b.
  • means for connecting the connecting portions 41a, 41b, 41c, 42a, and 42b to other connecting portions are through holes and pins, like the connecting portions 21a, 21b, 21c, 22a, 22b, and 22c. It is due to
  • the connecting means of the connecting portions 41a, 41b, 41c, 42a, and 42b is not limited to through-holes and pins, and various known means can be employed.
  • the connecting parts 41 a and 41 b are provided at both ends of the first member 41
  • the connecting parts 42 a and 42 b are provided at both ends of the second member 42
  • the first intermediate connecting portion 41 c is provided in the central portion of the first member 41 .
  • the first intermediate connecting portion 41 c is provided at the bent portion of the first member 41 .
  • the positions of the connecting portions 41a, 41b, 41c, 42a, and 42b are not limited to the positions described above.
  • the first intermediate connecting portion 41 c may be provided at a portion other than the bent portion of the first member 41 .
  • the second other side connecting portion 42b may be provided closer to the central portion than the end portion of the second member 42 .
  • the connecting portions 41c and 42a are connected to each other. Thereby, the first member 41 and the second member 42 are rotatably connected to each other at the connecting portions 41c and 42a. That is, the connecting portion 41c is rotatably connected to the second member 42, and the connecting portion 42a is rotatably connected to the first member 41. As shown in FIG.
  • the first intermediate connecting portion 41c is an example of a connecting portion.
  • the second one-side connecting portion 42a is an example of a connecting portion.
  • the first one-side connecting portion 41a is rotatably connected to the connecting portion 21a of the rigid member 21, which is one of the two rigid members 21 and 22 of the cross unit 20A positioned at the end of the first extendable arm 2. ing. Thereby, the first member 41 and the rigid member 21 are rotatably connected to each other at the connecting portions 41a, 21a.
  • the first one-side connecting portion 41a is an example of a connecting portion.
  • the first other-side connecting portion 41b is rotatably connected to the connecting portion 31a of the rigid member 31, which is one of the two rigid members 31 and 32 of the cross unit 30A positioned at the end of the second extendable arm 3. ing. Thereby, the first member 41 and the rigid member 31 are rotatably connected to each other at the connecting portions 41b and 31a.
  • the first other side connecting portion 41b is an example of a connecting portion.
  • the second other side connecting portion 42b is rotatably connected to the connecting portion 22a of the rigid member 22 which is the other of the two rigid members 21 and 22 of the cross unit 20A positioned at the end of the first extendable arm 2. ing.
  • the connecting portion 42b is rotatably connected to the connecting portion 32a of the rigid member 32, which is the other of the two rigid members of the cross unit 30A located at the end of the second extensible arm 3.
  • the first member 41 and the rigid members 22, 32 are rotatably connected to each other at the connecting portions 42b, 22a, 32a.
  • the second other side connecting portion 42b is rotatably connected to both of the rigid members 22 and 32. As shown in FIG.
  • the second other side connecting portion 42b is an example of a connecting portion.
  • the second other side connecting portion 42b also functions as a second one side connecting portion, and in the first embodiment, the connecting portion 42b is used as both the second one side connecting portion and the second other side connecting portion.
  • the second one-side connecting portion and the second other-side connecting portion may be different connecting portions. Such a configuration is described in the second embodiment.
  • the first member 41 has a bent bar shape. That is, the first member 41 is V-shaped. Further, as described above, the connecting portions 41a and 41b of the first member 41 are provided at both ends of the first member 41, and the first intermediate connecting portion 41c of the first member 41 is provided at the center of the first member 41. provided in the department. That is, when viewed from the axial direction along the rotation shaft of the first member 41 and the second member 42 (hereinafter, simply referred to as the axial direction), from the first one-side connecting portion 41a through the first intermediate connecting portion 41c.
  • the imaginary line extending to the first other side connecting portion 41b is V-shaped.
  • the rotation shafts of the first member 41 and the second member 42 extend perpendicularly to the paper surface of FIGS.
  • the axial direction is a direction perpendicular to the paper surface of FIGS. 1 and 2 .
  • 15, 18, and 20 to 23 the direction of the rotation shaft and the direction of the axis line are perpendicular to the plane of the paper, as in FIGS. be.
  • the imaginary line extending from the first one-side connecting portion 41a through the first intermediate connecting portion 41c to the first other-side connecting portion 41b is not V-shaped but straight. good too.
  • the first one-side connecting portion 41a is located outside the virtual line segment L1 connecting the connecting portions 41b and 41c when viewed in the axial direction. That is, when viewed from the axial direction, the first one-side connecting portion 41a can take any position outside the virtual line segment L1.
  • the first member 41 can have any shape, but the connecting portions 41a, 41b, and 41c meet the above conditions (the first one-side connecting portion 41a is from the virtual line segment L1 when viewed in the axial direction). It can be formed at any position on the first member 41 as long as it satisfies the above condition.
  • the connecting portions 41a, 41b, and 41c are formed at positions of the plate-shaped first member 41 that satisfy the above conditions.
  • the interlocking telescopic structure 1 configured as described above is capable of state transition between the state shown in FIG. 1 and the state shown in FIG.
  • the first telescopic arm 2 When the interlocking telescopic structure 1 is in the state shown in FIG. 1, the first telescopic arm 2 is in a contracted state and the second telescopic arm 3 is in an extended state.
  • the first telescoping arm 2 When the first telescoping arm 2 extends in the state shown in FIG. 1, the distance between the connecting portions 41a and 42b in the circumferential direction around the rotation shaft of the first member 41 and the second member 42 becomes shorter and the connecting portions 41b and 41b One of the first member 41 and the second member 42 of the connecting member 4 rotates relative to the other such that the distance between the members 42b increases.
  • the second telescoping arm 3 contracts (see FIG. 2).
  • the second telescoping arm 3 contracts in the state shown in FIG. 1, one of the first member 41 and the second member 42 of the connecting member 4 rotates with respect to the other in the same manner as described above, thereby performing the first telescopic movement.
  • Arm 2 extends (see FIG. 2).
  • the first telescopic arm 2 When the interlocking telescopic structure 1 is in the state shown in FIG. 2, the first telescopic arm 2 is in an extended state and the second telescopic arm 3 is in a contracted state.
  • the first telescoping arm 2 contracts in the state shown in FIG. 2, the distance between the connecting portions 41a and 42b in the circumferential direction around the rotation shaft of the first member 41 and the second member 42 increases and the connecting portions 41b and 41b increase.
  • One of the first member 41 and the second member 42 of the connecting member 4 rotates relative to the other such that the distance between the members 42b is shortened.
  • the second extendable arm 3 extends (see FIG. 1).
  • the second telescoping arm 3 when the second telescoping arm 3 extends in the state shown in FIG. 2, one of the first member 41 and the second member 42 of the connecting member 4 rotates with respect to the other in the same manner as described above, thereby performing the first telescopic movement.
  • Arm 2 retracts (see FIG.
  • the connecting portion 41a in the circumferential direction around the rotation axis of the first member 41 and the second member 42 , 42b is different from the second rate of variation of the distance between the connecting portions 41b, 42b in the circumferential direction.
  • the second telescoping arm 3 contracts in conjunction with the extension of the first telescoping arm 2, the first variation rate is smaller than one and the second variation rate is greater than one.
  • the second telescoping arm 3 extends in conjunction with the contraction of the first telescoping arm 2, the first variation rate is greater than one and the second variation rate is less than one.
  • the telescoping of the first telescoping arm 2 and the telescoping of the second telescoping arm 3 are inversely proportional.
  • the first member 41 and the second member 42 when the first member 41 and the second member 42 rotate, the first member 41 and the second member 42 are connected in the circumferential direction around the rotation axis.
  • the variation length of the distance between the portions 41a and 42b may be different from the variation length of the distance between the connecting portions 41b and 42b in the circumferential direction. Both the variation rate and the variation length may be different, or only one of the variation rate and the variation length may be different.
  • the rate of variation in this specification is the ratio of the distance between two connecting portions after turning to the distance between two connecting portions before turning.
  • the variable length in this specification is the difference between the distance between two connecting portions before rotation and the distance between two connecting portions after rotation.
  • the second telescopic arm 3 can be telescopically different from the first telescopic arm 2 .
  • the rotation of the second member 42 in one of the circumferential directions extends the first telescoping arm 2 and contracts the second telescoping arm 3 .
  • the first telescopic arm 2 contracts and the second telescopic arm 3 extends.
  • the expansion and contraction of the first telescopic arm 2 and the expansion and contraction of the second telescopic arm 3 can be reversed.
  • FIG. 3 is a plan view of an interlocking expansion/contraction structure according to a modification of the first embodiment of the present invention.
  • the angle ⁇ between the first telescopic arm 2 and the second telescopic arm 3 is 108 degrees.
  • the angle formed by the first telescopic arm 2 and the second telescopic arm 3 is not limited to 108 degrees.
  • the angle ⁇ formed by the first telescoping arm 2 and the second telescoping arm 3 may be 60 degrees.
  • FIG. 4 is a plan view of an interlocking telescopic structure according to a modification of the first embodiment of the present invention.
  • the connecting member 4 may have the same configuration as the cross units 20 and 30 .
  • the first member 41 and the second member 42 may have the same configuration as the rigid members 21 and 22 or the same configuration as the rigid members 31 and 32 .
  • the angle ⁇ formed by the first telescoping arm 2 and the second telescoping arm 3 is 90 degrees.
  • the connecting member 4 may contain bimetal.
  • a bimetal is deformed by temperature, humidity, water content, far infrared rays, or radiation, and is formed by joining two kinds of materials with different coefficients of thermal expansion.
  • the first member 41 of the connecting member 4 may contain bimetal.
  • the first member 41 bends due to an increase in temperature. This changes the distance between the connecting portions 41a and 42b and the distance between the connecting portions 41b and 42b.
  • the first telescoping arm 2 and the second telescoping arm 3 telescope.
  • the connecting member 4 includes a bimetal, the interlocking expansion/contraction structure 1 can undergo state transition due to changes in temperature or the like.
  • FIG. 5 is a plan view of an interlocking telescopic structure according to a second embodiment of the present invention.
  • FIG. 6 is a plan view of an interlocking telescopic structure according to a second embodiment of the present invention.
  • the interlocking expansion/contraction structure 1A according to the second embodiment differs from the interlocking expansion/contraction structure 1 according to the first embodiment in that a connecting member 4A is provided instead of the connecting member 4.
  • a connecting member 4A is provided instead of the connecting member 4.
  • the interlocking telescopic structure 1A includes a connecting member 4A.
  • the first member 41 of the connecting member 4A has a bent bar shape (V shape), like the first member 41 of the connecting member 4 (see FIGS. 1 and 2). Further, in the first member 41 of the connecting member 4A, similarly to the first member 41 of the connecting member 4, when viewed from the axial direction, the first one side connecting portion 41a passes through the first intermediate connecting portion 41c to the first other side connecting portion 41a.
  • the imaginary line reaching the side connecting portion 41b is V-shaped.
  • the second member 42 has a bent bar shape (V shape).
  • the second member 42 may be of any shape like the first member 41 .
  • the first member 41 may also have any shape, as in the first embodiment.
  • the bending angle of the first member 41 and the second member 42 is approximately 90 degrees, but the bending angle of the first member 41 and the second member 42 is not limited to 90 degrees and may be any angle. obtain.
  • the bending angles of the first member 41 and the second member 42 are preferably 45 degrees to 100 degrees.
  • the bending angle of the first member 41 may be the same as or different from the bending angle of the second member 42 .
  • the fact that the shapes of the first member 41 and the second member 42, such as the bending angles described above, are arbitrary also applies to embodiments other than the first embodiment and the second embodiment.
  • the second member 42 has three connecting portions 42a, 42b, 42c.
  • the means for connecting the connecting portions 42a, 42b, and 42c to the other connecting portions is through holes and pins as in the first embodiment, but is not limited to this.
  • each of the connecting portions 41c and 42c may be a gear, as indicated by broken lines in FIG.
  • the gear that constitutes the first intermediate connecting portion 41c is integrally formed with or fixed to the first member 41
  • the gear that constitutes the second intermediate connecting portion 42c is connected to the second member 42. It is integrally formed or fixed to the second member 42 .
  • the gear forming the first intermediate connecting portion 41c and the gear forming the second intermediate connecting portion 42c are meshed with each other.
  • the first member 41 and the second member 42 are connected via these gears. It should be noted that such a geared connection may be employed in other embodiments.
  • the connecting portions 42a, 42b of the connecting member 4A are provided at both ends of the second member 42, and the second intermediate connecting portion 42c of the connecting member 4A is It is provided in the central portion of the first member 41 . That is, when viewed from the axial direction, the imaginary line extending from the second one-side connecting portion 42a through the second intermediate connecting portion 42c to the second other-side connecting portion 42b is V-shaped.
  • the positions of the connecting portions 42a, 42b, and 42c of the connecting member 4A are not limited to the above positions.
  • the second intermediate connecting portion 42c and the first intermediate connecting portion 41c of the first member 41 are connected to each other. Thereby, the first member 41 and the second member 42 are rotatably connected to each other at the connecting portions 41c and 42c.
  • the connecting portion 42c corresponds to the second intermediate connecting portion.
  • the second one-side connecting portion 42a is rotatably connected to the connecting portion 22a of the rigid member 22 which is the other of the two rigid members 21 and 22 of the cross unit 20A positioned at the end of the first extendable arm 2. ing. Thereby, the second member 42 and the rigid member 22 are rotatably connected to each other at the connecting portions 42a, 22a. In the second embodiment, the second one-side connecting portion 42a corresponds to the connecting portion.
  • the second other side connecting portion 42b is rotatably connected to the connecting portion 32a of the rigid member 32 which is the other of the two rigid members 31 and 32 of the cross unit 30A positioned at the end of the second extensible arm 3. ing. Thereby, the second member 42 and the rigid member 32 are rotatably connected to each other at the connecting portions 42b and 32a. In the second embodiment, the second other side connecting portion 42b corresponds to the connecting portion.
  • the connecting portions 41a and 41b of the first member 41 and the connecting portions 42a and 42b of the second member 42 have a positional relationship as described below.
  • the connecting portions 41a and 41b are located on one side of the intermediate virtual line L2 passing through the first intermediate connecting portion 41c, and the connecting portions 42a and 42b are located on one side of the intermediate virtual line L2. located on the other side of The intermediate virtual line L2 is indicated by a dashed line in FIG. That is, an imaginary line extending from the first one-side connecting portion 41a through the first intermediate connecting portion 41c to the first other-side connecting portion 41b, and a second one-side connecting portion 42a through the second intermediate connecting portion 42c.
  • the imaginary lines leading to the second connecting portion 42b only contact at the connecting portions 41c and 42c and do not cross each other.
  • first one-side connecting portion 41a is located on the opposite side of the second other-side connecting portion 42b with respect to the first imaginary line L3 passing through the connecting portions 41b, 41c, and 42a.
  • second one-side connecting portion 42a is located on the opposite side of the first other-side connecting portion 41b with respect to the second imaginary line L4 passing through the connecting portions 42b, 42c, and 41a.
  • the first virtual line L3 is indicated by a two-dot chain line in FIG. 5 and is an example of a virtual line.
  • the second virtual line L4 is indicated by a dashed line in FIG.
  • the interlocking telescopic structure 1A configured as described above is capable of state transition between the state shown in FIG. 5 and the state shown in FIG.
  • the state transition between the states of FIG. 5 and the state of FIG. 6 is the same as the state transition between the state of FIG. 1 and the state of FIG. 2 in the first embodiment.
  • the first telescoping arm 2 and the second telescoping arm 3 are telescopically linked with each other.
  • the second telescoping arm 3 contracts in conjunction with the extension of the first telescoping arm 2 .
  • the second telescoping arm 3 extends in conjunction with the contraction of the first telescoping arm 2 .
  • the first telescoping arm 2 contracts in conjunction with the extension of the second telescoping arm 3 .
  • the first telescopic arm 2 extends in conjunction with the contraction of the second telescopic arm 3 .
  • the interlocking telescopic structure 1A As in the interlocking telescopic structure 1 of the first embodiment, in the interlocking telescopic structure 1A, when the first member 41 and the second member 42 rotate, the rotation axis of the first member 41 and the second member 42 The rate of variation of the distance between the connecting portions 41a and 42a in the circumferential direction around is different from the rate of variation of the distance between the connecting portions 41b and 42b in the circumferential direction. Further, in the interlocking telescopic structure 1A, the extension and retraction of the first telescopic arm 2 and the extension and retraction of the second telescopic arm 3 are inversely proportional, as in the interlocking telescopic structure 1 of the first embodiment.
  • the variation length of the distance between the connecting portions 41a and 42a in the circumferential direction is the variation length of the distance between the connecting portions 41b and 42b in the circumferential direction. It is also the same as the interlocking elastic structure 1 of the first embodiment that it may be different.
  • the connecting portions 41b and 42b when the first member 41 and the second member 42 rotate relatively so that the connecting portions 41a and 42a approach each other, the connecting portions 41b and 42b separate from each other. This causes the first telescopic arm 2 to extend and the second telescopic arm 3 to contract.
  • the connecting portions 41b and 42b approach each other. This causes the first telescopic arm 2 to contract and the second telescopic arm 3 to extend. In other words, the expansion and contraction of the first telescopic arm 2 and the expansion and contraction of the second telescopic arm 3 can be reversed.
  • FIG. 7 is a plan view of an interlocking telescopic structure according to a modification of the second embodiment of the present invention.
  • the shape of the rigid members 21 and 22 of the cross unit 20 of the first telescopic arm 2, the shape of the rigid members 31 and 32 of the cross unit 30 of the second telescopic arm 3, and the first The shape of the member 41 and the second member 42 is arbitrary. Therefore, as shown in FIG. 7, the rigid members 21, 22, 31, 32, 41, and 42 may have curved shapes when viewed from the axial direction. Needless to say, in embodiments other than the second embodiment, the rigid member included in the interlocking expansion/contraction structure may have a curved shape.
  • FIG. 8 is a plan view of an interlocking telescopic structure according to a third embodiment of the present invention.
  • FIG. 9 is a plan view of an interlocking telescopic structure according to a third embodiment of the present invention.
  • the interlocking expansion/contraction structure 1B according to the third embodiment differs from the interlocking expansion/contraction structure 1 according to the first embodiment in that the interlocking expansion/contraction structure 1B is configured in a ring shape. Differences from the first embodiment will be described below. Points in common with the interlocking expansion/contraction structure 1 according to the first embodiment are denoted by the same reference numerals, and descriptions thereof are omitted in principle, and will be described as necessary.
  • the interlocking telescopic structure 1B includes three first telescopic arms 2, three second telescopic arms 3, and six connecting members 4. Three first telescoping arms 2 and three second telescoping arms 3 are alternately connected via connecting members 4 . Thereby, the interlocking expansion-contraction structure 1B is comprised cyclically
  • the interlocking expansion/contraction structure 1B is capable of state transition between the state shown in FIG. 8 and the state shown in FIG.
  • the first telescopic arm 2 When the interlocking telescopic structure 1B is in the state shown in FIG. 8, the first telescopic arm 2 is in an extended state and the second telescopic arm 3 is in a contracted state.
  • the first telescoping arm 2 contracts in the state shown in FIG. 8, the second telescoping arm 3 extends (see FIG. 9).
  • the second telescoping arm 3 extends in the state shown in FIG. 8, the first telescoping arm 2 contracts (see FIG. 9).
  • the first telescopic arm 2 When the interlocking telescopic structure 1B is in the state shown in FIG. 9, the first telescopic arm 2 is in a contracted state and the second telescopic arm 3 is in an extended state.
  • the second telescoping arm 3 contracts (see FIG. 8).
  • the second telescoping arm 3 contracts in the state shown in FIG. 9, the first telescoping arm 2 extends (see FIG. 8).
  • the attitude of the annularly configured interlocking telescopic structure 1B can be changed.
  • the numbers of the first telescoping arms 2, the second telescoping arms 3, and the connecting members 4A are not limited to the above numbers.
  • the interlocking telescoping structure 1B may include four first telescoping arms 2, four second telescoping arms 3, and eight connecting members 4.
  • the interlocking telescoping structure 1B may include one first telescoping arm 2, one second telescoping arm 3, and two connecting members 4. That is, the interlocking telescoping structure 1B includes at least one first telescoping arm 2, at least one second telescoping arm 3, and a plurality of connecting members 4.
  • the interlocking telescopic structure 1B includes the connecting member 4, but instead of the connecting member 4, the connecting member 4A or connecting members 4B to 4F described later may be provided. Moreover, the interlocking
  • the interlocking telescoping structure can have various shapes other than the annular shape by connecting the plurality of first telescoping arms 2 and the second telescoping arms 3 to each other via connecting members.
  • FIG. 10 is a plan view of an interlocking telescopic structure according to a fourth embodiment of the present invention.
  • FIG. 11 is a plan view of an interlocking telescopic structure according to a fourth embodiment of the present invention.
  • the interlocking expansion/contraction structure 1C according to the fourth embodiment differs from the interlocking expansion/contraction structure 1A according to the second embodiment in that a connecting member 4C is provided instead of the connecting member 4A. Differences from the second embodiment will be described below. Points in common with the interlocking expansion/contraction structure 1A according to the second embodiment are denoted by the same reference numerals, and descriptions thereof are omitted in principle, and will be described as necessary.
  • the interlocking telescopic structure 1C includes a connecting member 4C.
  • the connecting member 4C has substantially the same configuration as the cross units 20 and 30. As shown in FIG.
  • the first member 41 and the second member 42 of the connecting member 4C are rod-shaped square poles, like the rigid members 21, 22, 31, 32 of the cross units 20, 30. It should be noted that the first member 41 and the second member 42 may have a shape other than the rod-like quadrangular prism, similarly to the rigid members 21 , 22 , 31 and 32 .
  • the first member 41 has connecting portions 41a, 41b and 41c
  • the second member 42 has connecting portions 42a, 42b and 42c.
  • the connecting portions 41a and 41b are provided at both ends of the first member 41, The connecting portion 41 c is provided in the central portion of the first member 41 .
  • the connecting portions 42a and 42b are provided at both end portions of the second member 42, and the second intermediate connecting portion 42c is provided at the central portion of the second member 42.
  • the cloth unit 20 has a different size from the cloth unit 30, but may have the same size as the cloth unit 30. Further, in the fourth embodiment, the cloth unit 20 has the same shape as the cloth unit 30, but may have a shape different from that of the cloth unit 30.
  • the connecting portions 41c and 42c are connected to each other. Thereby, the first member 41 and the second member 42 are rotatably connected to each other at the connecting portions 41c and 42c.
  • the first intermediate connecting portion 41c corresponds to the connecting portion
  • the second intermediate connecting portion 42c corresponds to the connecting portion.
  • the first one-side connecting portion 41a is rotatably connected to the connecting portion 21a of the rigid member 21, which is one of the two rigid members 21 and 22 of the cross unit 20A positioned at the end of the first extendable arm 2. ing. Thereby, the first member 41 and the rigid member 21 are rotatably connected to each other at the connecting portions 41a, 21a. In the fourth embodiment, the first one-side connecting portion 41a corresponds to the connecting portion.
  • the first other side connecting portion 41b is rotatably connected to the connecting portion 32a of the rigid member 32, which is one of the two rigid members 31 and 32 of the cross unit 30A located at the end of the second extendable arm 3. ing. Thereby, the first member 41 and the rigid member 32 are rotatably connected to each other at the connecting portions 41b and 32a.
  • the first other side connecting portion 41b corresponds to the connecting portion.
  • the second one-side connecting portion 42a is rotatably connected to the connecting portion 22a of the rigid member 22 which is the other of the two rigid members 21 and 22 of the cross unit 20A positioned at the end of the first extendable arm 2. ing. Thereby, the second member 42 and the rigid member 22 are rotatably connected to each other at the connecting portions 42a, 22a.
  • the second one-side connecting portion 42a corresponds to the connecting portion.
  • the second other side connecting portion 42b is rotatably connected to the connecting portion 31a of the rigid member 31 which is the other of the two rigid members 31 and 32 of the cross unit 30A positioned at the end of the second extensible arm 3. ing. Thereby, the second member 42 and the rigid member 31 are rotatably connected to each other at the connecting portions 42b and 31a.
  • the second other side connecting portion 42b corresponds to the connecting portion.
  • the distance D1 between the first one-side connecting portion 41a and the first intermediate connecting portion 41c is longer than the distance D2 between the first other-side connecting portion 41b and the first intermediate connecting portion 41c, and , the distance D3 between the second one-side connecting portion 42a and the second intermediate connecting portion 42c is longer than the distance D4 between the second other-side connecting portion 42b and the second intermediate connecting portion 42c.
  • the distance between the connecting portions of the cross unit 20 of the first telescopic arm 2 and the cross unit 30 of the second telescopic arm 3 is equal to the distance between the connecting portions 41a and 42a in the connecting member 4C and the connecting portions 41b and 42b.
  • the telescoping of the first telescoping arm 2 and the telescoping of the second telescoping arm 3 are in direct proportion.
  • the interlocking telescopic structure 1C configured as described above is capable of state transition between the state shown in FIG. 10 and the state shown in FIG.
  • the first telescopic arm 2 and the second telescopic arm 3 are in an extended state.
  • one of the first telescoping arm 2 and the second telescoping arm 3 is contracted in the state shown in FIG.
  • At least one of the first member 41 and the second member 42 rotates such that the distance between the two members 41b and 42b increases.
  • the other of the first telescoping arm 2 and the second telescoping arm 3 contracts (see FIG. 11).
  • the first telescopic arm 2 and the second telescopic arm 3 are in a contracted state.
  • one of the first telescopic arm 2 and the second telescopic arm 3 is extended in the state shown in FIG.
  • At least one of the first member 41 and the second member 42 rotates such that the distance between the connecting portions 41b and 42b is shortened.
  • the other of the first telescoping arm 2 and the second telescoping arm 3 is extended (see FIG. 10).
  • the circumference around the rotation axis of the first member 41 and the second member 42 The variation length of the distance between the connecting portions 41a and 42a in the direction is longer than the variation length of the distance between the connecting portions 41b and 42b in the circumferential direction.
  • the distance D1 is longer than the distance D2 and the distance D3 is longer than the distance D4.
  • the distance D1 may be longer than the distance D4 and less than or equal to the distance D2.
  • the following conditions are satisfied regardless of the relative lengths of the distances D1, D2, D3, and D4.
  • the variation rate of the distance between the connecting portions 41a and 42a in the circumferential direction around the rotation axis of the first member 41 and the second member 42 and At least one of the variable length is different from at least one of the rate of change and the variable length of the distance between the connecting portions 41b and 42b in the circumferential direction.
  • the connecting portions 41a, 41b, 41c when viewed from the axial direction, are on a straight line, and the connecting portions 42a, 42b, 42c are on a straight line.
  • the connecting portions 41a, 41b, and 41c do not have to be on a straight line, and the connecting portions 42a, 42b, and 42c do not have to be on a straight line.
  • Such an example is described in the fifth embodiment.
  • the second telescopic arm 3 extends in conjunction with the extension of the first telescopic arm 2, and the second telescopic arm 3 contracts in conjunction with the contraction of the first telescopic arm 2.
  • the distance between the connecting portions 41a and 42a can be made larger than the distance between the connecting portions 41b and 42b.
  • the variable length of the first telescoping arm 2 during extension and retraction can be made larger than the variable length of the second telescopic arm 3 during extension and retraction.
  • FIG. 12 is a plan view of an interlocking telescopic structure according to a fifth embodiment of the present invention.
  • FIG. 13 is a plan view of an interlocking telescopic structure according to a fifth embodiment of the present invention.
  • the interlocking expansion/contraction structure 1D according to the fifth embodiment differs from the interlocking expansion/contraction structure 1C according to the fourth embodiment in that a connecting member 4D is provided instead of the connecting member 4C. Differences from the fourth embodiment will be described below. Points in common with the interlocking expansion/contraction structure 1C according to the fourth embodiment are denoted by the same reference numerals, and descriptions thereof are omitted in principle, and will be described as necessary.
  • the interlocking telescopic structure 1D includes a connecting member 4D.
  • the connecting member 4D has substantially the same configuration as the connecting member 4C, but differs in the following points.
  • the first member 41 and the second member 42 of the connecting member 4D are bent.
  • the shape of the 1st member 41 and the 2nd member 42 is not restricted to the shape shown in FIG.12 and FIG.13 similarly to embodiment mentioned above.
  • the interlocking telescopic structure 1D differs from the interlocking telescopic structure 1C in that the first virtual line segment L7 and the second virtual line segment L8 are V-shaped when viewed from the axial direction. .
  • the V-shape of the first virtual line segment L7 and the V-shape of the second virtual line segment L8 face opposite to each other.
  • the connecting portions 41a and 42a move closer to each other, while the connecting portions 41b and 42b move away from each other.
  • the distance between the connecting portions 41a and 42a is shorter than the distance between the connecting portions 42b and 42b.
  • the interlocking expansion/contraction structure 1D configured as described above is capable of state transition between the state shown in FIG. 12 and the state shown in FIG.
  • the state transition between the states of FIG. 12 and the state of FIG. 13 is the same as the state transition between the state of FIG. 10 and the state of FIG. 11 in the fourth embodiment.
  • the first telescoping arm 2 and the second telescoping arm 3 are interlocked and telescopic.
  • the second telescoping arm 3 extends in conjunction with the extension of the first telescoping arm 2 .
  • the second telescoping arm 3 contracts in conjunction with the contraction of the first telescoping arm 2 .
  • the first telescopic arm 2 extends in conjunction with the extension of the second telescopic arm 3 .
  • the first telescopic arm 2 contracts in conjunction with the contraction of the second telescopic arm 3 .
  • the variation length and variation rate of the distance between the connecting portions 41a and 42a in the circumferential direction are the variation length of the distance between the connecting portions 41b and 42b in the circumferential direction. length and rate of variation, but only one of length of variation and rate of variation may be different.
  • the extension/contraction of the first telescopic arm 2 and the extension/contraction of the second telescopic arm 3 are in direct proportion.
  • both the first virtual line segment L7 and the second virtual line segment L8 are V-shaped when viewed from the axial direction. Only one side may be V-shaped. Even in this case, the distance between the connecting portions 41a and 42a can be made shorter or longer than the distance between the connecting portions 42b and 42b when viewed from the axial direction.
  • the distance between the first one-side connecting portion 41a and the first intermediate connecting portion 41c is the same as the distance between the first other-side connecting portion 41b and the first intermediate connecting portion 41c.
  • the distance between the second one-side connecting portion 42a and the second intermediate connecting portion 42c is the same as the distance between the second other-side connecting portion 42b and the second intermediate connecting portion 42c.
  • these distances may differ similarly to 1 C of interlocking
  • the second telescopic arm 3 extends in conjunction with the extension of the first telescopic arm 2, and the second telescopic arm 3 contracts in conjunction with the contraction of the first telescopic arm 2.
  • the distance between the connecting portions 41a and 42a can be different from the distance between the connecting portions 41b and 42b.
  • FIG. 14 is a plan view of an interlocking telescopic structure according to a sixth embodiment of the present invention.
  • FIG. 15 is a front view of an interlocking telescopic structure according to a sixth embodiment of the present invention.
  • FIG. 16 is a plan view of an interlocking telescopic structure according to a sixth embodiment of the present invention.
  • the interlocking telescopic structure 1E according to the sixth embodiment differs from the interlocking telescopic structure 1D according to the fifth embodiment in that a connecting member 4E is provided instead of the connecting member 4D. Differences from the fifth embodiment will be described below. Points in common with the interlocking expansion/contraction structure 1D according to the fifth embodiment are denoted by the same reference numerals, and descriptions thereof are omitted in principle, and will be described as necessary.
  • the interlocking telescopic structure 1E includes connecting members 4E.
  • the first member 41 of the connecting member 4E includes a first one-side member 411 and a first other-side member 412.
  • the first one-side member 411 has a first one-side connecting portion 41a.
  • the first other side member 412 has a first other side connecting portion 41b.
  • the connecting portions 41a and 41b are rotatably connected to the connecting portions 21a and 32a of the cross units 20A and 30A in the same manner as the interlocking telescopic structure 1D of the fifth embodiment.
  • a first one-side gear 411A is fixed to the first one-side member 411 .
  • the first one-side gear 411A is an example of a gear.
  • a first other-side gear 412A is fixed to the first other-side member 412 .
  • the first other side gear 412A is an example of a gear.
  • the first intermediate connecting portion 41c includes gears 411A and 412A. That is, the first intermediate connecting portion 41 c is provided on both the first one-side member 411 and the first other-side member 412 .
  • the second member 42 of the connecting member 4E includes a second one-side member 421 and a second other-side member 422.
  • the second one-side member 421 has a second one-side connecting portion 42a.
  • the second other side member 422 has a second other side connecting portion 42b.
  • the connecting portions 42a and 42b are rotatably connected to the connecting portions 22a and 31a of the cross units 20A and 30A in the same manner as the interlocking telescopic structure 1D of the fifth embodiment.
  • a second one-side gear 421 A is fixed to the second one-side member 421 .
  • the second one-side gear 421A is an example of a gear.
  • a second other-side gear 422A is fixed to the second other-side member 422 .
  • the second other side gear 422A is an example of a gear.
  • the second intermediate connecting portion 42c includes gears 421A and 422A. That is, the second intermediate connecting portion 42 c is provided on both the second one side member 421 and the second other side member 422 .
  • the gears 411A, 412A, 421A, and 422A are rotatably supported by the plate member 5 by the fixing pin 6.
  • the configuration for supporting the gears 411A, 412A, 421A, 422A is not limited to the configuration of the fixing pin 6 and the plate member 5, and various known configurations can be adopted.
  • the gears 411A, 421A are meshed with each other, and the gears 411A, 422A are meshed with each other.
  • Gears 412A and 421A are meshed with each other, and gears 412A and 422A are meshed with each other.
  • the gears 411A, 412A, 421A, and 422A rotate, so that the first member 41 and the second member 42 of the connecting member 4E operate in the same manner as the first member 41 and the second member 42 of the connecting member 4D. .
  • the interlocking expansion/contraction structure 1E configured as described above is capable of state transition between the state shown in FIG. 14 and the state shown in FIG.
  • the state transition between the states of FIG. 14 and the state of FIG. 16 is the same as the state transition between the state of FIG. 13 and the state of FIG. 12 in the fifth embodiment.
  • the gears 411A, 412A, 421A, 422A are directly meshed.
  • an even number of gears may be interposed between the gears 411A, 412A, 421A, 422A.
  • the gears 411A and 421A may be meshed with each other through an even number of gears, and the gears 411A and 422A may be meshed with each other through an even number of gears.
  • the gears 412A and 421A may be meshed with an even number of gears, and the gears 412A and 422A may be meshed with an even number of gears.
  • the above-mentioned "directly meshed" can also be understood as meaning "intermeshed with each other via 0 (even number) of gears".
  • the connecting portions 41a and 42a approach each other, and the connecting portions 41b and 42b also approach each other.
  • the connecting portions 41a, 42a separate from each other, and the connecting portions 41b, 42b also separate from each other.
  • the extension and contraction of the first telescopic arm 2 and the second telescopic arm 2 are performed.
  • the configuration of the interlocking telescoping structure 1E can be changed to the same configuration as the interlocking telescoping structure 1F of the seventh embodiment, which will be described later, so that the arm 3 moves in the opposite direction to the extension and contraction. That is, according to the sixth embodiment, the configuration of the interlocking expansion/contraction structure 1E can be easily changed.
  • FIG. 17 is a plan view of an interlocking elastic structure 1F according to the seventh embodiment of the present invention.
  • FIG. 18 is a front view of an interlocking telescopic structure 1F according to the seventh embodiment of the present invention.
  • FIG. 19 is a plan view of an interlocking elastic structure 1F according to the seventh embodiment of the present invention.
  • the interlocking telescopic structure 1F according to the seventh embodiment differs from the interlocking telescopic structure 1A according to the second embodiment in that a connecting member 4F is provided instead of the connecting member 4A. Differences from the second embodiment will be described below. Points in common with the interlocking expansion/contraction structure 1A according to the second embodiment are denoted by the same reference numerals, and descriptions thereof are omitted in principle, and will be described as necessary.
  • the interlocking telescopic structure 1F includes connecting members 4F.
  • the first member 41 of the connecting member 4F includes a first one-side member 411 and a first other-side member 412 .
  • the first one-side member 411 has a first one-side connecting portion 41a.
  • the other-side member 412 has a first other-side connecting portion 41b.
  • the connecting portions 41a and 41b are rotatably connected to the connecting portions 21a and 31a of the cross units 20A and 30A in the same manner as the interlocking telescopic structure 1A of the second embodiment.
  • a first one-side gear 411A is fixed to the first one-side member 411 .
  • the first one-side gear 411A is an example of a gear.
  • a first other-side gear 412A is fixed to the first other-side member 412 .
  • the first other side gear 412A is an example of a gear.
  • the first intermediate connecting portion 41c includes gears 411A and 412A. That is, the first intermediate connecting portion 41 c is provided on both the first one-side member 411 and the first other-side member 412 .
  • the first intermediate connecting portion 41c further includes a first intermediate gear 41A.
  • the first intermediate gear 41A is an example of a gear.
  • the second member 42 of the connecting member 4F includes a second one-side member 421 and a second other-side member 422.
  • the second one-side member 421 has a second one-side connecting portion 42a.
  • the second other side member 422 has a second other side connecting portion 42b.
  • the connecting portions 42a and 42b are rotatably connected to the connecting portions 22a and 32a of the cross units 20A and 30A in the same manner as the interlocking telescopic structure 1A of the second embodiment.
  • a second one-side gear 421 A is fixed to the second one-side member 421 .
  • the second one-side gear 421A is an example of a gear.
  • a second other-side gear 422A is fixed to the second other-side member 422 .
  • the second other side gear 422A is an example of a gear.
  • the second intermediate connecting portion 42c includes gears 421A and 422A. That is, the second intermediate connecting portion 42 c is provided on both the second one side member 421 and the second other side member 422 .
  • the second intermediate connecting portion 42c further includes a second intermediate gear 42A.
  • the second intermediate gear 42A is an example of a gear.
  • the gears 411A, 412A, 41A, 421A, 422A, and 42A are rotatably supported by the plate member 5 by the fixing pin 6.
  • the configuration for supporting the gears 411A, 412A, 41A, 421A, 422A, 42A is not limited to the configuration of the fixing pin 6 and the plate member 5, and various known configurations can be adopted.
  • the gears 411A, 412A are meshed with each other via the first intermediate gear 41A, and the gears 421A, 422A are meshed with each other via the second intermediate gear 42A.
  • Gears 411A and 421A are meshed with each other, and gears 412A and 422A are meshed with each other.
  • the gears 411A, 412A, 41A, 421A, 422A, and 42A rotate so that the first member 41 and the second member 42 of the connecting member 4F are connected to the first member 41 and the second member 42 of the connecting member 4A. works similarly.
  • the interlocking telescopic structure 1F configured as described above is capable of state transition between the state shown in FIG. 17 and the state shown in FIG.
  • the state transition between the states of FIG. 17 and the state of FIG. 19 is the same as the state transition between the state of FIG. 6 and the state of FIG. 5 in the second embodiment.
  • gears 411A and 412A are meshed via one first intermediate gear 41A, and gears 421A and 422A are meshed with each other via one second intermediate gear 42A.
  • the number of gears interposed between the gears 411A and 412A and between the gears 421A and 422A may be an odd number and is not limited to one.
  • the gears 411A and 421A are directly meshed, and the gears 412A and 422A are directly meshed.
  • an even number of gears may be interposed between the gears 411A, 421A and between the gears 412A, 422A.
  • the gears 411A and 421A may be meshed with each other through an even number of gears
  • the gears 412A and 422A may be meshed with each other through an even number of gears.
  • the above-mentioned "directly meshed” can also mean “intermeshed with each other via 0 (even number) of gears".
  • the connecting portions 41a and 42a approach each other and the connecting portions 41b and 42b move away from each other.
  • the respective gears 41A, 411A, 412A, 42A, 421A, 422A rotate in a direction opposite to the certain rotational direction
  • the connecting portions 41a, 42a move away from each other, and the connecting portions 41b, 42b approach each other.
  • the seventh embodiment by removing the gears 41A and 42A or providing an even number of the gears 41A and 42A, the extension/retraction movement of the first telescoping arm 2 and the extension/retraction of the second telescoping arm 3 are performed.
  • the interlocking telescoping structure 1F can be configured similarly to the interlocking telescoping structure 1E of the sixth embodiment described above so that the contraction movement is of the same type. That is, according to the seventh embodiment, the configuration of the interlocking telescopic structure 1F can be easily changed.
  • FIG. 20 is a block diagram illustrating the hardware configuration for simulating the expansion/contraction motion of the interlocking expansion/contraction structure 1, for example.
  • the hardware configuration includes a simulation device 100 , an input section 200 and a display section 300 .
  • the simulation device 100 is an arithmetic device, such as a desktop computer, laptop computer, smartphone, or the like.
  • the input unit 200 receives input from the user and sends a signal corresponding to the input to the simulation device 100 .
  • the input unit 200 is, for example, a keyboard, mouse, touch panel, or the like.
  • the display unit 300 displays an image corresponding to the signal acquired from the simulation device 100 on the screen, and is, for example, a liquid crystal display, an organic EL display, or the like.
  • the simulation device 100, the input unit 200, and the display unit 300 may be separate units or integrated.
  • the simulation device 100 is a laptop computer or a smartphone, the simulation device 100 is configured integrally with the input unit 200 and the display unit 300 .
  • the simulation device 100 includes a control section 110 , a storage section 120 , a communication interface (communication I/F) 130 , a signal input section 140 and a signal output section 150 .
  • the control unit 110 is a part that executes calculations such as a CPU (Central Processing Unit).
  • CPU Central Processing Unit
  • the storage unit 120 is a recording medium for recording various information including programs and data necessary for simulating the extension/contraction motion of the interlocking telescopic structure.
  • the storage unit 120 is realized by, for example, a semiconductor memory device such as a flash memory, an SSD (Solid State Drive), a magnetic storage device such as a hard disk, or other storage devices alone or by appropriately combining them.
  • Storage unit 120 may include a volatile memory such as SRAM, DRAM, or the like, which temporarily stores various information and is capable of high-speed operation.
  • the control unit 110 executes a program stored in the storage unit 120 to execute a simulation, which will be described later.
  • the programs are not limited to those stored in the storage unit 120, and may be configured by hardware such as ASIC (Application Specific Integrated Circuit).
  • the communication interface 130 may be any interface that enables communication between the simulation apparatus 100 and external devices. Communication interface 130 can be implemented in a variety of ways. For example, the communication interface 130 may be connected to the external device by wire, or may be connected to the external device wirelessly.
  • the wired communication interface 130 includes, for example, a wired LAN based on the Ethernet (Ethernet: registered trademark) standard, or a wired connection using an optical fiber cable.
  • As the communication interface 130 for wireless connection for example, a wireless LAN compatible with IEEE 802.11, a third generation mobile communication system (commonly known as 3G), a fourth generation mobile communication system (commonly known as 4G), a fifth generation mobile communication system (commonly known as 5G) ), etc.
  • the signal input unit 140 acquires a signal from the input unit 200 and outputs it to the control unit 110 and the storage unit 120. If the simulation apparatus 100 has a function of reading programs and data stored in a recording medium such as an optical disk or a semiconductor memory, the signal input unit 140 includes a medium reader for realizing the reading function.
  • the signal output unit 150 outputs a signal to the display unit 300 in response to a command from the control unit 110 .
  • FIG. 21 is a flow chart for explaining the simulation of the expansion and contraction motion of the interlocking expansion and contraction structure. A simulation of the expansion/contraction motion of the interlocking expansion/contraction structure will be described below with reference to FIG. 21 .
  • the signal input unit 140 of the simulation device 100 acquires information about the interlocking telescopic structure from the external device, the recording medium attached to the medium reader, the input unit 200, etc. (S10). Information from the external device is acquired via the communication interface 130 .
  • the information about the interlocking telescopic structure includes at least first information, second information, and third information.
  • the first information is information regarding the structure of the first telescopic arm 2 .
  • the information on the structure of the first telescopic arm 2 is, for example, the coordinates of the connecting portions 21a, 21b, 21c, 22a, 22b, and 22c of the rigid members 21 and 22 in the cross units 20 constituting the first telescopic arm 2. data shown.
  • Information about the shape of each rigid member 21, 22 (for example, the coordinates of the portion occupied by each rigid member 21, 22 in the coordinate system of the coordinates) in addition to the coordinates as information about the structure of the first telescopic arm 2 may further include
  • the second information is information regarding the structure of the second telescopic arm 3 .
  • the information on the structure of the second telescopic arm 3 is, for example, the coordinates of the connecting portions 31a, 31b, 31c, 32a, 32b, 32c of the rigid members 31, 32 in the cross units 30 constituting the second telescopic arm 3. data shown.
  • Information on the shape of each rigid member 31, 32 may further include
  • the third information is information regarding the structure of the connecting member 4 .
  • the information about the structure of the connecting member 4 is, for example, data indicating the coordinates of the connecting portions 41a, 41b, 41c, 42a, 42b, and 42c of the first members 41 and the second members 42 that constitute the connecting member 4.
  • FIG. As information about the structure of the connecting member 4, in addition to the coordinates, information about the shape of each of the first members 41 and the second members 42 (for example, information about the shapes of the first members 41 and the second members 42 in the coordinate system of the coordinates). (coordinates of the part to be processed) may be further included.
  • Information about the structures of the first telescopic arm 2, the second telescopic arm 3, and the connecting member 4 is not limited to the coordinates as described above, and various known information can be adopted.
  • these pieces of information may be formed by matrix data, vector data, or the like.
  • the signal input unit 140 outputs the acquired information to the control unit 110.
  • Control unit 110 compares information received from signal input unit 140 (hereinafter referred to as new information) with information already stored in storage unit 120 (hereinafter referred to as old information).
  • control unit 110 If the old information is not stored in the storage unit 120 (S20: NO), the control unit 110 outputs the new information to the signal output unit 150 and outputs a signal to display the new information on the display unit 300. Output to the unit 150 (S40). Control unit 110 also outputs the new information to storage unit 120 and stores the new information in storage unit 120 . This new information becomes old information when step S20 is executed next time. Note that the information acquired by the signal input unit 140 may be sent directly to the storage unit 120 instead of the control unit 110 outputting the new information to the storage unit 120 .
  • control unit 110 calculates post-change information based on the new information and the old information (S30).
  • the control unit 110 compares the new information and the old information. According to the change of the new information from the old information, the change of the information other than the information changed from the old information is calculated among the new information. The calculation is performed based on a preset calculation formula.
  • the calculation formula is, for example, a determinant or the like that realizes the rotational movement of each connecting portion of the interlocking telescopic structure 1 as described above.
  • the control unit 110 outputs the calculated post-change information to the signal output unit 150, and outputs a command to the signal output unit 150 to display a signal corresponding to the post-change information on the display unit 300 (S40).
  • the signal output unit 150 outputs a signal corresponding to new information or post-change information to the display unit 300 in response to a command from the control unit 110 .
  • the interlocking elastic structure 1 corresponding to the signal is displayed on the display unit 300, for example, in the manner shown in FIG. 1 (S50).
  • the display mode of the display unit 300 of the interlocking elastic structure 1 is not limited to the planar display shown in FIG. 1, and three-dimensional display such as perspective display is also possible. That is, the interlocking elastic structure 1 viewed from any direction can be displayed on the display unit 300 .
  • the simulation device 100 processes information as follows.
  • the signal input unit 140 acquires information indicating the coordinates of each connection part of the interlocking elastic structure 1 shown in FIG. 1 from the outside, and outputs the information to the control unit 110 (S10).
  • the control unit 110 Since no information is stored in the storage unit 120 (S20: NO), the control unit 110 outputs the information received from the signal input unit 140 together with the display command to the signal output unit 150 (S40). Note that the control unit 110 stores the information received from the signal input unit 140 in the storage unit 120 . Signal output section 150 outputs a signal corresponding to the information to display section 300 in response to a command from control section 110 . As a result, the interlocking elastic structure 1 corresponding to the signal is displayed on the display unit 300 in the manner shown in FIG. 1 (S50). Here, the processing of the flowchart shown in FIG. 21 ends.
  • the signal input unit 140 acquires new information from the outside and outputs it to the control unit 110 (S10).
  • the new information is, in the interlocking elastic structure 1 shown in FIG. , 32a.
  • the connecting portions 42b, 22a, and 32a of the interlocking telescopic structure 1 displayed on the display unit 300 are moved by a drag process or the like, the change in the coordinates of the connecting portions 42b, 22a, and 32a due to the movement causes the above-mentioned It corresponds to new information.
  • the control unit 110 moves the interlocking telescopic structure 1 based on the change in the coordinates of the connecting portions 42b, 22a, and 32a. Coordinates (post-change information) of the connecting portions other than the connecting portions 42b, 22a, and 32a are calculated (S40).
  • control unit 110 After that, the control unit 110 outputs the calculated post-change information to the signal output unit 150 together with the display command (S30). Note that control unit 110 stores the post-change information in storage unit 120 . Signal output unit 150 outputs a signal corresponding to post-change information to display unit 300 in response to a command from control unit 110 . As a result, the interlocking elastic structure 1 according to the signal is displayed on the display unit 300 after being changed from the mode shown in FIG. 1 to the mode shown in FIG. 2 (S50). Here, the processing of the flowchart shown in FIG. 21 ends.
  • interlocking telescopic structures 1, 1A, 1B, 1C, 1D, 1E, and 1F can be simulated. Therefore, it is possible to manufacture the interlocking telescopic structures 1, 1A, 1B, 1C, 1D, 1E, and 1F by sufficiently verifying the operations of the interlocking telescopic structures 1, 1A, 1B, 1C, 1D, 1E, and 1F. can.
  • the interlocking telescoping structures 1, 1A, 1B, 1C, 1D, 1E, and 1F according to the present invention are not only freely extendable and retractable, but also interlocked with the extension and retraction of the first telescoping arm 2 to perform the second telescoping.
  • the arm 3 can be telescopically different from the first telescopic arm 2 .
  • rigid members 21, 22, 31, 32, 41, and 42 provided in the first telescopic arm 2, the second telescopic arm 3, and the connecting member 4 of the interlocking telescopic structures 1, 1A, 1B, 1C, 1D, 1E, and 1F A variety of materials can be used as the Also, rigid members 21, 22, 31, 32, 41, 42 of various shapes can be used.
  • the interlocking telescopic structures 1, 1A, 1B, 1C, 1D, 1E, and 1F are, for example, vertical blinds, horizontal blinds, vertical louvers, horizontal louvers, curtains, drop curtains, sunshades, and the like. It can be applied to awnings, upper bodies of moving bodies such as automobiles and ships, doors and windows of buildings, moving partitions, and the like. Although blinds, louvers, and curtains can be used as sunshades, they are defined separately from sunshades here.
  • interlocking telescopic structures 1, 1A, 1B, 1C, 1D, 1E, and 1F can be used for children's toys such as educational toys, toys such as models used by not only children but also adults, interiors, It can be applied to objects, art, fashion-related items such as accessories, decorations, illuminations, trees (for example, structures with tree motifs), and the like.
  • 22 and 23 are perspective views showing application examples of the interlocking telescopic structures 1A and 1D, respectively.
  • the interlocking telescopic structure 1A is applied to the blind 400.
  • a plurality of sheet members 7 are sandwiched between two interlocking telescopic structures 1A.
  • the rigid members 21 , 22 , 31 , 32 of the interlocking elastic structure 1 ⁇ /b>A have a shape including the sheet member 7 .
  • the blind 400 may include an interlocking telescopic structure other than the interlocking telescopic structure 1A.
  • Each sheet member 7 is provided corresponding to one cloth unit 20 or one cloth unit 30 .
  • this blind 400 when a part (for example, the sheet member 7 provided on the first telescopic arm 2) is folded, the rest (for example, the sheet member 7 provided on the second telescopic arm 3) is opened. state (functioning as a cover). Of course, it is also possible to have the opposite condition (partially expanded and the rest collapsed).
  • this blind 400 is used as a vertical blind as a shade for a window, for example, outside light can be taken in from the upper part of the window while blocking outside light at the lower part of the window.
  • the interlocking telescopic structure 1D is applied to the partition 500.
  • four apexes of the rectangular main surface of one plate member 8 are attached to the connecting member 4D of the interlocking telescopic structure 1D.
  • the first member 41 and the second member 42 of the connecting member 4 ⁇ /b>D have a shape including the plate member 8 .
  • the partition 500 may comprise an interlocking telescoping structure other than the interlocking telescoping structure 1D. Both ends of the four interlocking telescoping structures 1D are connected by the second telescoping arms 3 and the poles 9. As shown in FIG.
  • the plate member 8 partitions the two spaces 8A and 8B.
  • the sizes of the two spaces 8A and 8B change as the first telescoping arm 2 and the second telescoping arm 3 of the interlocking telescoping structure 1D expand and contract. At this time, since the variable length of the first telescopic arm 2 and the variable length of the second telescopic arm 3 are different, it is possible to make the sizes of the two spaces 8A and 8B change differently.

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Blinds (AREA)
  • Tents Or Canopies (AREA)
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Abstract

An interlocking telescopic structure includes a telescopic arm 2 having a plurality of cross units 20 to which rigid members 21, 22 are rotatably connected, a telescopic arm 3 having a plurality of cross units 30 to which rigid members 31, 32 are rotatably connected, and a connecting member 4 connecting the telescopic arms 2, 3. The connecting member 4 is provided with a first member 41 having connecting parts 41a, 41b, 41c, and a second member 42 having connecting parts 42a, 42b. The connecting part 41c is rotatably connected to the connecting part 42a, the connecting part 41a to the rigid member 21, the connecting part 41b to the rigid member 31, and the connecting part 42b to the rigid members 22, 32. When the first member 41 and the second member 42 rotate, the rate of change in the distance between the connecting parts 41a, 42b is different from the rate of change in the distance between the connecting parts 41b, 42b.

Description

連動伸縮構造体及びプログラムInterlocking telescopic structure and program
　この発明は、２つの伸縮アームの一方の伸縮に連動して、当該２つの伸縮アームの他方が伸縮する連動伸縮構造体、及び当該連動伸縮構造体の伸縮動作をシミュレートするプログラムに関するものである。 The present invention relates to an interlocking telescopic structure in which the other telescopic arm expands and contracts in conjunction with the extension and contraction of one of the two telescopic arms, and a program for simulating the telescopic motion of the interlocking telescopic structure. .
　例えば、伸縮アームは、２つの剛性部材が互いに回動可能に連結された複数のクロスユニットが列状に連結されることによって伸縮自在に構成されている。このような伸縮アームは、様々な分野で使用されている。例えば、特許文献１には、前記のような伸縮アームが用いられた折り畳み式テントが開示されている。 For example, the telescopic arm is configured to be telescopic by connecting in a row a plurality of cross units in which two rigid members are rotatably connected to each other. Such telescopic arms are used in various fields. For example, Patent Literature 1 discloses a foldable tent using telescopic arms as described above.
特開２０２１－３８５６２号公報Japanese Patent Application Laid-Open No. 2021-38562
　特許文献１に開示された折り畳み式テントでは、折り畳み式テントに用いられている各伸縮アームは、折り畳み式テントの使用時に均等に伸長され、折り畳み式テントの不使用時に均等に収縮される。折り畳み式テントは、使用時に開き、不使用時に畳むものである。そのため、各伸縮アームが、均等に伸長し、均等に収縮するものであっても、折り畳み式テントは、必要十分に機能する。 In the folding tent disclosed in Patent Document 1, each telescopic arm used in the folding tent is evenly extended when the folding tent is in use, and is evenly retracted when the folding tent is not in use. A collapsible tent is one that opens when in use and collapses when not in use. Therefore, even if each telescoping arm extends and retracts evenly, the foldable tent will still function satisfactorily.
　しかしながら、伸縮アームをより複雑に伸縮させることによって、伸縮アームを様々なものに用いることが可能となる。そのため、伸縮アームの構造には、未だ改良の余地がある。 However, by expanding and contracting the telescopic arm more complicatedly, it becomes possible to use the telescopic arm for various things. Therefore, the telescopic arm structure still has room for improvement.
　従って、本発明の目的は、前記課題を解決することにあって、或る伸縮アームの伸縮に連動して、当該ある伸縮アームとは別の伸縮アームに当該或る伸縮アームとは異なる伸縮をさせることができる連動伸縮構造体を提供することにある。 SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to solve the above-mentioned problems, and in conjunction with the expansion and contraction of a certain telescopic arm, a telescopic arm other than the telescopic arm is telescopically extended and retracted differently from the telescopic arm. To provide an interlocking expansion and contraction structure capable of
　前記目的を達成するために、本発明は以下のように構成する。
　本発明の一態様に係る連動伸縮構造体は、
　２つの剛性部材が互いに回動可能に連結された複数のクロスユニットが列状に連結されることによって伸縮自在に構成された第１伸縮アームと、
　２つの剛性部材が互いに回動可能に連結された複数のクロスユニットが列状に連結されることによって伸縮自在に構成された第２伸縮アームと、
　前記第１伸縮アーム及び前記第２伸縮アームの間に介在して前記第１伸縮アーム及び前記第２伸縮アームを連結する連結部材と、を備え、
　前記連結部材は、
　第１部材と、
　前記第１部材と回動可能に連結された第２部材と、を備え、
　前記第１部材は、
　前記第１伸縮アームの端部に位置するクロスユニットの２つの剛性部材の一方と回動可能に連結される第１一方側連結部と、
　前記第２伸縮アームの端部に位置するクロスユニットの２つの剛性部材の一方と回動可能に連結される第１他方側連結部と、
　前記第２部材と回動可能に連結される第１中間連結部と、を備え、
　前記第２部材は、
　前記第１伸縮アームの端部に位置するクロスユニットの２つの剛性部材の他方と回動可能に連結される第２一方側連結部と、
　前記第２伸縮アームの端部に位置するクロスユニットの２つの剛性部材の他方と回動可能に連結される第２他方側連結部と、
　前記第１中間連結部と回動可能に連結される第２中間連結部と、を備え、
　前記第１部材及び前記第２部材の一方が他方に対して回動したときに、前記第２部材の回動軸の周りの周方向における前記第１一方側連結部と前記第２一方側連結部との間の距離の変動率及び変動長さの少なくとも一方は、前記周方向における前記第１他方側連結部と前記第２他方側連結部との間の距離の変動率及び変動長さの少なくとも一方と異なる。 In order to achieve the above object, the present invention is configured as follows.
An interlocking expansion/contraction structure according to one aspect of the present invention includes:
a first telescopic arm configured to be telescopic by connecting in a row a plurality of cross units in which two rigid members are rotatably connected to each other;
a second telescoping arm configured to be telescopic by connecting in a row a plurality of cross units in which two rigid members are rotatably connected to each other;
a connecting member interposed between the first telescoping arm and the second telescoping arm and connecting the first telescoping arm and the second telescoping arm;
The connecting member is
a first member;
a second member rotatably connected to the first member;
The first member is
a first one-side connecting portion rotatably connected to one of the two rigid members of the cross unit positioned at the end of the first extendable arm;
a first other side connecting portion rotatably connected to one of the two rigid members of the cross unit positioned at the end of the second extendable arm;
a first intermediate connecting portion rotatably connected to the second member;
The second member is
a second one-side connecting portion rotatably connected to the other of the two rigid members of the cross unit positioned at the end of the first extendable arm;
a second other side connecting portion rotatably connected to the other of the two rigid members of the cross unit positioned at the end of the second extendable arm;
a second intermediate connection portion rotatably connected to the first intermediate connection portion;
When one of the first member and the second member rotates with respect to the other, the first one-side coupling portion and the second one-side coupling in a circumferential direction around the rotation axis of the second member at least one of the rate of variation and the length of variation of the distance between the two portions is the rate of variation and the length of variation of the distance between the first other-side connecting portion and the second other-side connecting portion in the circumferential direction. Different from at least one.
　本発明によれば、第１伸縮アームの伸縮に連動して、当該第１伸縮アームとは別の第２伸縮アームに当該第１伸縮アームとは異なる伸縮をさせることができる。 According to the present invention, in conjunction with the expansion and contraction of the first telescopic arm, the second telescopic arm, which is separate from the first telescopic arm, can be telescopically different from the first telescopic arm.
本発明の第１実施形態に係る連動伸縮構造体の平面図。The top view of the interlocking expansion-contraction structure which concerns on 1st Embodiment of this invention. 本発明の第１実施形態に係る連動伸縮構造体の平面図。The top view of the interlocking expansion-contraction structure which concerns on 1st Embodiment of this invention. 本発明の第１実施形態の変形例に係る連動伸縮構造体の平面図。The top view of the interlocking expansion-contraction structure which concerns on the modification of 1st Embodiment of this invention. 本発明の第１実施形態の変形例に係る連動伸縮構造体の平面図。The top view of the interlocking expansion-contraction structure which concerns on the modification of 1st Embodiment of this invention. 本発明の第２実施形態に係る連動伸縮構造体の平面図。The top view of the interlocking expansion-contraction structure which concerns on 2nd Embodiment of this invention. 本発明の第２実施形態に係る連動伸縮構造体の平面図。The top view of the interlocking expansion-contraction structure which concerns on 2nd Embodiment of this invention. 本発明の第２実施形態の変形例に係る連動伸縮構造体の平面図。The top view of the interlocking expansion-contraction structure which concerns on the modification of 2nd Embodiment of this invention. 本発明の第３実施形態に係る連動伸縮構造体の平面図。The top view of the interlocking expansion-contraction structure which concerns on 3rd Embodiment of this invention. 本発明の第３実施形態に係る連動伸縮構造体の平面図。The top view of the interlocking expansion-contraction structure which concerns on 3rd Embodiment of this invention. 本発明の第４実施形態に係る連動伸縮構造体の平面図。The top view of the interlocking expansion-contraction structure which concerns on 4th Embodiment of this invention. 本発明の第４実施形態に係る連動伸縮構造体の平面図。The top view of the interlocking expansion-contraction structure which concerns on 4th Embodiment of this invention. 本発明の第５実施形態に係る連動伸縮構造体の平面図。The top view of the interlocking expansion-contraction structure which concerns on 5th Embodiment of this invention. 本発明の第５実施形態に係る連動伸縮構造体の平面図。The top view of the interlocking expansion-contraction structure which concerns on 5th Embodiment of this invention. 本発明の第６実施形態に係る連動伸縮構造体の平面図。The top view of the interlocking expansion-contraction structure which concerns on 6th Embodiment of this invention. 本発明の第６実施形態に係る連動伸縮構造体の正面図。The front view of the interlocking expansion-contraction structure which concerns on 6th Embodiment of this invention. 本発明の第６実施形態に係る連動伸縮構造体の平面図。The top view of the interlocking expansion-contraction structure which concerns on 6th Embodiment of this invention. 本発明の第７実施形態に係る連動伸縮構造体の平面図。The top view of the interlocking expansion-contraction structure which concerns on 7th Embodiment of this invention. 本発明の第７実施形態に係る連動伸縮構造体の正面図。The front view of the interlocking expansion-contraction structure which concerns on 7th Embodiment of this invention. 本発明の第７実施形態に係る連動伸縮構造体の平面図。The top view of the interlocking expansion-contraction structure which concerns on 7th Embodiment of this invention. 連動伸縮構造体の伸縮動作をシミュレートするためのハードウェア構成を例示するブロック図。The block diagram which illustrates the hardware configuration for simulating the expansion-contraction operation of an interlocking expansion-contraction structure. 連動伸縮構造体の伸縮動作のシミュレーションを説明するためのフローチャート。6 is a flow chart for explaining a simulation of the expansion/contraction motion of the interlocking expansion/contraction structure. 連動伸縮構造体の適用例を示す斜視図。The perspective view which shows the application example of an interlocking|linkage expansion-contraction structure. 連動伸縮構造体の適用例を示す斜視図。The perspective view which shows the application example of an interlocking|linkage expansion-contraction structure.
　本発明の一態様に係る連動伸縮構造体は、
　２つの剛性部材が互いに回動可能に連結された複数のクロスユニットが列状に連結されることによって伸縮自在に構成された第１伸縮アームと、
　２つの剛性部材が互いに回動可能に連結された複数のクロスユニットが列状に連結されることによって伸縮自在に構成された第２伸縮アームと、
　前記第１伸縮アーム及び前記第２伸縮アームの間に介在して前記第１伸縮アーム及び前記第２伸縮アームを連結する連結部材と、を備え、
　前記連結部材は、
　第１部材と、
　前記第１部材と回動可能に連結された第２部材と、を備え、
　前記第１部材は、
　前記第１伸縮アームの端部に位置するクロスユニットの２つの剛性部材の一方と回動可能に連結される第１一方側連結部と、
　前記第２伸縮アームの端部に位置するクロスユニットの２つの剛性部材の一方と回動可能に連結される第１他方側連結部と、
　前記第２部材と回動可能に連結される第１中間連結部と、を備え、
　前記第２部材は、
　前記第１伸縮アームの端部に位置する前記クロスユニットの前記２つの剛性部材の他方と回動可能に連結される第２一方側連結部と、
　前記第２伸縮アームの端部に位置する前記クロスユニットの前記２つの剛性部材の他方と回動可能に連結される第２他方側連結部と、
　前記第１中間連結部と回動可能に連結される第２中間連結部と、を備え、
　前記第１部材及び前記第２部材の一方が他方に対して回動したときに、前記第２部材の前記回動軸の周りの周方向における前記第１一方側連結部と前記第２一方側連結部との間の距離の変動率及び変動長さの少なくとも一方は、前記周方向における前記第１他方側連結部と前記第２他方側連結部との間の距離の変動率及び変動長さの少なくとも一方と異なる。 An interlocking expansion/contraction structure according to one aspect of the present invention includes:
a first telescopic arm configured to be telescopic by connecting in a row a plurality of cross units in which two rigid members are rotatably connected to each other;
a second telescoping arm configured to be telescopic by connecting in a row a plurality of cross units in which two rigid members are rotatably connected to each other;
a connecting member interposed between the first telescoping arm and the second telescoping arm and connecting the first telescoping arm and the second telescoping arm;
The connecting member is
a first member;
a second member rotatably connected to the first member;
The first member is
a first one-side connecting portion rotatably connected to one of the two rigid members of the cross unit positioned at the end of the first extendable arm;
a first other side connecting portion rotatably connected to one of the two rigid members of the cross unit positioned at the end of the second extendable arm;
a first intermediate connecting portion rotatably connected to the second member;
The second member is
a second one-side connecting portion rotatably connected to the other of the two rigid members of the cross unit positioned at the end of the first telescoping arm;
a second other side connecting portion rotatably connected to the other of the two rigid members of the cross unit positioned at the end of the second extendable arm;
a second intermediate connection portion rotatably connected to the first intermediate connection portion;
When one of the first member and the second member rotates with respect to the other, the first one-side connecting portion and the second one-side in the circumferential direction around the rotation axis of the second member At least one of the variation rate and variation length of the distance between the coupling portion is the variation rate and variation length of the distance between the first other-side coupling portion and the second other-side coupling portion in the circumferential direction. different from at least one of
　この構成によれば、第１部材及び第２部材が相対的に回動したときに、周方向における第１一方側連結部と第２一方側連結部との間の距離の変動率及び変動長さの少なくとも一方は、周方向における第１他方側連結部と第２他方側連結部との間の距離の変動率及び変動長さの少なくとも一方と異なる。そのため、第１伸縮アームの伸縮に連動して、第２伸縮アームに第１伸縮アームとは異なる伸縮をさせることができる。 According to this configuration, when the first member and the second member are relatively rotated, the variation rate and the variation length of the distance between the first one-side connecting portion and the second one-side connecting portion in the circumferential direction At least one of the length is different from at least one of the variation rate and variation length of the distance between the first other-side connecting portion and the second other-side connecting portion in the circumferential direction. Therefore, in conjunction with the expansion and contraction of the first telescopic arm, the second telescopic arm can be telescopically different from the first telescopic arm.
　前記連動伸縮構造体において、
　前記第２部材の前記回動軸に沿った軸線方向から見て、前記第１一方側連結部は、前記第１中間連結部と前記第１他方側連結部とを結ぶ仮想線分から外れた位置にあってもよく、
　前記第２一方側連結部及び前記第２他方側連結部は、１つの連結部として兼用され、前記第１伸縮アームの端部に位置する前記クロスユニットの前記２つの剛性部材の他方と、前記第２伸縮アームの端部に位置する前記クロスユニットの前記２つの剛性部材の他方との双方と回動可能に連結されていてもよい。 In the interlocking telescopic structure,
When viewed from the axial direction along the rotation shaft of the second member, the first one-side connecting portion is located outside a virtual line connecting the first intermediate connecting portion and the first other-side connecting portion. may be in
The second one-side connecting portion and the second other-side connecting portion are also used as one connecting portion, and the other of the two rigid members of the cross unit positioned at the end of the first telescoping arm and the The cross unit located at the end of the second extendable arm may be rotatably connected to the other of the two rigid members.
　この構成によれば、第２部材が周方向の一方に回動することによって、第１伸縮アームが伸長し且つ第２伸縮アームが収縮する。一方、第２部材が周方向の他方に回動することによって、第１伸縮アームが収縮し且つ第２伸縮アームが伸長する。つまり、第１伸縮アームの伸長・収縮の動きと第２伸縮アームの収縮・伸長の動きとを逆にできる。 According to this configuration, the rotation of the second member in one of the circumferential directions extends the first telescoping arm and contracts the second telescoping arm. On the other hand, by rotating the second member in the other circumferential direction, the first telescoping arm contracts and the second telescoping arm extends. That is, the extension/contraction motion of the first telescopic arm and the retraction/extension motion of the second telescopic arm can be reversed.
　前記連動伸縮構造体において、
　前記第２部材の前記回動軸に沿った軸線方向から見て、前記第１一方側連結部及び前記第１他方側連結部は、前記第１中間連結部を通る中間仮想線の一方側に位置し、前記第２一方側連結部及び前記第２他方側連結部は、前記中間仮想線の他方側に位置していてもよく、
　前記軸線方向から見て、前記第１一方側連結部は、前記第１他方側連結部と前記第１中間連結部と前記第２一方側連結部とを通る第１仮想線に対して前記第２他方側連結部の反対側に位置していてもよく、
　前記軸線方向から見て、前記第２一方側連結部は、前記第２他方側連結部と前記第２中間連結部と前記第１一方側連結部とを通る第２仮想線に対して前記第１他方側連結部の反対側に位置していてもよい。 In the interlocking telescopic structure,
When viewed from the axial direction along the rotation shaft of the second member, the first one-side connecting portion and the first other-side connecting portion are located on one side of an intermediate imaginary line passing through the first intermediate connecting portion. The second one-side connecting portion and the second other-side connecting portion may be positioned on the other side of the intermediate virtual line,
When viewed from the axial direction, the first one-side connecting portion is located at the first phantom line passing through the first other-side connecting portion, the first intermediate connecting portion, and the second one-side connecting portion. 2 may be located on the opposite side of the other side connecting part,
When viewed from the axial direction, the second one-side connecting portion is located at the second phantom line passing through the second other-side connecting portion, the second intermediate connecting portion, and the first one-side connecting portion. It may be located on the opposite side of the 1 other side connecting portion.
　この構成によれば、第１一方側連結部と第２一方側連結部とが近づくように、第１部材及び第２部材が相対的に回動すると、第１他方側連結部と第２他方側連結部とは互いに離れる。これにより、第１伸縮アームが伸長し且つ第２伸縮アームが収縮する。一方、第１一方側連結部と第２一方側連結部とが互いに離れるように、第１部材及び第２部材が回動すると、第１他方側連結部と第２他方側連結部とは互いに近づく。これにより、第１伸縮アームが収縮し且つ第２伸縮アームが伸長する。つまり、第１伸縮アームの伸長・収縮の動きと第２伸縮アームの収縮・伸長の動きとを逆にできる。 According to this configuration, when the first member and the second member rotate relatively so that the first one-side connecting portion and the second one-side connecting portion approach each other, the first other-side connecting portion and the second other side connecting portion The side connecting parts are separated from each other. This causes the first telescoping arm to extend and the second telescoping arm to contract. On the other hand, when the first member and the second member rotate so that the first one-side connecting portion and the second one-side connecting portion are separated from each other, the first other-side connecting portion and the second other-side connecting portion are separated from each other. Get closer. This causes the first telescoping arm to contract and the second telescoping arm to extend. That is, the extension/contraction motion of the first telescopic arm and the retraction/extension motion of the second telescopic arm can be reversed.
　前記連動伸縮構造体は、
　少なくとも１つの前記第１伸縮アームと、
　少なくとも１つの前記第２伸縮アームと、
　複数の前記連結部材と、を備えていてもよく、
　前記少なくとも１つの前記第１伸縮アームと前記少なくとも１つの前記第２伸縮アームとが前記連結部材を介して連結されることによって環状に構成されていてもよい。 The interlocking telescopic structure is
at least one first telescopic arm;
at least one second telescopic arm;
A plurality of the connecting members may be provided,
The at least one first telescoping arm and the at least one second telescoping arm may be connected via the connecting member to form a ring.
　この構成によれば、第１部材及び第２部材が回動することによって、環状に構成された連動伸縮構造体の姿勢を変えることができる。 According to this configuration, the rotation of the first member and the second member makes it possible to change the attitude of the annularly configured interlocking telescopic structure.
　前記連動伸縮構造体は、
　前記第２部材の前記回動軸に沿った軸線方向から見て、前記第１中間連結部を介して前記第１一方側連結部及び前記第１他方側連結部を結ぶ第１仮想線分と、前記第２中間連結部を介して前記第２一方側連結部及び前記第２他方側連結部を結ぶ第２仮想線分とは、交差していてもよく、
　前記軸線方向から見て、前記第１一方側連結部と前記第１中間連結部との距離は、前記第１他方側連結部と前記第１中間連結部との距離より長く、及び／または、前記第２一方側連結部と前記第２中間連結部との距離は、前記第２他方側連結部と前記第２中間連結部との距離より長くてもよい。 The interlocking telescopic structure is
a first imaginary line segment connecting the first one-side connecting portion and the first other-side connecting portion via the first intermediate connecting portion when viewed from the axial direction along the rotation shaft of the second member; , a second virtual line segment connecting the second one-side connecting portion and the second other-side connecting portion via the second intermediate connecting portion, may intersect,
When viewed from the axial direction, the distance between the first one-side connecting portion and the first intermediate connecting portion is longer than the distance between the first other-side connecting portion and the first intermediate connecting portion, and/or A distance between the second one-side connecting portion and the second intermediate connecting portion may be longer than a distance between the second other-side connecting portion and the second intermediate connecting portion.
　この構成によれば、第１伸縮アームの伸長に連動して第２伸縮アームは伸長し、第１伸縮アームの収縮に連動して第２伸縮アームは収縮する。ここで、この構成によれば、第１一方側連結部と第２一方側連結部との間の距離を、第１他方側連結部と第２他方側連結部との間の距離より大きくすることができる。これにより、第１伸縮アームの伸縮時の変動率及び変動長さの少なくとも一方を、第２伸縮アームの伸縮時の変動率及び変動長さの少なくとも一方より大きくすることができる。 According to this configuration, the second telescopic arm extends in conjunction with the extension of the first telescopic arm, and the second telescopic arm contracts in conjunction with the contraction of the first telescopic arm. Here, according to this configuration, the distance between the first one-side connecting portion and the second one-side connecting portion is made larger than the distance between the first other-side connecting portion and the second other-side connecting portion. be able to. This makes it possible to make at least one of the rate of change and the length of change when the first telescoping arm expands and contracts larger than at least one of the rate of change and the length of change when the second telescoping arm expands and contracts.
　前記連動伸縮構造体において、
　前記第２部材の前記回動軸に沿った軸線方向から見て、前記第１中間連結部を介して前記第１一方側連結部及び前記第１他方側連結部を結ぶ第１仮想線分と、前記第２中間連結部を介して前記第２一方側連結部及び前記第２他方側連結部を結ぶ第２仮想線分とは、交差していてもよく、
　前記軸線方向から見て、前記第１仮想線分と前記第２仮想線分との少なくとも一方は、Ｖ字状であってもよい。 In the interlocking telescopic structure,
a first imaginary line segment connecting the first one-side connecting portion and the first other-side connecting portion via the first intermediate connecting portion when viewed from the axial direction along the rotation shaft of the second member; , a second virtual line segment connecting the second one-side connecting portion and the second other-side connecting portion via the second intermediate connecting portion, may intersect,
At least one of the first virtual line segment and the second virtual line segment may be V-shaped when viewed from the axial direction.
　前記連動伸縮構造体において、
　前記軸線方向から見て、前記第１仮想線分と前記第２仮想線分との各々はＶ字状であり、前記第１仮想線分のＶ字と前記第２仮想線分のＶ字とは互いに反対を向いていてもよい。 In the interlocking telescopic structure,
When viewed from the axial direction, each of the first virtual line segment and the second virtual line segment is V-shaped, and the V-shape of the first virtual line and the V-shape of the second virtual line may face opposite each other.
　これらの構成によれば、第１伸縮アームの伸長に連動して第２伸縮アームは伸長し、第１伸縮アームの収縮に連動して第２伸縮アームは収縮する。ここで、この構成によれば、第１一方側連結部及び第２一方側連結部の間の距離と、第１他方側連結部及び第２他方側連結部の間の距離とを、異なる距離とすることができる。これにより、第１伸縮アームの伸縮時の変動率及び変動長さの少なくとも一方と、第２伸縮アームの伸縮時の変動率及び変動長さの少なくとも一方とを、互いに相違させることができる。 According to these configurations, the second telescoping arm extends in conjunction with the extension of the first telescoping arm, and the second telescoping arm contracts in conjunction with the contraction of the first telescoping arm. Here, according to this configuration, the distance between the first one-side connecting portion and the second one-side connecting portion and the distance between the first other-side connecting portion and the second other-side connecting portion are different distances. can be Thereby, at least one of the rate of change and the length of change when the first telescoping arm is expanded and contracted can be made different from at least one of the rate of change and the length of change when the second telescoping arm is expanded and contracted.
　前記連動伸縮構造体において、
　前記第１部材は、
　前記第１一方側連結部を有する第１一方側部材と、
　前記第１他方側連結部を有する第１他方側部材と、を備えていてもよく、
　前記第１中間連結部は、
　前記第１一方側部材に固定された第１一方側ギヤと、
　前記第１他方側部材に固定された第１他方側ギヤと、
　奇数個の第１中間ギヤと、を備えていてもよく、
　前記第２部材は、
　前記第２一方側連結部を有する第２一方側部材と、
　前記第２他方側連結部を有する第２他方側部材と、を備えていてもよく、
　前記第２中間連結部は、
　前記第２一方側部材に固定された第２一方側ギヤと、
　前記第２他方側部材に固定された第２他方側ギヤと、
　奇数個の第２中間ギヤと、を備えていてもよく、
　前記第１一方側ギヤ及び前記第１他方側ギヤは、奇数個の前記第１中間ギヤを介して互いに噛合されていてもよく、
　前記第２一方側ギヤ及び前記第２他方側ギヤは、奇数個の前記第２中間ギヤを介して互いに噛合されていてもよく、
　前記第１一方側ギヤ及び前記第２一方側ギヤは、直接に、または偶数個のギヤを介して、互いに噛合されていてもよく、
　前記第１他方側ギヤ及び前記第２他方側ギヤは、直接に、または偶数個のギヤを介して、互いに噛合されていてもよい。 In the interlocking telescopic structure,
The first member is
a first one-side member having the first one-side connecting portion;
and a first other-side member having the first other-side connecting portion,
The first intermediate connecting portion is
a first one-side gear fixed to the first one-side member;
a first other-side gear fixed to the first other-side member;
an odd number of first intermediate gears, and
The second member is
a second one-side member having the second one-side connecting portion;
a second other-side member having the second other-side connecting portion,
The second intermediate connecting part is
a second one-side gear fixed to the second one-side member;
a second other side gear fixed to the second other side member;
an odd number of second intermediate gears; and
The first one-side gear and the first other-side gear may be meshed with each other via an odd number of the first intermediate gears,
The second one-side gear and the second other-side gear may be meshed with each other via an odd number of the second intermediate gears,
The first one-side gear and the second one-side gear may be meshed with each other directly or through an even number of gears,
The first other gear and the second other gear may be meshed with each other directly or through an even number of gears.
　この構成によれば、各ギヤが或る回転方向に回転したとき、第１一方側連結部及び第２一方側連結部は互いに近づき、第１他方側連結部及び第２他方側連結部は互いに離れる。また、各ギヤが当該或る回転方向と逆方向に回転したとき、第１一方側連結部及び第２一方側連結部は互いに離れ、第１他方側連結部及び第２他方側連結部は互いに近づく。これにより、第１伸縮アームの伸長・収縮の動きと第２伸縮アームの収縮・伸長の動きとを逆にすることができる。 According to this configuration, when each gear rotates in a certain rotational direction, the first one-side connecting portion and the second one-side connecting portion approach each other, and the first other-side connecting portion and the second other side connecting portion Leave. Further, when each gear rotates in a direction opposite to the certain rotation direction, the first one-side connecting portion and the second one-side connecting portion are separated from each other, and the first other-side connecting portion and the second other-side connecting portion are separated from each other. Get closer. Thereby, the extension/contraction motion of the first telescopic arm and the retraction/extension motion of the second telescopic arm can be reversed.
　また、この構成によれば、第１中間ギヤ及び第２中間ギヤを取り除くまたは偶数個とすることによって、第１伸縮アームの伸長・収縮の動きと第２伸縮アームの伸長・収縮の動きとが同じ種類になるように、連動伸縮構造体の構成が変わる。つまり、この構成によれば、連動伸縮構造体の構成を容易に変えることができる。 Further, according to this configuration, by removing the first intermediate gear and the second intermediate gear or providing an even number of them, the extension/contraction movement of the first telescopic arm and the extension/contraction movement of the second telescopic arm are synchronized. The configuration of the interlocking telescoping structure changes so that they are of the same type. That is, according to this configuration, the configuration of the interlocking expansion/contraction structure can be easily changed.
　前記連動伸縮構造体において、
　前記第１部材は、
　前記第１一方側連結部を有する第１一方側部材と、
　前記第１他方側連結部を有する第１他方側部材と、を備えていてもよく、
　前記第１中間連結部は、
　前記第１一方側部材に固定された第１一方側ギヤと、
　前記第１他方側部材に固定された第１他方側ギヤと、を備えていてもよく、
　前記第２部材は、
　前記第２一方側連結部を有する第２一方側部材と、
　前記第２他方側連結部を有する第２他方側部材と、を備えていてもよく、
　前記第２中間連結部は、
　前記第２一方側部材に固定された第２一方側ギヤと、
　前記第２他方側部材に固定された第２他方側ギヤと、を備えていてもよく、
　前記第１一方側ギヤ及び前記第２一方側ギヤは、直接に、または偶数個のギヤを介して、互いに噛合されていてもよく、
　前記第１一方側ギヤ及び前記第２他方側ギヤは、直接に、または偶数個のギヤを介して、互いに噛合されていてもよく、
　前記第１他方側ギヤ及び前記第２一方側ギヤは、直接に、または偶数個のギヤを介して、互いに噛合されていてもよく、
　前記第１他方側ギヤ及び前記第２他方側ギヤは、直接に、または偶数個のギヤを介して、互いに噛合されていてもよい。 In the interlocking telescopic structure,
The first member is
a first one-side member having the first one-side connecting portion;
and a first other-side member having the first other-side connecting portion,
The first intermediate connecting portion is
a first one-side gear fixed to the first one-side member;
and a first other side gear fixed to the first other side member,
The second member is
a second one-side member having the second one-side connecting portion;
a second other-side member having the second other-side connecting portion,
The second intermediate connecting part is
a second one-side gear fixed to the second one-side member;
and a second other side gear fixed to the second other side member,
The first one-side gear and the second one-side gear may be meshed with each other directly or through an even number of gears,
The first one-side gear and the second other-side gear may be meshed with each other directly or via an even number of gears,
The first other side gear and the second one side gear may be meshed with each other directly or via an even number of gears,
The first other gear and the second other gear may be meshed with each other directly or through an even number of gears.
　この構成によれば、各ギヤがある回転方向に回転したとき、第１一方側連結部及び第２一方側連結部は互いに近づき、第１他方側連結部及び第２他方側連結部も互いに近づく。また、各ギヤが当該ある回転方向と逆方向に回転したとき、第１一方側連結部及び第２一方側連結部は互いに離れ、第１他方側連結部及び第２他方側連結部も互いに離れる。これにより、第１伸縮アームの伸長・収縮の動きと第２伸縮アームの伸長・収縮の動きとを同じ種類にすることができる。 According to this configuration, when each gear rotates in a certain rotational direction, the first one-side connecting portion and the second one-side connecting portion approach each other, and the first other-side connecting portion and the second other side connecting portion also approach each other. . Further, when each gear rotates in a direction opposite to the rotation direction, the first one-side connecting portion and the second one-side connecting portion separate from each other, and the first other-side connecting portion and the second other-side connecting portion also separate from each other. . Thereby, the extension/contraction movement of the first telescopic arm and the extension/contraction movement of the second telescopic arm can be of the same type.
　また、この構成によれば、第１一方側ギヤ及び第１他方側ギヤの間と、第２一方側ギヤ及び第２他方側ギヤの間とに奇数個の中間ギヤを新たに介在させることによって、第１伸縮アームの伸長・収縮の動きと第２伸縮アームの収縮・伸長の動きとが逆になるように、連動伸縮構造体の構成が変わる。つまり、この構成によれば、連動伸縮構造体の構成を容易に変えることができる。 Further, according to this configuration, by newly interposing an odd number of intermediate gears between the first one-side gear and the first other-side gear and between the second one-side gear and the second other-side gear, , the configuration of the interlocking telescopic structure is changed so that the extension/contraction motion of the first telescopic arm and the telescopic motion of the second telescopic arm are reversed. That is, according to this configuration, the configuration of the interlocking expansion/contraction structure can be easily changed.
　前記連動伸縮構造体の伸縮動作をシミュレートする本発明の一態様に係るプログラムは、
　前記第１伸縮アームの構造に関する第１情報と、前記第２伸縮アームの構造に関する第２情報と、前記連結部材の構造に関する第３情報と、を取得し、
　前記第１情報、前記第２情報、及び前記第３情報のうちの一部の情報の変化に応じて、変化した情報以外の前記第１情報、前記第２情報、及び前記第３情報の変化を算出する処理をコンピュータに実行させる。 A program according to an aspect of the present invention for simulating the expansion/contraction motion of the interlocking expansion/contraction structure comprises:
Acquiring first information about the structure of the first telescopic arm, second information about the structure of the second telescopic arm, and third information about the structure of the connecting member;
change of the first information, the second information, and the third information other than the changed information in accordance with a change of a part of the first information, the second information, and the third information; A computer is caused to execute a process of calculating .
　このプログラムによれば、連動伸縮構造体を疑似的に動作させることができる。よって、連動伸縮構造体の動作を十分に検証して、連動伸縮構造体を製造することができる。 According to this program, the interlocking telescopic structure can be simulated. Therefore, it is possible to sufficiently verify the operation of the interlocking expansion/contraction structure and manufacture the interlocking expansion/contraction structure.
　＜第１実施形態＞
　図１は、本発明の第１実施形態に係る連動伸縮構造体の平面図である。図２は、本発明の第１実施形態に係る連動伸縮構造体の平面図である。 <First embodiment>
FIG. 1 is a plan view of an interlocking telescopic structure according to a first embodiment of the present invention. FIG. 2 is a plan view of the interlocking telescopic structure according to the first embodiment of the present invention.
　図１及び図２に示すように、連動伸縮構造体１は、第１伸縮アーム２と、第２伸縮アーム３と、連結部材４とを備える。 As shown in FIGS. 1 and 2, the interlocking telescopic structure 1 includes a first telescopic arm 2, a second telescopic arm 3, and a connecting member 4.
　第１伸縮アーム２は、８つのクロスユニット２０を備える。第１伸縮アーム２が備えるクロスユニット２０の数は、８つに限らない。第１伸縮アーム２は、２～７つのクロスユニット２０で構成されていてもよいし、９つ以上のクロスユニット２０で構成されていてもよい。つまり、第１伸縮アーム２は複数のクロスユニット２０を備えていればよい。 The first telescopic arm 2 includes eight cross units 20. The number of cross units 20 included in the first telescoping arm 2 is not limited to eight. The first extendable arm 2 may be composed of 2 to 7 cross units 20, or may be composed of 9 or more cross units 20. FIG. In other words, the first telescoping arm 2 only needs to have a plurality of cross units 20 .
　複数のクロスユニット２０は、互いに列状に連結されている。第１実施形態では、クロスユニット２０Ａが、列状に連結された８つのクロスユニット２０の一端部に位置し、クロスユニット２０Ｂが、列状に連結された８つのクロスユニット２０の他端部に位置している。クロスユニット２０Ａ，２０Ｂの間に、６つのクロスユニット２０が列状に連結されている。 A plurality of cross units 20 are connected to each other in a row. In the first embodiment, the cross unit 20A is located at one end of the eight cross units 20 connected in a row, and the cross unit 20B is located at the other end of the eight cross units 20 connected in a row. positioned. Six cross units 20 are connected in a row between the cross units 20A and 20B.
　各クロスユニット２０は、２つの剛性部材２１，２２を備える。第１実施形態において、剛性部材２１，２２は、断面が長方形の棒状の部材、言い換えると棒状の四角柱である。剛性部材２１，２２は、互いに同形状である。 Each cross unit 20 includes two rigid members 21 and 22. In the first embodiment, the rigid members 21 and 22 are rod-shaped members having rectangular cross sections, in other words, rod-shaped quadrangular prisms. The rigid members 21 and 22 have the same shape.
　なお、剛性部材２１，２２の形状は、棒状の四角柱に限らない。例えば、剛性部材２１，２２は、中空であってもよい。また、例えば、剛性部材２１，２２の断面は、長方形以外の形状、例えば円形であってもよい。また、剛性部材２１，２２は、棒状でなくてもよい。例えば、剛性部材２１，２２は、板状であってもよいし、直方体や球体等の立体的形状であってもよい。また、剛性部材２１，２２は、互いに異なる形状であってもよい。 The shape of the rigid members 21 and 22 is not limited to a rod-like quadrangular prism. For example, rigid members 21, 22 may be hollow. Further, for example, the cross sections of the rigid members 21 and 22 may be shapes other than rectangles, such as circles. Moreover, the rigid members 21 and 22 may not be bar-shaped. For example, the rigid members 21 and 22 may be plate-shaped, or may have a three-dimensional shape such as a cuboid or a sphere. Also, the rigid members 21 and 22 may have different shapes.
　剛性部材２１，２２は、樹脂で構成されている。なお、剛性部材２１，２２は、樹脂に限らない。例えば、剛性部材２１，２２は、ガラス、磁器、木材、金属等で構成されていてもよい。 The rigid members 21 and 22 are made of resin. Note that the rigid members 21 and 22 are not limited to resin. For example, rigid members 21 and 22 may be made of glass, porcelain, wood, metal, or the like.
　剛性部材２１は、３つの連結部２１ａ，２１ｂ，２１ｃを備える。剛性部材２２は、３つの連結部２２ａ，２２ｂ，２２ｃを備える。第１実施形態では、各連結部２１ａ，２１ｂ，２１ｃ，２２ａ，２２ｂ，２２ｃは、貫通孔である。２つ以上の貫通孔にピン等が貫通されることによって、各連結部２１ａ，２１ｂ，２１ｃ，２２ａ，２２ｂ，２２ｃは、互いに回動可能に連結される。なお、各連結部２１ａ，２１ｂ，２１ｃ，２２ａ，２２ｂ，２２ｃの連結手段は、前述したような貫通孔及びピンによるものに限らず、公知の種々の手段が採用可能である。 The rigid member 21 has three connecting portions 21a, 21b, and 21c. The rigid member 22 has three connecting portions 22a, 22b, 22c. In 1st Embodiment, each connection part 21a, 21b, 21c, 22a, 22b, 22c is a through-hole. By inserting a pin or the like into two or more through holes, the connecting portions 21a, 21b, 21c, 22a, 22b, and 22c are rotatably connected to each other. The connecting means of the connecting portions 21a, 21b, 21c, 22a, 22b, and 22c is not limited to the above-described through holes and pins, and various known means can be employed.
　連結部２１ａ，２１ｂは剛性部材２１の両端部に設けられており、連結部２２ａ，２２ｂは剛性部材２２の両端部に設けられている。連結部２１ｃは剛性部材２１の中央部に設けられており、連結部２２ｃは剛性部材２２の中央部に設けられている。なお、各連結部２１ａ，２１ｂ，２１ｃ，２２ａ，２２ｂ，２２ｃの位置は、前記の位置に限らない。例えば、連結部２１ａが剛性部材２１の端部より中央部寄りに設けられていてもよい。 The connecting portions 21 a and 21 b are provided at both ends of the rigid member 21 , and the connecting portions 22 a and 22 b are provided at both ends of the rigid member 22 . The connecting portion 21 c is provided in the central portion of the rigid member 21 , and the connecting portion 22 c is provided in the central portion of the rigid member 22 . The positions of the connecting portions 21a, 21b, 21c, 22a, 22b, and 22c are not limited to the positions described above. For example, the connecting portion 21a may be provided closer to the central portion than the end portion of the rigid member 21 .
　連結部２１ｃ，２２ｃは、互いに連結されている。これにより、剛性部材２１，２２は、連結部２１ｃ、２２ｃにおいて互いに回動可能に連結されている。連結部２１ａ，２１ｂ，２２ａ，２２ｂは、他のクロスユニット２０の連結部２１ａ，２１ｂ，２２ａ，２２ｂ、または、後述する連結部材４の連結部４１ａ，４２ｂに連結されている。 The connecting portions 21c and 22c are connected to each other. Thereby, the rigid members 21 and 22 are rotatably connected to each other at the connecting portions 21c and 22c. The connecting portions 21a, 21b, 22a, 22b are connected to the connecting portions 21a, 21b, 22a, 22b of the other cross unit 20 or the connecting portions 41a, 42b of the connecting member 4 described later.
　第１実施形態では、クロスユニット２０Ａの連結部２１ａ，２２ａは、連結部材４の連結部４１ａ，４２ｂに連結されており、クロスユニット２０Ａの連結部２１ｂ，２２ｂは、隣り合うクロスユニット２０の連結部２１ａ，２２ａに連結されている。クロスユニット２０Ａを除く他のクロスユニット２０では、連結部２１ａ，２２ａは、隣り合う２つのクロスユニット２０の一方の連結部２１ｂ，２２ｂと連結されており、連結部２１ｂ，２２ｂは、隣り合う２つのクロスユニット２０の他方の連結部２１ａ，２２ａと連結されている。なお、クロスユニット２０Ｂの連結部２１ｂ，２２ｂは、他のクロスユニット２０と連結されていない。 In the first embodiment, the connecting portions 21a and 22a of the cross unit 20A are connected to the connecting portions 41a and 42b of the connecting member 4, and the connecting portions 21b and 22b of the cross unit 20A connect the adjacent cross units 20 together. It is connected to the parts 21a and 22a. In the cross units 20 other than the cross unit 20A, the connecting portions 21a and 22a are connected to the connecting portions 21b and 22b of one of the two adjacent cross units 20, and the connecting portions 21b and 22b are connected to the two adjacent cross units. are connected to the other connecting portions 21a and 22a of the two cross units 20, respectively. The connecting portions 21b and 22b of the cloth unit 20B are not connected to the other cloth unit 20. As shown in FIG.
　以上のように構成された第１伸縮アーム２は、伸縮自在に構成されている。図１には、第１伸縮アーム２が収縮した状態が示されている。図２には、第１伸縮アーム２が伸長した状態が示されている。 The first telescoping arm 2 configured as described above is telescopically configured. FIG. 1 shows a state in which the first telescoping arm 2 is contracted. FIG. 2 shows a state in which the first telescoping arm 2 is extended.
　第２伸縮アーム３は、８つのクロスユニット３０を備える。第１伸縮アーム２と同様に、第２伸縮アーム３が備えるクロスユニット２０の数は、８つに限らない。 The second telescopic arm 3 includes eight cross units 30. As with the first telescopic arm 2, the number of cross units 20 included in the second telescopic arm 3 is not limited to eight.
　複数のクロスユニット３０は、互いに列状に連結されている。第１実施形態では、クロスユニット３０Ａが、列状に連結された８つのクロスユニット３０の一端部に位置し、クロスユニット３０Ｂが、列状に連結された８つのクロスユニット３０の他端部に位置している。クロスユニット３０Ａ，３０Ｂの間に、６つのクロスユニット３０が列状に連結されている。 A plurality of cross units 30 are connected to each other in a row. In the first embodiment, the cross unit 30A is positioned at one end of the eight cross units 30 connected in a row, and the cross unit 30B is positioned at the other end of the eight cross units 30 connected in a row. positioned. Six cross units 30 are connected in a row between the cross units 30A and 30B.
　各クロスユニット３０は、２つの剛性部材３１，３２を備える。第１実施形態において、剛性部材３１，３２は、断面が長方形の棒状の部材、言い換えると棒状の四角柱である。剛性部材３１，３２は、互いに同形状である。なお、剛性部材２１，２２と同様に、剛性部材３１，３２の形状は、棒状の四角柱に限らず、棒状でなくてもよく、互いに異なる形状であってもよい。 Each cross unit 30 includes two rigid members 31 and 32. In the first embodiment, the rigid members 31 and 32 are rod-shaped members having rectangular cross sections, in other words, rod-shaped quadrangular prisms. The rigid members 31 and 32 have the same shape. As with the rigid members 21 and 22, the shape of the rigid members 31 and 32 is not limited to a rod-like quadrangular prism, and may be different from each other.
　第１実施形態において、剛性部材３１，３２は、剛性部材２１，２２と同形状且つ同じ大きさであるが、剛性部材２１，２２と異なる形状であってもよく、異なる大きさであってもよい。 In the first embodiment, the rigid members 31 and 32 have the same shape and size as the rigid members 21 and 22, but may have a different shape and different size from the rigid members 21 and 22. good.
　剛性部材３１，３２は、樹脂で構成されている。なお、剛性部材２１，２２と同様に、剛性部材３１，３２は、樹脂に限らない。 The rigid members 31 and 32 are made of resin. As with the rigid members 21 and 22, the rigid members 31 and 32 are not limited to resin.
　剛性部材３１は、３つの連結部３１ａ，３１ｂ，３１ｃを備える。剛性部材３２は、３つの連結部３２ａ，３２ｂ，３２ｃを備える。第１実施形態では、各連結部３１ａ，３１ｂ，３１ｃ，３２ａ，３２ｂ，３２ｃの他の連結部との連結手段は、各連結部２１ａ，２１ｂ，２１ｃ，２２ａ，２２ｂ，２２ｃと同様に貫通孔及びピンによるものである。なお、連結部３１ａ，３１ｂ，３１ｃ，３２ａ，３２ｂ，３２ｃの連結手段は、貫通孔及びピンによるものに限らず、公知の種々の手段が採用可能である。 The rigid member 31 has three connecting portions 31a, 31b, and 31c. The rigid member 32 has three connecting portions 32a, 32b, 32c. In the first embodiment, the connecting means for connecting the connecting portions 31a, 31b, 31c, 32a, 32b, and 32c to other connecting portions is through holes as in the connecting portions 21a, 21b, 21c, 22a, 22b, and 22c. and pins. The connecting means of the connecting portions 31a, 31b, 31c, 32a, 32b, and 32c is not limited to through holes and pins, and various known means can be employed.
　連結部３１ａ，３１ｂは剛性部材３１の両端部に設けられており、連結部３２ａ，３２ｂは剛性部材３２の両端部に設けられている。連結部３１ｃは剛性部材３１の中央部に設けられており、連結部３２ｃは剛性部材３２の中央部に設けられている。なお、各連結部３１ａ，３１ｂ，３１ｃ，３２ａ，３２ｂ，３２ｃの位置は、前記の位置に限らない。 The connecting portions 31 a and 31 b are provided at both ends of the rigid member 31 , and the connecting portions 32 a and 32 b are provided at both ends of the rigid member 32 . The connecting portion 31 c is provided in the central portion of the rigid member 31 , and the connecting portion 32 c is provided in the central portion of the rigid member 32 . The positions of the connecting portions 31a, 31b, 31c, 32a, 32b, and 32c are not limited to the positions described above.
　連結部３１ｃ，３２ｃは、互いに連結されている。これにより、剛性部材３１，３２は、連結部３１ｃ、３２ｃにおいて互いに回動可能に連結されている。連結部３１ａ，３１ｂ，３２ａ，３２ｂは、他のクロスユニット３０の連結部３１ａ，３１ｂ，３２ａ，３２ｂ、または、後述する連結部材４の連結部４１ｂ，４２ｂに連結されている。 The connecting portions 31c and 32c are connected to each other. Thereby, the rigid members 31 and 32 are rotatably connected to each other at the connecting portions 31c and 32c. The connecting portions 31a, 31b, 32a, 32b are connected to the connecting portions 31a, 31b, 32a, 32b of the other cross unit 30 or the connecting portions 41b, 42b of the connecting member 4 described later.
　第１実施形態では、クロスユニット３０Ａの連結部３１ａ，３２ａは、連結部材４の連結部４１ｂ，４２ｂに連結されており、クロスユニット３０Ａの連結部３１ｂ，３２ｂは、隣り合うクロスユニット２０の連結部３１ａ，３２ａに連結されている。クロスユニット３０Ａを除く他のクロスユニット３０では、連結部３１ａ，３２ａは、隣り合う２つのクロスユニット３０の一方の連結部３１ｂ，３２ｂと連結されており、連結部３１ｂ，３２ｂは、隣り合う２つのクロスユニット３０の他方の連結部３１ａ，３２ａと連結されている。なお、クロスユニット３０Ｂの連結部３１ｂ，３２ｂは、他のクロスユニット３０と連結されていない。 In the first embodiment, the connecting portions 31a and 32a of the cross unit 30A are connected to the connecting portions 41b and 42b of the connecting member 4, and the connecting portions 31b and 32b of the cross unit 30A connect the adjacent cross units 20 together. It is connected to the parts 31a and 32a. In the cross units 30 other than the cross unit 30A, the connecting portions 31a and 32a are connected to the connecting portions 31b and 32b of one of the two adjacent cross units 30, and the connecting portions 31b and 32b are connected to the two adjacent cross units. The cross unit 30 is connected to the other connecting portions 31a and 32a. The connecting portions 31b and 32b of the cross unit 30B are not connected to the other cross unit 30. As shown in FIG.
　以上のように構成された第２伸縮アーム３は、伸縮自在に構成されている。図１には、第２伸縮アーム３が伸長した状態が示されている。図２には、第２伸縮アーム３が収縮した状態が示されている。 The second telescoping arm 3 configured as described above is telescopically configured. FIG. 1 shows a state in which the second telescoping arm 3 is extended. FIG. 2 shows a state in which the second telescoping arm 3 is contracted.
　連結部材４は、第１伸縮アーム２および第２伸縮アーム３の間に介在して、第１伸縮アーム２および第２伸縮アーム３を連結している。連結部材４は、第１伸縮アーム２のクロスユニット２０Ａ及び第２伸縮アーム３のクロスユニット３０Ａと連結している。 The connecting member 4 is interposed between the first telescopic arm 2 and the second telescopic arm 3 to connect the first telescopic arm 2 and the second telescopic arm 3 . The connecting member 4 connects the cross unit 20A of the first telescopic arm 2 and the cross unit 30A of the second telescopic arm 3 .
　連結部材４は、第１部材４１および第２部材４２を備える。第１部材４１は、例えば剛性部材である。第２部材４２は、例えば剛性部材である。 The connecting member 4 has a first member 41 and a second member 42 . The first member 41 is, for example, a rigid member. The second member 42 is, for example, a rigid member.
　第１実施形態において、第１部材４１および第２部材４２は、断面が長方形の棒状の部材、言い換えると棒状の四角柱である。第１部材４１は、屈曲している。第２部材４２は、屈曲しておらず真っすぐ延びている。 In the first embodiment, the first member 41 and the second member 42 are rod-shaped members with rectangular cross sections, in other words, rod-shaped quadrangular prisms. The first member 41 is bent. The second member 42 extends straight without bending.
　なお、第１部材４１および第２部材４２の形状は、図１及び図２に示すような形状に限らない。例えば、第１部材４１および第２部材４２は、中空であってもよい。また、例えば、第１部材４１および第２部材４２の断面は、長方形以外の形状、例えば円形であってもよい。また、例えば、第１部材４１は屈曲していなくてもよいし、第２部材４２は屈曲していてもよい。また、剛性部材２１，２２は、棒状でなくてもよい。例えば、第１部材４１および第２部材４２は、板状であってもよいし、直方体や球体等の立体的形状であってもよい。また、第１部材４１および第２部材４２は、互いに同じ形状であってもよい。 The shapes of the first member 41 and the second member 42 are not limited to those shown in FIGS. 1 and 2. For example, the first member 41 and the second member 42 may be hollow. Also, for example, the cross-sections of the first member 41 and the second member 42 may have a shape other than a rectangle, such as a circle. Also, for example, the first member 41 may not be bent, and the second member 42 may be bent. Moreover, the rigid members 21 and 22 may not be bar-shaped. For example, the first member 41 and the second member 42 may be plate-shaped, or may be three-dimensional shapes such as rectangular parallelepipeds and spheres. Also, the first member 41 and the second member 42 may have the same shape.
　第１部材４１および第２部材４２は、樹脂で構成されている。なお、第１部材４１および第２部材４２は、樹脂に限らない。例えば、第１部材４１および第２部材４２は、ガラス、磁器、木材、金属等で構成されていてもよい。 The first member 41 and the second member 42 are made of resin. Note that the first member 41 and the second member 42 are not limited to resin. For example, the first member 41 and the second member 42 may be made of glass, porcelain, wood, metal, or the like.
　第１部材４１は、３つの連結部４１ａ，４１ｂ，４１ｃを備える。第２部材４２は、２つの連結部４２ａ，４２ｂを備える。第１実施形態では、各連結部４１ａ，４１ｂ，４１ｃ，４２ａ，４２ｂの他の連結部との連結手段は、各連結部２１ａ，２１ｂ，２１ｃ，２２ａ，２２ｂ，２２ｃと同様に貫通孔及びピンによるものである。なお、連結部４１ａ，４１ｂ，４１ｃ，４２ａ，４２ｂの連結手段は、貫通孔及びピンによるものに限らず、公知の種々の手段が採用可能である。 The first member 41 has three connecting portions 41a, 41b, and 41c. The second member 42 has two connecting portions 42a and 42b. In the first embodiment, means for connecting the connecting portions 41a, 41b, 41c, 42a, and 42b to other connecting portions are through holes and pins, like the connecting portions 21a, 21b, 21c, 22a, 22b, and 22c. It is due to The connecting means of the connecting portions 41a, 41b, 41c, 42a, and 42b is not limited to through-holes and pins, and various known means can be employed.
　連結部４１ａ，４１ｂは第１部材４１の両端部に設けられており、連結部４２ａ，４２ｂは第２部材４２の両端部に設けられている。第１中間連結部４１ｃは、第１部材４１の中央部に設けられている。具体的には、第１中間連結部４１ｃは、第１部材４１の屈曲部に設けられている。なお、各連結部４１ａ，４１ｂ，４１ｃ，４２ａ，４２ｂの位置は、前記の位置に限らない。例えば、第１中間連結部４１ｃは、第１部材４１の屈曲部以外に設けられていてもよい。また、例えば、第２他方側連結部４２ｂは、第２部材４２の端部より中央部寄りに設けられていてもよい。 The connecting parts 41 a and 41 b are provided at both ends of the first member 41 , and the connecting parts 42 a and 42 b are provided at both ends of the second member 42 . The first intermediate connecting portion 41 c is provided in the central portion of the first member 41 . Specifically, the first intermediate connecting portion 41 c is provided at the bent portion of the first member 41 . The positions of the connecting portions 41a, 41b, 41c, 42a, and 42b are not limited to the positions described above. For example, the first intermediate connecting portion 41 c may be provided at a portion other than the bent portion of the first member 41 . Further, for example, the second other side connecting portion 42b may be provided closer to the central portion than the end portion of the second member 42 .
　連結部４１ｃ，４２ａは、互いに連結されている。これにより、第１部材４１および第２部材４２は、連結部４１ｃ、４２ａにおいて互いに回動可能に連結されている。つまり、連結部４１ｃは第２部材４２と回動可能に連結され、連結部４２ａは第１部材４１と回動可能に連結される。第１中間連結部４１ｃは、連結部の一例である。第２一方側連結部４２ａは、連結部の一例である。 The connecting portions 41c and 42a are connected to each other. Thereby, the first member 41 and the second member 42 are rotatably connected to each other at the connecting portions 41c and 42a. That is, the connecting portion 41c is rotatably connected to the second member 42, and the connecting portion 42a is rotatably connected to the first member 41. As shown in FIG. The first intermediate connecting portion 41c is an example of a connecting portion. The second one-side connecting portion 42a is an example of a connecting portion.
　第１一方側連結部４１ａは、第１伸縮アーム２の端部に位置するクロスユニット２０Ａの２つの剛性部材２１，２２の一方である剛性部材２１の連結部２１ａと、回動可能に連結されている。これにより、第１部材４１および剛性部材２１は、連結部４１ａ，２１ａにおいて互いに回動可能に連結されている。第１一方側連結部４１ａは、連結部の一例である。 The first one-side connecting portion 41a is rotatably connected to the connecting portion 21a of the rigid member 21, which is one of the two rigid members 21 and 22 of the cross unit 20A positioned at the end of the first extendable arm 2. ing. Thereby, the first member 41 and the rigid member 21 are rotatably connected to each other at the connecting portions 41a, 21a. The first one-side connecting portion 41a is an example of a connecting portion.
　第１他方側連結部４１ｂは、第２伸縮アーム３の端部に位置するクロスユニット３０Ａの２つの剛性部材３１，３２の一方である剛性部材３１の連結部３１ａと、回動可能に連結されている。これにより、第１部材４１および剛性部材３１は、連結部４１ｂ，３１ａにおいて互いに回動可能に連結されている。第１他方側連結部４１ｂは、連結部の一例である。 The first other-side connecting portion 41b is rotatably connected to the connecting portion 31a of the rigid member 31, which is one of the two rigid members 31 and 32 of the cross unit 30A positioned at the end of the second extendable arm 3. ing. Thereby, the first member 41 and the rigid member 31 are rotatably connected to each other at the connecting portions 41b and 31a. The first other side connecting portion 41b is an example of a connecting portion.
　第２他方側連結部４２ｂは、第１伸縮アーム２の端部に位置するクロスユニット２０Ａの２つの剛性部材２１，２２の他方である剛性部材２２の連結部２２ａと、回動可能に連結されている。また、連結部４２ｂは、第２伸縮アーム３の端部に位置するクロスユニット３０Ａの２つの剛性部材の他方である剛性部材３２の連結部３２ａと、回動可能に連結されている。これにより、第１部材４１と、剛性部材２２，３２とは、連結部４２ｂ，２２ａ，３２ａにおいて互いに回動可能に連結されている。言い換えると、第２他方側連結部４２ｂは、剛性部材２２，３２の双方と回動可能に連結されている。第２他方側連結部４２ｂは、連結部の一例である。第２他方側連結部４２ｂは、第２一方側連結部としても働き、第１実施形態では、連結部４２ｂは、第２一方側連結部及び第２他方側連結部として兼用される。 The second other side connecting portion 42b is rotatably connected to the connecting portion 22a of the rigid member 22 which is the other of the two rigid members 21 and 22 of the cross unit 20A positioned at the end of the first extendable arm 2. ing. The connecting portion 42b is rotatably connected to the connecting portion 32a of the rigid member 32, which is the other of the two rigid members of the cross unit 30A located at the end of the second extensible arm 3. As shown in FIG. Thereby, the first member 41 and the rigid members 22, 32 are rotatably connected to each other at the connecting portions 42b, 22a, 32a. In other words, the second other side connecting portion 42b is rotatably connected to both of the rigid members 22 and 32. As shown in FIG. The second other side connecting portion 42b is an example of a connecting portion. The second other side connecting portion 42b also functions as a second one side connecting portion, and in the first embodiment, the connecting portion 42b is used as both the second one side connecting portion and the second other side connecting portion.
　なお、第２一方側連結部及び第２他方側連結部は、異なる連結部であってもよい。このような構成は、第２実施形態において説明される。 Note that the second one-side connecting portion and the second other-side connecting portion may be different connecting portions. Such a configuration is described in the second embodiment.
　前述したように、第１部材４１は、屈曲した棒形状である。つまり、第１部材４１は、Ｖ字状である。また、前述したように、第１部材４１の連結部４１ａ，４１ｂは第１部材４１の両端部に設けられており、第１部材４１の第１中間連結部４１ｃは、第１部材４１の中央部に設けられている。つまり、第１部材４１および第２部材４２の回動軸に沿った軸線方向（以下、単に軸線方向と記す。）から見て、第１一方側連結部４１ａから第１中間連結部４１ｃを通って第１他方側連結部４１ｂに至る仮想線は、Ｖ字状である。第１部材４１および第２部材４２の回動軸は、図１及び図２の紙面に垂直に延びている。つまり、軸線方向は、図１及び図２の紙面に対して垂直な方向である。なお、他図（図１５、図１８、及び図２０～図２３を除く）においても、回動軸の方向及び軸線方向は、図１及び図２と同様に、紙面に対して垂直な方向である。 As described above, the first member 41 has a bent bar shape. That is, the first member 41 is V-shaped. Further, as described above, the connecting portions 41a and 41b of the first member 41 are provided at both ends of the first member 41, and the first intermediate connecting portion 41c of the first member 41 is provided at the center of the first member 41. provided in the department. That is, when viewed from the axial direction along the rotation shaft of the first member 41 and the second member 42 (hereinafter, simply referred to as the axial direction), from the first one-side connecting portion 41a through the first intermediate connecting portion 41c. The imaginary line extending to the first other side connecting portion 41b is V-shaped. The rotation shafts of the first member 41 and the second member 42 extend perpendicularly to the paper surface of FIGS. 1 and 2 . In other words, the axial direction is a direction perpendicular to the paper surface of FIGS. 1 and 2 . 15, 18, and 20 to 23, the direction of the rotation shaft and the direction of the axis line are perpendicular to the plane of the paper, as in FIGS. be.
　ここで、軸線方向から見て、第１一方側連結部４１ａから第１中間連結部４１ｃを通って第１他方側連結部４１ｂに至る仮想線は、Ｖ字状でなく、直線状であってもよい。この場合、図１に示すように、軸線方向から見て、第１一方側連結部４１ａは、連結部４１ｂ，４１ｃを結ぶ仮想線分Ｌ１から外れた位置にある。つまり、軸線方向から見て、第１一方側連結部４１ａは、仮想線分Ｌ１から外れた任意の位置をとり得る。 Here, when viewed from the axial direction, the imaginary line extending from the first one-side connecting portion 41a through the first intermediate connecting portion 41c to the first other-side connecting portion 41b is not V-shaped but straight. good too. In this case, as shown in FIG. 1, the first one-side connecting portion 41a is located outside the virtual line segment L1 connecting the connecting portions 41b and 41c when viewed in the axial direction. That is, when viewed from the axial direction, the first one-side connecting portion 41a can take any position outside the virtual line segment L1.
　すなわち、前述したように第１部材４１は任意の形状であり得るところ、連結部４１ａ，４１ｂ，４１ｃは、前記の条件（軸線方向から見て第１一方側連結部４１ａが仮想線分Ｌ１から外れた位置にある。）を満たす限りにおいて、第１部材４１における任意の位置に形成され得る。例えば、第１部材４１が板状である場合、板状の第１部材４１における前記の条件を満たす位置に連結部４１ａ，４１ｂ，４１ｃが形成される。 That is, as described above, the first member 41 can have any shape, but the connecting portions 41a, 41b, and 41c meet the above conditions (the first one-side connecting portion 41a is from the virtual line segment L1 when viewed in the axial direction). It can be formed at any position on the first member 41 as long as it satisfies the above condition. For example, when the first member 41 is plate-shaped, the connecting portions 41a, 41b, and 41c are formed at positions of the plate-shaped first member 41 that satisfy the above conditions.
　以上のように構成された連動伸縮構造体１は、図１の状態と図２の状態との間で状態遷移可能である。 The interlocking telescopic structure 1 configured as described above is capable of state transition between the state shown in FIG. 1 and the state shown in FIG.
　連動伸縮構造体１が図１に示す状態であるとき、第１伸縮アーム２は収縮した状態であり、第２伸縮アーム３は伸長した状態である。図１に示す状態において第１伸縮アーム２が伸長すると、第１部材４１および第２部材４２の回動軸の周りの周方向において連結部４１ａ，４２ｂ間の距離が短くなり且つ連結部４１ｂ，４２ｂ間の距離が長くなるように、連結部材４の第１部材４１および第２部材４２の一方が他方に対して相対的に回動する。これにより、第２伸縮アーム３が収縮する（図２参照）。同様に、図１に示す状態において第２伸縮アーム３が収縮すると、連結部材４の第１部材４１および第２部材４２の一方が他方に対して前記と同様に回動して、第１伸縮アーム２が伸長する（図２参照）。 When the interlocking telescopic structure 1 is in the state shown in FIG. 1, the first telescopic arm 2 is in a contracted state and the second telescopic arm 3 is in an extended state. When the first telescoping arm 2 extends in the state shown in FIG. 1, the distance between the connecting portions 41a and 42b in the circumferential direction around the rotation shaft of the first member 41 and the second member 42 becomes shorter and the connecting portions 41b and 41b One of the first member 41 and the second member 42 of the connecting member 4 rotates relative to the other such that the distance between the members 42b increases. As a result, the second telescoping arm 3 contracts (see FIG. 2). Similarly, when the second telescoping arm 3 contracts in the state shown in FIG. 1, one of the first member 41 and the second member 42 of the connecting member 4 rotates with respect to the other in the same manner as described above, thereby performing the first telescopic movement. Arm 2 extends (see FIG. 2).
　連動伸縮構造体１が図２に示す状態であるとき、第１伸縮アーム２は伸長した状態であり、第２伸縮アーム３は収縮した状態である。図２に示す状態において第１伸縮アーム２が収縮すると、第１部材４１および第２部材４２の回動軸の周りの周方向において連結部４１ａ，４２ｂ間の距離が長くなり且つ連結部４１ｂ，４２ｂ間の距離が短くなるように、連結部材４の第１部材４１および第２部材４２の一方が他方に対して相対的に回動する。これにより、第２伸縮アーム３が伸長する（図１参照）。同様に、図２に示す状態において第２伸縮アーム３が伸長すると、連結部材４の第１部材４１および第２部材４２の一方が他方に対して前記と同様に回動して、第１伸縮アーム２が収縮する（図１参照）。 When the interlocking telescopic structure 1 is in the state shown in FIG. 2, the first telescopic arm 2 is in an extended state and the second telescopic arm 3 is in a contracted state. When the first telescoping arm 2 contracts in the state shown in FIG. 2, the distance between the connecting portions 41a and 42b in the circumferential direction around the rotation shaft of the first member 41 and the second member 42 increases and the connecting portions 41b and 41b increase. One of the first member 41 and the second member 42 of the connecting member 4 rotates relative to the other such that the distance between the members 42b is shortened. As a result, the second extendable arm 3 extends (see FIG. 1). Similarly, when the second telescoping arm 3 extends in the state shown in FIG. 2, one of the first member 41 and the second member 42 of the connecting member 4 rotates with respect to the other in the same manner as described above, thereby performing the first telescopic movement. Arm 2 retracts (see FIG. 1).
　第１実施形態の連動伸縮構造体１では、第１部材４１および第２部材４２が回動したときに、第１部材４１および第２部材４２の回動軸の周りの周方向における連結部４１ａ，４２ｂの間の距離の第１変動率は、前記周方向における連結部４１ｂ，４２ｂの間の距離の第２変動率と異なる。第１伸縮アーム２の伸長に連動して第２伸縮アーム３が収縮するとき、第１変動率は１より小さく第２変動率は１より大きい。第１伸縮アーム２の収縮に連動して第２伸縮アーム３が伸長するとき第１変動率は１より大きく第２変動率は１より小さい。第１実施形態の連動伸縮構造体１では、第１伸縮アーム２の伸縮と第２伸縮アーム３の伸縮とは、反比例している。 In the interlocking telescopic structure 1 of the first embodiment, when the first member 41 and the second member 42 rotate, the connecting portion 41a in the circumferential direction around the rotation axis of the first member 41 and the second member 42 , 42b is different from the second rate of variation of the distance between the connecting portions 41b, 42b in the circumferential direction. When the second telescoping arm 3 contracts in conjunction with the extension of the first telescoping arm 2, the first variation rate is smaller than one and the second variation rate is greater than one. When the second telescoping arm 3 extends in conjunction with the contraction of the first telescoping arm 2, the first variation rate is greater than one and the second variation rate is less than one. In the interlocking telescoping structure 1 of the first embodiment, the telescoping of the first telescoping arm 2 and the telescoping of the second telescoping arm 3 are inversely proportional.
　なお、第１実施形態の連動伸縮構造体１において、第１部材４１および第２部材４２が回動したときに、第１部材４１および第２部材４２の回動軸の周りの周方向における連結部４１ａ，４２ｂの間の距離の変動長さが、前記周方向における連結部４１ｂ，４２ｂの間の距離の変動長さと異なっていてもよい。変動率及び変動長さの双方が異なっていてもよいし、変動率及び変動長さの一方のみが異なっていてもよい。なお、この明細書における変動率は、回動前における或る２つの連結部間の距離に対する、回動後における或る２つの連結部間の距離の比率である。また、この明細書における変動長さは、回動前における或る２つの連結部間の距離と、回動後における或る２つの連結部間の距離との間での差分である。 In addition, in the interlocking telescopic structure 1 of the first embodiment, when the first member 41 and the second member 42 rotate, the first member 41 and the second member 42 are connected in the circumferential direction around the rotation axis. The variation length of the distance between the portions 41a and 42b may be different from the variation length of the distance between the connecting portions 41b and 42b in the circumferential direction. Both the variation rate and the variation length may be different, or only one of the variation rate and the variation length may be different. Note that the rate of variation in this specification is the ratio of the distance between two connecting portions after turning to the distance between two connecting portions before turning. Also, the variable length in this specification is the difference between the distance between two connecting portions before rotation and the distance between two connecting portions after rotation.
　第１実施形態によれば、第１部材４１および第２部材４２が相対的に回動したときに、周方向における連結部４１ａ，４２ｂの間の距離の変動率は、周方向における連結部４１ｂ，４２ｂの距離の変動率と異なる。そのため、第１伸縮アーム２の伸縮に連動して、第２伸縮アーム３に第１伸縮アーム２とは異なる伸縮をさせることができる。 According to the first embodiment, when the first member 41 and the second member 42 rotate relatively, the variation rate of the distance between the connecting portions 41a and 42b in the circumferential direction is , 42b. Therefore, in conjunction with the extension and contraction of the first telescopic arm 2 , the second telescopic arm 3 can be telescopically different from the first telescopic arm 2 .
　第１実施形態によれば、第２部材４２が周方向の一方に回動することによって、第１伸縮アーム２が伸長し且つ第２伸縮アーム３が収縮する。一方、第２部材４２が周方向の他方に回動することによって、第１伸縮アーム２が収縮し且つ第２伸縮アーム３が伸長する。つまり、第１伸縮アーム２の伸縮と第２伸縮アーム３の伸縮とを逆の動きとすることができる。 According to the first embodiment, the rotation of the second member 42 in one of the circumferential directions extends the first telescoping arm 2 and contracts the second telescoping arm 3 . On the other hand, by rotating the second member 42 in the other circumferential direction, the first telescopic arm 2 contracts and the second telescopic arm 3 extends. In other words, the expansion and contraction of the first telescopic arm 2 and the expansion and contraction of the second telescopic arm 3 can be reversed.
　図３は、本発明の第１実施形態の変形例に係る連動伸縮構造体の平面図である。図１に示す構成では、第１伸縮アーム２と第２伸縮アーム３とがなす角θは１０８度である。しかし、第１伸縮アーム２と第２伸縮アーム３とがなす角は１０８度に限らない。例えば、図３に示すように、第１伸縮アーム２と第２伸縮アーム３とがなす角θが６０度であってもよい。 FIG. 3 is a plan view of an interlocking expansion/contraction structure according to a modification of the first embodiment of the present invention. In the configuration shown in FIG. 1, the angle θ between the first telescopic arm 2 and the second telescopic arm 3 is 108 degrees. However, the angle formed by the first telescopic arm 2 and the second telescopic arm 3 is not limited to 108 degrees. For example, as shown in FIG. 3, the angle θ formed by the first telescoping arm 2 and the second telescoping arm 3 may be 60 degrees.
　図４は、本発明の第１実施形態の変形例に係る連動伸縮構造体の平面図である。図４に示すように、連結部材４は、クロスユニット２０，３０と同構成であってもよい。詳細には、第１部材４１および第２部材４２は、剛性部材２１，２２と同構成であってもよく、剛性部材３１，３２と同構成であってもよい。なお、図４に示す構成では、第１伸縮アーム２と第２伸縮アーム３とがなす角θは９０度である。 FIG. 4 is a plan view of an interlocking telescopic structure according to a modification of the first embodiment of the present invention. As shown in FIG. 4 , the connecting member 4 may have the same configuration as the cross units 20 and 30 . Specifically, the first member 41 and the second member 42 may have the same configuration as the rigid members 21 and 22 or the same configuration as the rigid members 31 and 32 . In addition, in the configuration shown in FIG. 4, the angle θ formed by the first telescoping arm 2 and the second telescoping arm 3 is 90 degrees.
　第１実施形態及び後述する各実施形態において、連結部材４は、バイメタルを含んでいてもよい。バイメタルは、温度、湿度、水分量、遠赤外線、または放射線により変形するものであり、熱膨張率が異なる２種類の素材が接合されることによって構成されている。例えば、連結部材４の第１部材４１がバイメタルを含んでいてもよい。この場合、例えば温度が上昇することによって、第１部材４１が撓む。これにより、連結部４１ａ，４２ｂ間の距離及び連結部４１ｂ，４２ｂ間の距離が変化する。その結果、第１伸縮アーム２および第２伸縮アーム３が伸縮する。つまり、連結部材４がバイメタルを含む場合、温度等の変化によって、連動伸縮構造体１が状態遷移可能である。 In the first embodiment and each embodiment described later, the connecting member 4 may contain bimetal. A bimetal is deformed by temperature, humidity, water content, far infrared rays, or radiation, and is formed by joining two kinds of materials with different coefficients of thermal expansion. For example, the first member 41 of the connecting member 4 may contain bimetal. In this case, for example, the first member 41 bends due to an increase in temperature. This changes the distance between the connecting portions 41a and 42b and the distance between the connecting portions 41b and 42b. As a result, the first telescoping arm 2 and the second telescoping arm 3 telescope. In other words, when the connecting member 4 includes a bimetal, the interlocking expansion/contraction structure 1 can undergo state transition due to changes in temperature or the like.
　＜第２実施形態＞
　図５は、本発明の第２実施形態に係る連動伸縮構造体の平面図である。図６は、本発明の第２実施形態に係る連動伸縮構造体の平面図である。第２実施形態に係る連動伸縮構造体１Ａが第１実施形態に係る連動伸縮構造体１と異なることは、連結部材４の代わりに連結部材４Ａを備えることである。以下、第１実施形態との相違点が説明される。第１実施形態に係る連動伸縮構造体１との共通点については、同一の符号が付された上で、その説明は原則省略され、必要に応じて説明される。 <Second embodiment>
FIG. 5 is a plan view of an interlocking telescopic structure according to a second embodiment of the present invention. FIG. 6 is a plan view of an interlocking telescopic structure according to a second embodiment of the present invention. The interlocking expansion/contraction structure 1A according to the second embodiment differs from the interlocking expansion/contraction structure 1 according to the first embodiment in that a connecting member 4A is provided instead of the connecting member 4. As shown in FIG. Differences from the first embodiment will be described below. Points in common with the interlocking expansion/contraction structure 1 according to the first embodiment are denoted by the same reference numerals, and descriptions thereof are omitted in principle, and will be described as necessary.
　図５及び図６に示すように、連動伸縮構造体１Ａは、連結部材４Ａを備える。連結部材４Ａの第１部材４１は、連結部材４の第１部材４１（図１及び図２参照）と同様に、屈曲した棒形状（Ｖ字状）である。また、連結部材４Ａの第１部材４１では、連結部材４の第１部材４１と同様に、軸線方向から見て、第１一方側連結部４１ａから第１中間連結部４１ｃを通って第１他方側連結部４１ｂに至る仮想線は、Ｖ字状である。なお、連結部材４Ａの第１部材４１における屈曲部分及び当該仮想線の角度は、連結部材４の第１部材４１の当該角度と異なっているが、当該角度は同じであってもよい。 As shown in FIGS. 5 and 6, the interlocking telescopic structure 1A includes a connecting member 4A. The first member 41 of the connecting member 4A has a bent bar shape (V shape), like the first member 41 of the connecting member 4 (see FIGS. 1 and 2). Further, in the first member 41 of the connecting member 4A, similarly to the first member 41 of the connecting member 4, when viewed from the axial direction, the first one side connecting portion 41a passes through the first intermediate connecting portion 41c to the first other side connecting portion 41a. The imaginary line reaching the side connecting portion 41b is V-shaped. Although the angle of the bent portion and the imaginary line of the first member 41 of the connecting member 4A is different from the angle of the first member 41 of the connecting member 4, the angles may be the same.
　連結部材４Ａにおいて、第２部材４２は、第１部材４１と同様に、屈曲した棒形状（Ｖ字状）である。また、第２部材４２は、第１部材４１と同様に任意の形状であり得る。もちろん、第１部材４１も、第１実施形態と同様に任意の形状であり得る。例えば、図５において、第１部材４１および第２部材４２の屈曲角度は略９０度であるが、第１部材４１および第２部材４２の屈曲角度は９０度に限らず、任意の角度であり得る。なお、第１部材４１および第２部材４２の屈曲角度は、４５度～１００度が好ましい。また、第１部材４１の屈曲角度は、第２部材４２の屈曲角度と同一であってもよいし、異なっていてもよい。第１部材４１および第２部材４２の形状、例えば前記の屈曲角度が任意であることは、第１実施形態及び第２実施形態以外の他の実施形態にも当てはまる。 In the connecting member 4A, the second member 42, like the first member 41, has a bent bar shape (V shape). Also, the second member 42 may be of any shape like the first member 41 . Of course, the first member 41 may also have any shape, as in the first embodiment. For example, in FIG. 5, the bending angle of the first member 41 and the second member 42 is approximately 90 degrees, but the bending angle of the first member 41 and the second member 42 is not limited to 90 degrees and may be any angle. obtain. The bending angles of the first member 41 and the second member 42 are preferably 45 degrees to 100 degrees. Also, the bending angle of the first member 41 may be the same as or different from the bending angle of the second member 42 . The fact that the shapes of the first member 41 and the second member 42, such as the bending angles described above, are arbitrary also applies to embodiments other than the first embodiment and the second embodiment.
　第２部材４２は、３つの連結部４２ａ，４２ｂ，４２ｃを備える。各連結部４２ａ，４２ｂ，４２ｃの他の連結部との連結手段は、第１実施形態と同様に貫通孔及びピンによるものであるが、これに限らない。例えば、図５に破線で示すように、連結部４１ｃ，４２ｃの各々がギヤであってもよい。この場合、第１中間連結部４１ｃを構成するギヤは、第１部材４１と一体形成または第１部材４１に固定されており、第２中間連結部４２ｃを構成するギヤは、第２部材４２と一体形成または第２部材４２に固定されている。また、第１中間連結部４１ｃを構成するギヤと、第２中間連結部４２ｃを構成するギヤとは、互いに噛合されている。第１部材４１および第２部材４２は、これらのギヤを介して連結されている。なお、他の実施形態において、このようなギヤを介した連結が採用されてもよい。 The second member 42 has three connecting portions 42a, 42b, 42c. The means for connecting the connecting portions 42a, 42b, and 42c to the other connecting portions is through holes and pins as in the first embodiment, but is not limited to this. For example, each of the connecting portions 41c and 42c may be a gear, as indicated by broken lines in FIG. In this case, the gear that constitutes the first intermediate connecting portion 41c is integrally formed with or fixed to the first member 41, and the gear that constitutes the second intermediate connecting portion 42c is connected to the second member 42. It is integrally formed or fixed to the second member 42 . Further, the gear forming the first intermediate connecting portion 41c and the gear forming the second intermediate connecting portion 42c are meshed with each other. The first member 41 and the second member 42 are connected via these gears. It should be noted that such a geared connection may be employed in other embodiments.
　連結部材４の連結部４１ａ，４１ｂ，４１ｃと同様に、連結部材４Ａの連結部４２ａ，４２ｂは第２部材４２の両端部に設けられており、連結部材４Ａの第２中間連結部４２ｃは、第１部材４１の中央部に設けられている。つまり、軸線方向から見て、第２一方側連結部４２ａから第２中間連結部４２ｃを通って第２他方側連結部４２ｂに至る仮想線は、Ｖ字状である。なお、連結部材４の連結部４１ａ，４１ｂ，４１ｃと同様に、連結部材４Ａの各連結部４２ａ，４２ｂ，４２ｃの位置は、前記の位置に限らない。 Similar to the connecting portions 41a, 41b, 41c of the connecting member 4, the connecting portions 42a, 42b of the connecting member 4A are provided at both ends of the second member 42, and the second intermediate connecting portion 42c of the connecting member 4A is It is provided in the central portion of the first member 41 . That is, when viewed from the axial direction, the imaginary line extending from the second one-side connecting portion 42a through the second intermediate connecting portion 42c to the second other-side connecting portion 42b is V-shaped. As with the connecting portions 41a, 41b, and 41c of the connecting member 4, the positions of the connecting portions 42a, 42b, and 42c of the connecting member 4A are not limited to the above positions.
　第２中間連結部４２ｃは、第１部材４１の第１中間連結部４１ｃと互いに連結されている。これにより、第１部材４１および第２部材４２は、連結部４１ｃ、４２ｃにおいて互いに回動可能に連結されている。第２実施形態において、連結部４２ｃは、第２中間連結部に相当する。 The second intermediate connecting portion 42c and the first intermediate connecting portion 41c of the first member 41 are connected to each other. Thereby, the first member 41 and the second member 42 are rotatably connected to each other at the connecting portions 41c and 42c. In the second embodiment, the connecting portion 42c corresponds to the second intermediate connecting portion.
　第２一方側連結部４２ａは、第１伸縮アーム２の端部に位置するクロスユニット２０Ａの２つの剛性部材２１，２２の他方である剛性部材２２の連結部２２ａと、回動可能に連結されている。これにより、第２部材４２および剛性部材２２は、連結部４２ａ，２２ａにおいて互いに回動可能に連結されている。第２実施形態において、第２一方側連結部４２ａは、連結部に相当する。 The second one-side connecting portion 42a is rotatably connected to the connecting portion 22a of the rigid member 22 which is the other of the two rigid members 21 and 22 of the cross unit 20A positioned at the end of the first extendable arm 2. ing. Thereby, the second member 42 and the rigid member 22 are rotatably connected to each other at the connecting portions 42a, 22a. In the second embodiment, the second one-side connecting portion 42a corresponds to the connecting portion.
　第２他方側連結部４２ｂは、第２伸縮アーム３の端部に位置するクロスユニット３０Ａの２つの剛性部材３１，３２の他方である剛性部材３２の連結部３２ａと、回動可能に連結されている。これにより、第２部材４２および剛性部材３２は、連結部４２ｂ，３２ａにおいて互いに回動可能に連結されている。第２実施形態において、第２他方側連結部４２ｂは、連結部に相当する。 The second other side connecting portion 42b is rotatably connected to the connecting portion 32a of the rigid member 32 which is the other of the two rigid members 31 and 32 of the cross unit 30A positioned at the end of the second extensible arm 3. ing. Thereby, the second member 42 and the rigid member 32 are rotatably connected to each other at the connecting portions 42b and 32a. In the second embodiment, the second other side connecting portion 42b corresponds to the connecting portion.
　軸線方向から見て、第１部材４１の連結部４１ａ，４１ｂ及び第２部材４２の連結部４２ａ，４２ｂは、以下に説明するような位置関係である。 When viewed from the axial direction, the connecting portions 41a and 41b of the first member 41 and the connecting portions 42a and 42b of the second member 42 have a positional relationship as described below.
　図５に示すように、軸線方向から見て、連結部４１ａ，４１ｂは、第１中間連結部４１ｃを通る中間仮想線Ｌ２の一方側に位置し、連結部４２ａ，４２ｂは、中間仮想線Ｌ２の他方側に位置する。中間仮想線Ｌ２は、図５に一点鎖線で示されている。つまり、第１一方側連結部４１ａから第１中間連結部４１ｃを通って第１他方側連結部４１ｂに至る仮想線と、第２一方側連結部４２ａから第２中間連結部４２ｃを通って第２他方側連結部４２ｂに至る仮想線は、連結部４１ｃ，４２ｃで接触するのみで、互いに交差していない。 As shown in FIG. 5, when viewed from the axial direction, the connecting portions 41a and 41b are located on one side of the intermediate virtual line L2 passing through the first intermediate connecting portion 41c, and the connecting portions 42a and 42b are located on one side of the intermediate virtual line L2. located on the other side of The intermediate virtual line L2 is indicated by a dashed line in FIG. That is, an imaginary line extending from the first one-side connecting portion 41a through the first intermediate connecting portion 41c to the first other-side connecting portion 41b, and a second one-side connecting portion 42a through the second intermediate connecting portion 42c. The imaginary lines leading to the second connecting portion 42b only contact at the connecting portions 41c and 42c and do not cross each other.
　また、第１一方側連結部４１ａは、連結部４１ｂ，４１ｃ，４２ａを通る第１仮想線Ｌ３に対して第２他方側連結部４２ｂの反対側に位置する。また、第２一方側連結部４２ａは、連結部４２ｂ，４２ｃ，４１ａを通る第２仮想線Ｌ４に対して第１他方側連結部４１ｂの反対側に位置する。第１仮想線Ｌ３は、図５に二点鎖線で示されており、仮想線の一例である。第２仮想線Ｌ４は、図５に破線で示されている。 Also, the first one-side connecting portion 41a is located on the opposite side of the second other-side connecting portion 42b with respect to the first imaginary line L3 passing through the connecting portions 41b, 41c, and 42a. In addition, the second one-side connecting portion 42a is located on the opposite side of the first other-side connecting portion 41b with respect to the second imaginary line L4 passing through the connecting portions 42b, 42c, and 41a. The first virtual line L3 is indicated by a two-dot chain line in FIG. 5 and is an example of a virtual line. The second virtual line L4 is indicated by a dashed line in FIG.
　以上のように構成された連動伸縮構造体１Ａは、図５の状態と図６の状態との間で状態遷移可能である。図５の状態と図６の状態との間での状態遷移は、第１実施形態における図１の状態と図２の状態との間での状態遷移と同様である。 The interlocking telescopic structure 1A configured as described above is capable of state transition between the state shown in FIG. 5 and the state shown in FIG. The state transition between the states of FIG. 5 and the state of FIG. 6 is the same as the state transition between the state of FIG. 1 and the state of FIG. 2 in the first embodiment.
　つまり、連結部材４Ａの第１部材４１および第２部材４２が回動することによって、第１伸縮アーム２および第２伸縮アーム３は互いに連動して伸縮する。詳細には、第１伸縮アーム２の伸長に連動して第２伸縮アーム３が収縮する。また、第１伸縮アーム２の収縮に連動して第２伸縮アーム３が伸長する。また、第２伸縮アーム３の伸長に連動して第１伸縮アーム２が収縮する。また、第２伸縮アーム３の収縮に連動して第１伸縮アーム２が伸長する。 That is, by rotating the first member 41 and the second member 42 of the connecting member 4A, the first telescoping arm 2 and the second telescoping arm 3 are telescopically linked with each other. Specifically, the second telescoping arm 3 contracts in conjunction with the extension of the first telescoping arm 2 . Further, the second telescoping arm 3 extends in conjunction with the contraction of the first telescoping arm 2 . Further, the first telescoping arm 2 contracts in conjunction with the extension of the second telescoping arm 3 . Also, the first telescopic arm 2 extends in conjunction with the contraction of the second telescopic arm 3 .
　第１実施形態の連動伸縮構造体１と同様に、連動伸縮構造体１Ａでは、第１部材４１および第２部材４２が回動したときに、第１部材４１および第２部材４２の回動軸の周りの周方向における連結部４１ａ，４２ａの間の距離の変動率は、前記周方向における連結部４１ｂ，４２ｂの間の距離の変動率と異なる。また、第１実施形態の連動伸縮構造体１と同様に、連動伸縮構造体１Ａでは、第１伸縮アーム２の伸縮と第２伸縮アーム３の伸縮とは、反比例している。また、第２実施形態の連動伸縮構造体１Ａにおいて、前記周方向における連結部４１ａ，４２ａの間の距離の変動長さが、前記周方向における連結部４１ｂ，４２ｂの間の距離の変動長さと異なっていてもよいことも、第１実施形態の連動伸縮構造体１と同様である。 As in the interlocking telescopic structure 1 of the first embodiment, in the interlocking telescopic structure 1A, when the first member 41 and the second member 42 rotate, the rotation axis of the first member 41 and the second member 42 The rate of variation of the distance between the connecting portions 41a and 42a in the circumferential direction around is different from the rate of variation of the distance between the connecting portions 41b and 42b in the circumferential direction. Further, in the interlocking telescopic structure 1A, the extension and retraction of the first telescopic arm 2 and the extension and retraction of the second telescopic arm 3 are inversely proportional, as in the interlocking telescopic structure 1 of the first embodiment. In addition, in the interlocking elastic structure 1A of the second embodiment, the variation length of the distance between the connecting portions 41a and 42a in the circumferential direction is the variation length of the distance between the connecting portions 41b and 42b in the circumferential direction. It is also the same as the interlocking elastic structure 1 of the first embodiment that it may be different.
　第２実施形態によれば、連結部４１ａ，４２ａが近づくように、第１部材４１および第２部材４２が相対的に回動すると、連結部４１ｂ，４２ｂは互いに離れる。これにより、第１伸縮アーム２が伸長し且つ第２伸縮アーム３が収縮する。一方、連結部４１ａ，４２ａが互いに離れるように、第１部材４１および第２部材４２が回動すると、連結部４１ｂ，４２ｂは互いに近づく。これにより、第１伸縮アーム２が収縮し且つ第２伸縮アーム３が伸長する。つまり、第１伸縮アーム２の伸縮と第２伸縮アーム３の伸縮とを逆の動きとすることができる。 According to the second embodiment, when the first member 41 and the second member 42 rotate relatively so that the connecting portions 41a and 42a approach each other, the connecting portions 41b and 42b separate from each other. This causes the first telescopic arm 2 to extend and the second telescopic arm 3 to contract. On the other hand, when the first member 41 and the second member 42 rotate so that the connecting portions 41a and 42a move away from each other, the connecting portions 41b and 42b approach each other. This causes the first telescopic arm 2 to contract and the second telescopic arm 3 to extend. In other words, the expansion and contraction of the first telescopic arm 2 and the expansion and contraction of the second telescopic arm 3 can be reversed.
　図７は、本発明の第２実施形態の変形例に係る連動伸縮構造体の平面図である。前述したように、第１伸縮アーム２のクロスユニット２０の剛性部材２１，２２の形状、第２伸縮アーム３のクロスユニット３０の剛性部材３１，３２の形状、及び連結部材４，４Ａの第１部材４１および第２部材４２の形状は、任意である。よって、図７に示すように、軸線方向から見て、剛性部材２１，２２，３１，３２，４１，４２が湾曲した形状であってもよい。なお、第２実施形態以外の実施形態においても、連動伸縮構造体が備える剛性部材が湾曲した形状であってもよいことは、言うまでもない。 FIG. 7 is a plan view of an interlocking telescopic structure according to a modification of the second embodiment of the present invention. As described above, the shape of the rigid members 21 and 22 of the cross unit 20 of the first telescopic arm 2, the shape of the rigid members 31 and 32 of the cross unit 30 of the second telescopic arm 3, and the first The shape of the member 41 and the second member 42 is arbitrary. Therefore, as shown in FIG. 7, the rigid members 21, 22, 31, 32, 41, and 42 may have curved shapes when viewed from the axial direction. Needless to say, in embodiments other than the second embodiment, the rigid member included in the interlocking expansion/contraction structure may have a curved shape.
　＜第３実施形態＞
　図８は、本発明の第３実施形態に係る連動伸縮構造体の平面図である。図９は、本発明の第３実施形態に係る連動伸縮構造体の平面図である。第３実施形態に係る連動伸縮構造体１Ｂが第１実施形態に係る連動伸縮構造体１と異なることは、連動伸縮構造体１Ｂが環状に構成されていることである。以下、第１実施形態との相違点が説明される。第１実施形態に係る連動伸縮構造体１との共通点については、同一の符号が付された上で、その説明は原則省略され、必要に応じて説明される。 <Third Embodiment>
FIG. 8 is a plan view of an interlocking telescopic structure according to a third embodiment of the present invention. FIG. 9 is a plan view of an interlocking telescopic structure according to a third embodiment of the present invention. The interlocking expansion/contraction structure 1B according to the third embodiment differs from the interlocking expansion/contraction structure 1 according to the first embodiment in that the interlocking expansion/contraction structure 1B is configured in a ring shape. Differences from the first embodiment will be described below. Points in common with the interlocking expansion/contraction structure 1 according to the first embodiment are denoted by the same reference numerals, and descriptions thereof are omitted in principle, and will be described as necessary.
　図８に示すように、連動伸縮構造体１Ｂは、３つの第１伸縮アーム２と、３つの第２伸縮アーム３と、６つの連結部材４とを備える。３つの第１伸縮アーム２と３つの第２伸縮アーム３とが連結部材４を介して交互に連結されている。これにより、連動伸縮構造体１Ｂは、環状に構成されている。 As shown in FIG. 8, the interlocking telescopic structure 1B includes three first telescopic arms 2, three second telescopic arms 3, and six connecting members 4. Three first telescoping arms 2 and three second telescoping arms 3 are alternately connected via connecting members 4 . Thereby, the interlocking expansion-contraction structure 1B is comprised cyclically|annularly.
　連動伸縮構造体１Ｂは、図８の状態と図９の状態との間で状態遷移可能である。 The interlocking expansion/contraction structure 1B is capable of state transition between the state shown in FIG. 8 and the state shown in FIG.
　連動伸縮構造体１Ｂが図８に示す状態であるとき、第１伸縮アーム２は伸長した状態であり、第２伸縮アーム３は収縮した状態である。図８に示す状態において第１伸縮アーム２が収縮すると、第２伸縮アーム３が伸長する（図９参照）。同様に、図８に示す状態において第２伸縮アーム３が伸長すると、第１伸縮アーム２が収縮する（図９参照）。 When the interlocking telescopic structure 1B is in the state shown in FIG. 8, the first telescopic arm 2 is in an extended state and the second telescopic arm 3 is in a contracted state. When the first telescoping arm 2 contracts in the state shown in FIG. 8, the second telescoping arm 3 extends (see FIG. 9). Similarly, when the second telescoping arm 3 extends in the state shown in FIG. 8, the first telescoping arm 2 contracts (see FIG. 9).
　連動伸縮構造体１Ｂが図９に示す状態であるとき、第１伸縮アーム２は収縮した状態であり、第２伸縮アーム３は伸長した状態である。図９に示す状態において第１伸縮アーム２が伸長すると、第２伸縮アーム３が収縮する（図８参照）。同様に、図９に示す状態において第２伸縮アーム３が収縮すると、第１伸縮アーム２が伸長する（図８参照）。 When the interlocking telescopic structure 1B is in the state shown in FIG. 9, the first telescopic arm 2 is in a contracted state and the second telescopic arm 3 is in an extended state. When the first telescoping arm 2 extends in the state shown in FIG. 9, the second telescoping arm 3 contracts (see FIG. 8). Similarly, when the second telescoping arm 3 contracts in the state shown in FIG. 9, the first telescoping arm 2 extends (see FIG. 8).
　第３実施形態によれば、第１部材４１および第２部材４２が回動することによって、環状に構成された連動伸縮構造体１Ｂの姿勢を変えることができる。 According to the third embodiment, by rotating the first member 41 and the second member 42, the attitude of the annularly configured interlocking telescopic structure 1B can be changed.
　第１伸縮アーム２と第２伸縮アーム３及び連結部材４Ａの数は、前記の数に限らない。例えば、連動伸縮構造体１Ｂは、４つの第１伸縮アーム２と、４つの第２伸縮アーム３と、８つの連結部材４とを備えていてもよい。また、例えば、連動伸縮構造体１Ｂは、１つの第１伸縮アーム２と、１つの第２伸縮アーム３と、２つの連結部材４とを備えていてもよい。つまり、連動伸縮構造体１Ｂは、少なくとも１つの第１伸縮アーム２と、少なくとも１つの第２伸縮アーム３と、複数の連結部材４とを備えている。 The numbers of the first telescoping arms 2, the second telescoping arms 3, and the connecting members 4A are not limited to the above numbers. For example, the interlocking telescoping structure 1B may include four first telescoping arms 2, four second telescoping arms 3, and eight connecting members 4. Further, for example, the interlocking telescoping structure 1B may include one first telescoping arm 2, one second telescoping arm 3, and two connecting members 4. That is, the interlocking telescoping structure 1B includes at least one first telescoping arm 2, at least one second telescoping arm 3, and a plurality of connecting members 4.
　図８及び図９では、連動伸縮構造体１Ｂは、連結部材４を備えているが、連結部材４の代わりに、連結部材４Ａまたは後述する連結部材４Ｂ～４Ｆを備えていてもよい。また、連動伸縮構造体１Ｂは、複数種類の連結部材を備えていてもよい。例えば、複数の連結部材の一部が連結部材４Ａで、残りが連結部材４であってもよい。 In FIGS. 8 and 9, the interlocking telescopic structure 1B includes the connecting member 4, but instead of the connecting member 4, the connecting member 4A or connecting members 4B to 4F described later may be provided. Moreover, the interlocking|linkage expansion-contraction structure 1B may be equipped with multiple types of connection members. For example, a part of the plurality of connecting members may be the connecting member 4A and the rest may be the connecting member 4. FIG.
　第３実施形態では、複数の第１伸縮アーム２および第２伸縮アーム３が連結部材を介して互いに連結されることによって、環状となっている構成が説明された。しかし、連動伸縮構造体は、複数の第１伸縮アーム２および第２伸縮アーム３が連結部材を介して互いに連結されることによって、環状以外の様々な形状となり得る。 In the third embodiment, a configuration in which a plurality of first telescoping arms 2 and second telescoping arms 3 are connected to each other via connecting members to form a ring has been described. However, the interlocking telescoping structure can have various shapes other than the annular shape by connecting the plurality of first telescoping arms 2 and the second telescoping arms 3 to each other via connecting members.
　＜第４実施形態＞
　図１０は、本発明の第４実施形態に係る連動伸縮構造体の平面図である。図１１は、本発明の第４実施形態に係る連動伸縮構造体の平面図である。第４実施形態に係る連動伸縮構造体１Ｃが第２実施形態に係る連動伸縮構造体１Ａと異なることは、連結部材４Ａの代わりに連結部材４Ｃを備えることである。以下、第２実施形態との相違点が説明される。第２実施形態に係る連動伸縮構造体１Ａとの共通点については、同一の符号が付された上で、その説明は原則省略され、必要に応じて説明される。 <Fourth Embodiment>
FIG. 10 is a plan view of an interlocking telescopic structure according to a fourth embodiment of the present invention. FIG. 11 is a plan view of an interlocking telescopic structure according to a fourth embodiment of the present invention. The interlocking expansion/contraction structure 1C according to the fourth embodiment differs from the interlocking expansion/contraction structure 1A according to the second embodiment in that a connecting member 4C is provided instead of the connecting member 4A. Differences from the second embodiment will be described below. Points in common with the interlocking expansion/contraction structure 1A according to the second embodiment are denoted by the same reference numerals, and descriptions thereof are omitted in principle, and will be described as necessary.
　図１０及び図１１に示すように、連動伸縮構造体１Ｃは、連結部材４Ｃを備える。以下に説明するように、連結部材４Ｃは、クロスユニット２０，３０と概ね同構成である。 As shown in FIGS. 10 and 11, the interlocking telescopic structure 1C includes a connecting member 4C. As described below, the connecting member 4C has substantially the same configuration as the cross units 20 and 30. As shown in FIG.
　連結部材４Ｃの第１部材４１および第２部材４２は、クロスユニット２０，３０の剛性部材２１，２２，３１，３２と同様に、棒状の四角柱である。なお、第１部材４１および第２部材４２は、剛性部材２１，２２，３１，３２と同様に、棒状の四角柱以外の形状であってもよい。 The first member 41 and the second member 42 of the connecting member 4C are rod-shaped square poles, like the rigid members 21, 22, 31, 32 of the cross units 20, 30. It should be noted that the first member 41 and the second member 42 may have a shape other than the rod-like quadrangular prism, similarly to the rigid members 21 , 22 , 31 and 32 .
　第２実施形態の連結部材４Ａと同様に、連結部材４Ｃにおいて、第１部材４１は連結部４１ａ，４１ｂ，４１ｃを備え、第２部材４２は連結部４２ａ，４２ｂ，４２ｃを備える。 As with the connecting member 4A of the second embodiment, in the connecting member 4C, the first member 41 has connecting portions 41a, 41b and 41c, and the second member 42 has connecting portions 42a, 42b and 42c.
　クロスユニット２０，３０の連結部２１ａ，２１ｂ，２１ｃ，２２ａ，２２ｂ，２２ｃと同様に、連結部材４Ｃにおいて、連結部４１ａ，４１ｂは第１部材４１の両端部に設けられており、第１中間連結部４１ｃは、第１部材４１の中央部に設けられている。同様に、連結部材４Ｃにおいて、連結部４２ａ，４２ｂは第２部材４２の両端部に設けられており、第２中間連結部４２ｃは、第２部材４２の中央部に設けられている。なお、第４実施形態において、クロスユニット２０は、クロスユニット３０と異なる大きさであるが、クロスユニット３０と同じ大きさであってもよい。また、第４実施形態において、クロスユニット２０は、クロスユニット３０と同形状であるが、クロスユニット３０と異なる形状であってもよい。 As with the connecting portions 21a, 21b, 21c, 22a, 22b, and 22c of the cross units 20 and 30, in the connecting member 4C, the connecting portions 41a and 41b are provided at both ends of the first member 41, The connecting portion 41 c is provided in the central portion of the first member 41 . Similarly, in the connecting member 4C, the connecting portions 42a and 42b are provided at both end portions of the second member 42, and the second intermediate connecting portion 42c is provided at the central portion of the second member 42. As shown in FIG. In the fourth embodiment, the cloth unit 20 has a different size from the cloth unit 30, but may have the same size as the cloth unit 30. Further, in the fourth embodiment, the cloth unit 20 has the same shape as the cloth unit 30, but may have a shape different from that of the cloth unit 30.
　連結部４１ｃ，４２ｃは、互いに連結されている。これにより、第１部材４１および第２部材４２は、連結部４１ｃ、４２ｃにおいて互いに回動可能に連結されている。第４実施形態において、第１中間連結部４１ｃは連結部に相当し、第２中間連結部４２ｃは連結部に相当する。 The connecting portions 41c and 42c are connected to each other. Thereby, the first member 41 and the second member 42 are rotatably connected to each other at the connecting portions 41c and 42c. In the fourth embodiment, the first intermediate connecting portion 41c corresponds to the connecting portion, and the second intermediate connecting portion 42c corresponds to the connecting portion.
　第１一方側連結部４１ａは、第１伸縮アーム２の端部に位置するクロスユニット２０Ａの２つの剛性部材２１，２２の一方である剛性部材２１の連結部２１ａと、回動可能に連結されている。これにより、第１部材４１および剛性部材２１は、連結部４１ａ，２１ａにおいて互いに回動可能に連結されている。第４実施形態において、第１一方側連結部４１ａは、連結部に相当する。 The first one-side connecting portion 41a is rotatably connected to the connecting portion 21a of the rigid member 21, which is one of the two rigid members 21 and 22 of the cross unit 20A positioned at the end of the first extendable arm 2. ing. Thereby, the first member 41 and the rigid member 21 are rotatably connected to each other at the connecting portions 41a, 21a. In the fourth embodiment, the first one-side connecting portion 41a corresponds to the connecting portion.
　第１他方側連結部４１ｂは、第２伸縮アーム３の端部に位置するクロスユニット３０Ａの２つの剛性部材３１，３２の一方である剛性部材３２の連結部３２ａと、回動可能に連結されている。これにより、第１部材４１および剛性部材３２は、連結部４１ｂ，３２ａにおいて互いに回動可能に連結されている。第４実施形態において、第１他方側連結部４１ｂは、連結部に相当する。 The first other side connecting portion 41b is rotatably connected to the connecting portion 32a of the rigid member 32, which is one of the two rigid members 31 and 32 of the cross unit 30A located at the end of the second extendable arm 3. ing. Thereby, the first member 41 and the rigid member 32 are rotatably connected to each other at the connecting portions 41b and 32a. In the fourth embodiment, the first other side connecting portion 41b corresponds to the connecting portion.
　第２一方側連結部４２ａは、第１伸縮アーム２の端部に位置するクロスユニット２０Ａの２つの剛性部材２１，２２の他方である剛性部材２２の連結部２２ａと、回動可能に連結されている。これにより、第２部材４２および剛性部材２２は、連結部４２ａ，２２ａにおいて互いに回動可能に連結されている。第４実施形態において、第２一方側連結部４２ａは、連結部に相当する。 The second one-side connecting portion 42a is rotatably connected to the connecting portion 22a of the rigid member 22 which is the other of the two rigid members 21 and 22 of the cross unit 20A positioned at the end of the first extendable arm 2. ing. Thereby, the second member 42 and the rigid member 22 are rotatably connected to each other at the connecting portions 42a, 22a. In the fourth embodiment, the second one-side connecting portion 42a corresponds to the connecting portion.
　第２他方側連結部４２ｂは、第２伸縮アーム３の端部に位置するクロスユニット３０Ａの２つの剛性部材３１，３２の他方である剛性部材３１の連結部３１ａと、回動可能に連結されている。これにより、第２部材４２および剛性部材３１は、連結部４２ｂ，３１ａにおいて互いに回動可能に連結されている。第４実施形態において、第２他方側連結部４２ｂは、連結部に相当する。 The second other side connecting portion 42b is rotatably connected to the connecting portion 31a of the rigid member 31 which is the other of the two rigid members 31 and 32 of the cross unit 30A positioned at the end of the second extensible arm 3. ing. Thereby, the second member 42 and the rigid member 31 are rotatably connected to each other at the connecting portions 42b and 31a. In the fourth embodiment, the second other side connecting portion 42b corresponds to the connecting portion.
　図１０に示すように、軸線方向から見て、第１中間連結部４１ｃを介して連結部４１ａ，４１ｂを結ぶ第１仮想線分Ｌ５と、第２中間連結部４２ｃを介して連結部４２ａ，４２ｂを結ぶ第２仮想線分Ｌ６とは交差している。 As shown in FIG. 10, when viewed from the axial direction, a first virtual line segment L5 connecting the connecting portions 41a and 41b via the first intermediate connecting portion 41c, and connecting portions 42a and 42a via the second intermediate connecting portion 42c. It intersects with the second virtual line segment L6 connecting 42b.
　また、軸線方向から見て、第１一方側連結部４１ａと第１中間連結部４１ｃとの距離Ｄ１は、第１他方側連結部４１ｂと第１中間連結部４１ｃとの距離Ｄ２より長く、且つ、第２一方側連結部４２ａと第２中間連結部４２ｃとの距離Ｄ３は、第２他方側連結部４２ｂと第２中間連結部４２ｃとの距離Ｄ４より長い。 Further, when viewed from the axial direction, the distance D1 between the first one-side connecting portion 41a and the first intermediate connecting portion 41c is longer than the distance D2 between the first other-side connecting portion 41b and the first intermediate connecting portion 41c, and , the distance D3 between the second one-side connecting portion 42a and the second intermediate connecting portion 42c is longer than the distance D4 between the second other-side connecting portion 42b and the second intermediate connecting portion 42c.
　第１伸縮アーム２のクロスユニット２０と第２伸縮アーム３のクロスユニット３０との各連結部の間の距離は、連結部材４Ｃにおける連結部４１ａ，４２ａの間の距離と、連結部４１ｂ，４２ｂの間の距離とに応じて設定され得る。図１０及び図１１に示す構成では、連結部４１ａ，４２ａの間の距離が、連結部４１ｂ，４２ｂの間の距離より長いことに応じて、クロスユニット２０の各連結部の間の距離が、クロスユニット３０の各連結部の間の距離より長くされている。これにより、第１部材４１および第２部材４２が回動したときに、第１部材４１および第２部材４２の回動軸の周りの周方向における連結部４１ａ，４２ａの間の距離の変動長さは、前記周方向における連結部４１ｂ，４２ｂの間の距離の変動長さより長くなる。第４実施形態の連動伸縮構造体１Ｃでは、第１伸縮アーム２の伸縮と第２伸縮アーム３の伸縮とは、正比例している。 The distance between the connecting portions of the cross unit 20 of the first telescopic arm 2 and the cross unit 30 of the second telescopic arm 3 is equal to the distance between the connecting portions 41a and 42a in the connecting member 4C and the connecting portions 41b and 42b. can be set depending on the distance between 10 and 11, the distance between the connecting portions 41a and 42a is longer than the distance between the connecting portions 41b and 42b, so that the distance between the connecting portions of the cross unit 20 is It is made longer than the distance between each connecting portion of the cross unit 30 . Thereby, when the first member 41 and the second member 42 rotate, the variation length of the distance between the connecting portions 41a and 42a in the circumferential direction around the rotation axis of the first member 41 and the second member 42 The length is longer than the fluctuation length of the distance between the connecting portions 41b and 42b in the circumferential direction. In the interlocking telescoping structure 1C of the fourth embodiment, the telescoping of the first telescoping arm 2 and the telescoping of the second telescoping arm 3 are in direct proportion.
　以上のように構成された連動伸縮構造体１Ｃは、図１０の状態と図１１の状態との間で状態遷移可能である。 The interlocking telescopic structure 1C configured as described above is capable of state transition between the state shown in FIG. 10 and the state shown in FIG.
　連動伸縮構造体１Ｃが図１０に示す状態であるとき、第１伸縮アーム２および第２伸縮アーム３は伸長した状態である。図１０に示す状態において第１伸縮アーム２および第２伸縮アーム３の一方が収縮されると、第１部材４１および第２部材４２の回動軸の周りの周方向において連結部４１ａ，４２ａ間の距離が長くなり且つ連結部４１ｂ，４２ｂ間の距離が長くなるように、第１部材４１および第２部材４２の少なくとも一方が回動する。これにより、第１伸縮アーム２および第２伸縮アーム３の他方が収縮する（図１１参照）。 When the interlocking telescopic structure 1C is in the state shown in FIG. 10, the first telescopic arm 2 and the second telescopic arm 3 are in an extended state. When one of the first telescoping arm 2 and the second telescoping arm 3 is contracted in the state shown in FIG. At least one of the first member 41 and the second member 42 rotates such that the distance between the two members 41b and 42b increases. As a result, the other of the first telescoping arm 2 and the second telescoping arm 3 contracts (see FIG. 11).
　連動伸縮構造体１Ｃが図１１に示す状態であるとき、第１伸縮アーム２および第２伸縮アーム３は収縮した状態である。図１１に示す状態において第１伸縮アーム２および第２伸縮アーム３の一方が伸長すると、第１部材４１および第２部材４２の回動軸の周りの周方向において連結部４１ａ，４２ａ間の距離が短くなり且つ連結部４１ｂ，４２ｂ間の距離が短くなるように、第１部材４１および第２部材４２の少なくとも一方が回動する。これにより、第１伸縮アーム２および第２伸縮アーム３の他方が伸長する（図１０参照）。 When the interlocking telescopic structure 1C is in the state shown in FIG. 11, the first telescopic arm 2 and the second telescopic arm 3 are in a contracted state. When one of the first telescopic arm 2 and the second telescopic arm 3 is extended in the state shown in FIG. At least one of the first member 41 and the second member 42 rotates such that the distance between the connecting portions 41b and 42b is shortened. As a result, the other of the first telescoping arm 2 and the second telescoping arm 3 is extended (see FIG. 10).
　前述したように、第４実施形態の連動伸縮構造体１Ｃでは、第１部材４１および第２部材４２が回動したときに、第１部材４１および第２部材４２の回動軸の周りの周方向における連結部４１ａ，４２ａの間の距離の変動長さは、前記周方向における連結部４１ｂ，４２ｂの間の距離の変動長さより長い。 As described above, in the interlocking telescopic structure 1C of the fourth embodiment, when the first member 41 and the second member 42 rotate, the circumference around the rotation axis of the first member 41 and the second member 42 The variation length of the distance between the connecting portions 41a and 42a in the direction is longer than the variation length of the distance between the connecting portions 41b and 42b in the circumferential direction.
　なお、図１０に示す構成では、距離Ｄ１が距離Ｄ２より長く且つ距離Ｄ３が距離Ｄ４より長いが、距離Ｄ１が距離Ｄ２より長く且つ距離Ｄ３が距離Ｄ４以下であってもよいし、距離Ｄ３が距離Ｄ４より長く且つ距離Ｄ１が距離Ｄ２以下であってもよい。但し、距離Ｄ１，Ｄ２，Ｄ３，Ｄ４の相対的な長短にかかわらず、以下の条件を満たす。つまり、第１部材４１および第２部材４２が回動したときに、第１部材４１および第２部材４２の回動軸の周りの周方向における連結部４１ａ，４２ａの間の距離の変動率及び変動長さの少なくとも一方が、前記周方向における連結部４１ｂ，４２ｂの間の距離の変動率及び変動長さの少なくとも一方と異なっている。 In the configuration shown in FIG. 10, the distance D1 is longer than the distance D2 and the distance D3 is longer than the distance D4. The distance D1 may be longer than the distance D4 and less than or equal to the distance D2. However, the following conditions are satisfied regardless of the relative lengths of the distances D1, D2, D3, and D4. In other words, when the first member 41 and the second member 42 rotate, the variation rate of the distance between the connecting portions 41a and 42a in the circumferential direction around the rotation axis of the first member 41 and the second member 42 and At least one of the variable length is different from at least one of the rate of change and the variable length of the distance between the connecting portions 41b and 42b in the circumferential direction.
　第４実施形態では、軸線方向から見て、連結部４１ａ，４１ｂ，４１ｃは一直線上にあり、連結部４２ａ，４２ｂ，４２ｃは一直線上にある。しかし、連結部４１ａ，４１ｂ，４１ｃは一直線上になくてもよく、連結部４２ａ，４２ｂ，４２ｃは一直線上になくてもよい。このような例は、第５実施形態において説明される。 In the fourth embodiment, when viewed from the axial direction, the connecting portions 41a, 41b, 41c are on a straight line, and the connecting portions 42a, 42b, 42c are on a straight line. However, the connecting portions 41a, 41b, and 41c do not have to be on a straight line, and the connecting portions 42a, 42b, and 42c do not have to be on a straight line. Such an example is described in the fifth embodiment.
　第４実施形態によれば、第１伸縮アーム２の伸長に連動して第２伸縮アーム３は伸長し、第１伸縮アーム２の収縮に連動して第２伸縮アーム３は収縮する。ここで、第４実施形態によれば、連結部４１ａ，４２ａの間の距離を、連結部４１ｂ，４２ｂの間の距離より大きくすることができる。これにより、第１伸縮アーム２の伸縮時の変動長さを、第２伸縮アーム３の伸縮時の変動長さより大きくすることができる。 According to the fourth embodiment, the second telescopic arm 3 extends in conjunction with the extension of the first telescopic arm 2, and the second telescopic arm 3 contracts in conjunction with the contraction of the first telescopic arm 2. Here, according to the fourth embodiment, the distance between the connecting portions 41a and 42a can be made larger than the distance between the connecting portions 41b and 42b. As a result, the variable length of the first telescoping arm 2 during extension and retraction can be made larger than the variable length of the second telescopic arm 3 during extension and retraction.
　＜第５実施形態＞
　図１２は、本発明の第５実施形態に係る連動伸縮構造体の平面図である。図１３は、本発明の第５実施形態に係る連動伸縮構造体の平面図である。第５実施形態に係る連動伸縮構造体１Ｄが第４実施形態に係る連動伸縮構造体１Ｃと異なることは、連結部材４Ｃの代わりに連結部材４Ｄを備えることである。以下、第４実施形態との相違点が説明される。第４実施形態に係る連動伸縮構造体１Ｃとの共通点については、同一の符号が付された上で、その説明は原則省略され、必要に応じて説明される。 <Fifth Embodiment>
FIG. 12 is a plan view of an interlocking telescopic structure according to a fifth embodiment of the present invention. FIG. 13 is a plan view of an interlocking telescopic structure according to a fifth embodiment of the present invention. The interlocking expansion/contraction structure 1D according to the fifth embodiment differs from the interlocking expansion/contraction structure 1C according to the fourth embodiment in that a connecting member 4D is provided instead of the connecting member 4C. Differences from the fourth embodiment will be described below. Points in common with the interlocking expansion/contraction structure 1C according to the fourth embodiment are denoted by the same reference numerals, and descriptions thereof are omitted in principle, and will be described as necessary.
　図１２及び図１３に示すように、連動伸縮構造体１Ｄは、連結部材４Ｄを備える。連結部材４Ｄは、連結部材４Ｃと概ね同構成であるが、以下の点において相違する。 As shown in FIGS. 12 and 13, the interlocking telescopic structure 1D includes a connecting member 4D. The connecting member 4D has substantially the same configuration as the connecting member 4C, but differs in the following points.
　連結部材４Ｄの第１部材４１および第２部材４２は、屈曲している。なお、前述した実施形態と同様に、第１部材４１および第２部材４２の形状は、図１２及び図１３に示す形状に限らない。 The first member 41 and the second member 42 of the connecting member 4D are bent. In addition, the shape of the 1st member 41 and the 2nd member 42 is not restricted to the shape shown in FIG.12 and FIG.13 similarly to embodiment mentioned above.
　軸線方向から見て、第１中間連結部４１ｃを介して連結部４１ａ，４１ｂを結ぶ第１仮想線分Ｌ７と、第２中間連結部４２ｃを介して連結部４２ａ，４２ｂを結ぶ第２仮想線分Ｌ８とは交差している。この点、第１仮想線分Ｌ５と第２仮想線分Ｌ６とが交差している第４実施形態と同様である。しかし、第５実施形態では、軸線方向から見て、第１仮想線分Ｌ７及び第２仮想線分Ｌ８はＶ字状である点において、連動伸縮構造体１Ｄは連動伸縮構造体１Ｃと相違する。 When viewed from the axial direction, a first virtual line segment L7 connecting the connecting portions 41a and 41b via the first intermediate connecting portion 41c, and a second virtual line connecting the connecting portions 42a and 42b via the second intermediate connecting portion 42c. It intersects the minute L8. This point is the same as the fourth embodiment in which the first virtual line segment L5 and the second virtual line segment L6 intersect. However, in the fifth embodiment, the interlocking telescopic structure 1D differs from the interlocking telescopic structure 1C in that the first virtual line segment L7 and the second virtual line segment L8 are V-shaped when viewed from the axial direction. .
　軸線方向から見て、第１仮想線分Ｌ７のＶ字と、第２仮想線分Ｌ８のＶ字とは、互いに反対を向いている。これにより、軸線方向から見て、連結部４１ａ，４２ａが互いに近づく一方、連結部４１ｂ，４２ｂが互いに遠ざかっている。その結果、軸線方向から見て、連結部４１ａ，４２ａの間の距離が、連結部４２ｂ，４２ｂの間の距離より短くなっている。 When viewed from the axial direction, the V-shape of the first virtual line segment L7 and the V-shape of the second virtual line segment L8 face opposite to each other. As a result, when viewed from the axial direction, the connecting portions 41a and 42a move closer to each other, while the connecting portions 41b and 42b move away from each other. As a result, when viewed from the axial direction, the distance between the connecting portions 41a and 42a is shorter than the distance between the connecting portions 42b and 42b.
　以上のように構成された連動伸縮構造体１Ｄは、図１２の状態と図１３の状態との間で状態遷移可能である。図１２の状態と図１３の状態との間での状態遷移は、第４実施形態における図１０の状態と図１１の状態との間での状態遷移と同様である。 The interlocking expansion/contraction structure 1D configured as described above is capable of state transition between the state shown in FIG. 12 and the state shown in FIG. The state transition between the states of FIG. 12 and the state of FIG. 13 is the same as the state transition between the state of FIG. 10 and the state of FIG. 11 in the fourth embodiment.
　つまり、連結部材４Ｄの第１部材４１，第２部材４２が回動することによって、第１伸縮アーム２および第２伸縮アーム３は互いに連動して伸縮する。詳細には、第１伸縮アーム２の伸長に連動して第２伸縮アーム３が伸長する。また、第１伸縮アーム２の収縮に連動して第２伸縮アーム３が収縮する。また、第２伸縮アーム３の伸長に連動して第１伸縮アーム２が伸長する。また、第２伸縮アーム３の収縮に連動して第１伸縮アーム２が収縮する。 That is, by rotating the first member 41 and the second member 42 of the connecting member 4D, the first telescoping arm 2 and the second telescoping arm 3 are interlocked and telescopic. Specifically, the second telescoping arm 3 extends in conjunction with the extension of the first telescoping arm 2 . Further, the second telescoping arm 3 contracts in conjunction with the contraction of the first telescoping arm 2 . Also, the first telescopic arm 2 extends in conjunction with the extension of the second telescopic arm 3 . Also, the first telescopic arm 2 contracts in conjunction with the contraction of the second telescopic arm 3 .
　第４実施形態の連動伸縮構造体１Ｃと同様に、連動伸縮構造体１Ｄでは、第１部材４１および第２部材４２が回動したときに、第１部材４１および第２部材４２の回動軸の周りの周方向における連結部４１ａ，４２ａの間の距離の変動長さは、前記周方向における連結部４１ｂ，４２ｂの間の距離の変動長さと異なる。第５実施形態の連動伸縮構造体１Ｄにおいて、前記周方向における連結部４１ａ，４２ａの間の距離の変動長さ及び変動率が、前記周方向における連結部４１ｂ，４２ｂの間の距離の変動長さ及び変動率と異なっているが、変動長さ及び変動率の一方のみが異なっていてもよい。第４実施形態の連動伸縮構造体１Ｃと同様に、連動伸縮構造体１Ｄでは、第１伸縮アーム２の伸縮と第２伸縮アーム３の伸縮とは、正比例している。 As in the interlocking telescopic structure 1C of the fourth embodiment, in the interlocking telescopic structure 1D, when the first member 41 and the second member 42 rotate, the rotation axis of the first member 41 and the second member 42 The length of variation in the distance between the connecting portions 41a and 42a in the circumferential direction around is different from the length of variation in the distance between the connecting portions 41b and 42b in the circumferential direction. In the interlocking expansion/contraction structure 1D of the fifth embodiment, the variation length and variation rate of the distance between the connecting portions 41a and 42a in the circumferential direction are the variation length of the distance between the connecting portions 41b and 42b in the circumferential direction. length and rate of variation, but only one of length of variation and rate of variation may be different. As in the interlocking telescopic structure 1C of the fourth embodiment, in the interlocking telescopic structure 1D, the extension/contraction of the first telescopic arm 2 and the extension/contraction of the second telescopic arm 3 are in direct proportion.
　第５実施形態では、軸線方向から見て、第１仮想線分Ｌ７及び第２仮想線分Ｌ８の双方がＶ字状であったが、第１仮想線分Ｌ７及び第２仮想線分Ｌ８の一方のみがＶ字状であってもよい。この場合であっても、軸線方向から見て、連結部４１ａ，４２ａの間の距離を、連結部４２ｂ，４２ｂの間の距離より短くまたは長くすることができる。 In the fifth embodiment, both the first virtual line segment L7 and the second virtual line segment L8 are V-shaped when viewed from the axial direction. Only one side may be V-shaped. Even in this case, the distance between the connecting portions 41a and 42a can be made shorter or longer than the distance between the connecting portions 42b and 42b when viewed from the axial direction.
　第５実施形態では、軸線方向から見て、第１一方側連結部４１ａと第１中間連結部４１ｃとの距離は、第１他方側連結部４１ｂと第１中間連結部４１ｃとの距離と同じであり、第２一方側連結部４２ａと第２中間連結部４２ｃとの距離は、第２他方側連結部４２ｂと第２中間連結部４２ｃとの距離と同じである。しかし、第４実施形態に係る連動伸縮構造体１Ｃと同様に、これらの距離が異なっていてもよい。 In the fifth embodiment, when viewed from the axial direction, the distance between the first one-side connecting portion 41a and the first intermediate connecting portion 41c is the same as the distance between the first other-side connecting portion 41b and the first intermediate connecting portion 41c. , and the distance between the second one-side connecting portion 42a and the second intermediate connecting portion 42c is the same as the distance between the second other-side connecting portion 42b and the second intermediate connecting portion 42c. However, these distances may differ similarly to 1 C of interlocking|linkage expansion-contraction structures which concern on 4th Embodiment.
　第５実施形態によれば、第１伸縮アーム２の伸長に連動して第２伸縮アーム３は伸長し、第１伸縮アーム２の収縮に連動して第２伸縮アーム３は収縮する。ここで、第５実施形態によれば、連結部４１ａ，４２ａの間の距離と、連結部４１ｂ，４２ｂの間の距離とを、異なる距離とすることができる。これにより、第１伸縮アーム２の伸縮時の変動長さと、第２伸縮アーム３の伸縮時の変動長さとを、互いに相違させることができる。 According to the fifth embodiment, the second telescopic arm 3 extends in conjunction with the extension of the first telescopic arm 2, and the second telescopic arm 3 contracts in conjunction with the contraction of the first telescopic arm 2. Here, according to the fifth embodiment, the distance between the connecting portions 41a and 42a can be different from the distance between the connecting portions 41b and 42b. Thereby, the variable length when the first telescopic arm 2 is extended and retracted and the variable length when the second telescopic arm 3 is extended and retracted can be made different from each other.
　＜第６実施形態＞
　図１４は、本発明の第６実施形態に係る連動伸縮構造体の平面図である。図１５は、本発明の第６実施形態に係る連動伸縮構造体の正面図である。図１６は、本発明の第６実施形態に係る連動伸縮構造体の平面図である。 <Sixth embodiment>
FIG. 14 is a plan view of an interlocking telescopic structure according to a sixth embodiment of the present invention. FIG. 15 is a front view of an interlocking telescopic structure according to a sixth embodiment of the present invention. FIG. 16 is a plan view of an interlocking telescopic structure according to a sixth embodiment of the present invention.
　第６実施形態に係る連動伸縮構造体１Ｅが第５実施形態に係る連動伸縮構造体１Ｄと異なることは、連結部材４Ｄの代わりに連結部材４Ｅを備えることである。以下、第５実施形態との相違点が説明される。第５実施形態に係る連動伸縮構造体１Ｄとの共通点については、同一の符号が付された上で、その説明は原則省略され、必要に応じて説明される。 The interlocking telescopic structure 1E according to the sixth embodiment differs from the interlocking telescopic structure 1D according to the fifth embodiment in that a connecting member 4E is provided instead of the connecting member 4D. Differences from the fifth embodiment will be described below. Points in common with the interlocking expansion/contraction structure 1D according to the fifth embodiment are denoted by the same reference numerals, and descriptions thereof are omitted in principle, and will be described as necessary.
　図１４に示すように、連動伸縮構造体１Ｅは、連結部材４Ｅを備える。 As shown in FIG. 14, the interlocking telescopic structure 1E includes connecting members 4E.
　連結部材４Ｅの第１部材４１は、第１一方側部材４１１と、第１他方側部材４１２とを備える。第１一方側部材４１１は、第１一方側連結部４１ａを有する。第１他方側部材４１２は、第１他方側連結部４１ｂを有する。連結部４１ａ，４１ｂは、第５実施形態の連動伸縮構造体１Ｄと同様にして、クロスユニット２０Ａ，３０Ａの連結部２１ａ，３２ａと回動可能に連結されている。 The first member 41 of the connecting member 4E includes a first one-side member 411 and a first other-side member 412. The first one-side member 411 has a first one-side connecting portion 41a. The first other side member 412 has a first other side connecting portion 41b. The connecting portions 41a and 41b are rotatably connected to the connecting portions 21a and 32a of the cross units 20A and 30A in the same manner as the interlocking telescopic structure 1D of the fifth embodiment.
　第１一方側部材４１１には、第１一方側ギヤ４１１Ａが固定されている。第１一方側ギヤ４１１Ａは、ギヤの一例である。第１他方側部材４１２には、第１他方側ギヤ４１２Ａが固定されている。第１他方側ギヤ４１２Ａは、ギヤの一例である。第１中間連結部４１ｃは、ギヤ４１１Ａ，４１２Ａを備える。つまり、第１中間連結部４１ｃは、第１一方側部材４１１及び第１他方側部材４１２の双方に設けられている。 A first one-side gear 411A is fixed to the first one-side member 411 . The first one-side gear 411A is an example of a gear. A first other-side gear 412A is fixed to the first other-side member 412 . The first other side gear 412A is an example of a gear. The first intermediate connecting portion 41c includes gears 411A and 412A. That is, the first intermediate connecting portion 41 c is provided on both the first one-side member 411 and the first other-side member 412 .
　連結部材４Ｅの第２部材４２は、第２一方側部材４２１と、第２他方側部材４２２とを備える。第２一方側部材４２１は、第２一方側連結部４２ａを有する。第２他方側部材４２２は、第２他方側連結部４２ｂを有する。連結部４２ａ，４２ｂは、第５実施形態の連動伸縮構造体１Ｄと同様にして、クロスユニット２０Ａ，３０Ａの連結部２２ａ，３１ａと回動可能に連結されている。 The second member 42 of the connecting member 4E includes a second one-side member 421 and a second other-side member 422. The second one-side member 421 has a second one-side connecting portion 42a. The second other side member 422 has a second other side connecting portion 42b. The connecting portions 42a and 42b are rotatably connected to the connecting portions 22a and 31a of the cross units 20A and 30A in the same manner as the interlocking telescopic structure 1D of the fifth embodiment.
　第２一方側部材４２１には、第２一方側ギヤ４２１Ａが固定されている。第２一方側ギヤ４２１Ａは、ギヤの一例である。第２他方側部材４２２には、第２他方側ギヤ４２２Ａが固定されている。第２他方側ギヤ４２２Ａは、ギヤの一例である。第２中間連結部４２ｃは、ギヤ４２１Ａ，４２２Ａを備える。つまり、第２中間連結部４２ｃは、第２一方側部材４２１及び第２他方側部材４２２の双方に設けられている。 A second one-side gear 421 A is fixed to the second one-side member 421 . The second one-side gear 421A is an example of a gear. A second other-side gear 422A is fixed to the second other-side member 422 . The second other side gear 422A is an example of a gear. The second intermediate connecting portion 42c includes gears 421A and 422A. That is, the second intermediate connecting portion 42 c is provided on both the second one side member 421 and the second other side member 422 .
　図１５に示すように、ギヤ４１１Ａ，４１２Ａ，４２１Ａ，４２２Ａは、固定ピン６によって板部材５に回動可能に支持されている。なお、ギヤ４１１Ａ，４１２Ａ，４２１Ａ，４２２Ａを支持するための構成は、固定ピン６及び板部材５の構成に限らず、公知の種々の構成が採用可能である。 As shown in FIG. 15, the gears 411A, 412A, 421A, and 422A are rotatably supported by the plate member 5 by the fixing pin 6. The configuration for supporting the gears 411A, 412A, 421A, 422A is not limited to the configuration of the fixing pin 6 and the plate member 5, and various known configurations can be adopted.
　図１４に示すように、ギヤ４１１Ａ，４２１Ａは互いに噛合されており、ギヤ４１１Ａ，４２２Ａは互いに噛合されている。また、ギヤ４１２Ａ，４２１Ａは互いに噛合されており、ギヤ４１２Ａ，４２２Ａは互いに噛合されている。これにより、ギヤ４１１Ａ，４１２Ａ，４２１Ａ，４２２Ａが回転することによって、連結部材４Ｅの第１部材４１および第２部材４２は、連結部材４Ｄの第１部材４１および第２部材４２と同様に動作する。 As shown in FIG. 14, the gears 411A, 421A are meshed with each other, and the gears 411A, 422A are meshed with each other. Gears 412A and 421A are meshed with each other, and gears 412A and 422A are meshed with each other. As a result, the gears 411A, 412A, 421A, and 422A rotate, so that the first member 41 and the second member 42 of the connecting member 4E operate in the same manner as the first member 41 and the second member 42 of the connecting member 4D. .
　以上のように構成された連動伸縮構造体１Ｅは、図１４の状態と図１６の状態との間で状態遷移可能である。図１４の状態と図１６の状態との間での状態遷移は、第５実施形態における図１３の状態と図１２の状態との間での状態遷移と同様である。 The interlocking expansion/contraction structure 1E configured as described above is capable of state transition between the state shown in FIG. 14 and the state shown in FIG. The state transition between the states of FIG. 14 and the state of FIG. 16 is the same as the state transition between the state of FIG. 13 and the state of FIG. 12 in the fifth embodiment.
　図１４に示す構成では、各ギヤ４１１Ａ，４１２Ａ，４２１Ａ，４２２Ａは、直接に噛合されている。しかし、各ギヤ４１１Ａ，４１２Ａ，４２１Ａ，４２２Ａの間に、偶数個のギヤが介在されていてもよい。詳細には、ギヤ４１１Ａ，４２１Ａは偶数個のギヤを介して互いに噛合されており、ギヤ４１１Ａ，４２２Ａは偶数個のギヤを介して互いに噛合されていてもよい。また、ギヤ４１２Ａ，４２１Ａは偶数個のギヤを互いに噛合されており、ギヤ４１２Ａ，４２２Ａは偶数個のギヤを互いに噛合されていてもよい。なお、前記の「直接に噛合されている」とは、「０個（偶数個）のギヤを介して互いに噛合されている」との意味にも捉えられる。 In the configuration shown in FIG. 14, the gears 411A, 412A, 421A, 422A are directly meshed. However, an even number of gears may be interposed between the gears 411A, 412A, 421A, 422A. Specifically, the gears 411A and 421A may be meshed with each other through an even number of gears, and the gears 411A and 422A may be meshed with each other through an even number of gears. Also, the gears 412A and 421A may be meshed with an even number of gears, and the gears 412A and 422A may be meshed with an even number of gears. Note that the above-mentioned "directly meshed" can also be understood as meaning "intermeshed with each other via 0 (even number) of gears".
　第６実施形態によれば、各ギヤ４１１Ａ，４１２Ａ，４２１Ａ，４２２Ａがある回転方向に回転したとき、連結部４１ａ，４２ａは互いに近づき、連結部４１ｂ，４２ｂも互いに近づく。また、各ギヤ４１１Ａ，４１２Ａ，４２１Ａ，４２２Ａが当該ある回転方向と逆方向に回転したとき、連結部４１ａ，４２ａは互いに離れ、４１ｂ，４２ｂも互いに離れる。これにより、第１伸縮アーム２の伸縮と第２伸縮アーム３の伸縮とを同じ種類の動きとすることができる。 According to the sixth embodiment, when the gears 411A, 412A, 421A, and 422A rotate in a certain rotational direction, the connecting portions 41a and 42a approach each other, and the connecting portions 41b and 42b also approach each other. Further, when the respective gears 411A, 412A, 421A, 422A rotate in a direction opposite to the certain rotational direction, the connecting portions 41a, 42a separate from each other, and the connecting portions 41b, 42b also separate from each other. Thereby, the expansion and contraction of the first telescopic arm 2 and the expansion and contraction of the second telescopic arm 3 can be the same type of movement.
　また、第６実施形態によれば、ギヤ４１１Ａ，４１２Ａの間と、ギヤ４２１Ａ，４２２Ａの間とに奇数個の中間ギヤを新たに介在させることによって、第１伸縮アーム２の伸縮と第２伸縮アーム３の伸縮とが逆の動きをするように、連動伸縮構造体１Ｅの構成を後述する第７実施形態の連動伸縮構造体１Ｆと同様の構成に変えることができる。つまり、第６実施形態によれば、連動伸縮構造体１Ｅの構成を容易に変えることができる。 Further, according to the sixth embodiment, by newly interposing an odd number of intermediate gears between the gears 411A and 412A and between the gears 421A and 422A, the extension and contraction of the first telescopic arm 2 and the second telescopic arm 2 are performed. The configuration of the interlocking telescoping structure 1E can be changed to the same configuration as the interlocking telescoping structure 1F of the seventh embodiment, which will be described later, so that the arm 3 moves in the opposite direction to the extension and contraction. That is, according to the sixth embodiment, the configuration of the interlocking expansion/contraction structure 1E can be easily changed.
　＜第７実施形態＞
　図１７は、本発明の第７実施形態に係る連動伸縮構造体１Ｆの平面図である。図１８は、本発明の第７実施形態に係る連動伸縮構造体１Ｆの正面図である。図１９は、本発明の第７実施形態に係る連動伸縮構造体１Ｆの平面図である。 <Seventh embodiment>
FIG. 17 is a plan view of an interlocking elastic structure 1F according to the seventh embodiment of the present invention. FIG. 18 is a front view of an interlocking telescopic structure 1F according to the seventh embodiment of the present invention. FIG. 19 is a plan view of an interlocking elastic structure 1F according to the seventh embodiment of the present invention.
　第７実施形態に係る連動伸縮構造体１Ｆが第２実施形態に係る連動伸縮構造体１Ａと異なることは、連結部材４Ａの代わりに連結部材４Ｆを備えることである。以下、第２実施形態との相違点が説明される。第２実施形態に係る連動伸縮構造体１Ａとの共通点については、同一の符号が付された上で、その説明は原則省略され、必要に応じて説明される。 The interlocking telescopic structure 1F according to the seventh embodiment differs from the interlocking telescopic structure 1A according to the second embodiment in that a connecting member 4F is provided instead of the connecting member 4A. Differences from the second embodiment will be described below. Points in common with the interlocking expansion/contraction structure 1A according to the second embodiment are denoted by the same reference numerals, and descriptions thereof are omitted in principle, and will be described as necessary.
　図１７に示すように、連動伸縮構造体１Ｆは、連結部材４Ｆを備える。 As shown in FIG. 17, the interlocking telescopic structure 1F includes connecting members 4F.
　連結部材４Ｆの第１部材４１は、第１一方側部材４１１と、第１他方側部材４１２とを備える。第１一方側部材４１１は、第１一方側連結部４１ａを有する。他方側部材４１２は、第１他方側連結部４１ｂを有する。連結部４１ａ，４１ｂは、第２実施形態の連動伸縮構造体１Ａと同様にして、クロスユニット２０Ａ，３０Ａの連結部２１ａ，３１ａと回動可能に連結されている。 The first member 41 of the connecting member 4F includes a first one-side member 411 and a first other-side member 412 . The first one-side member 411 has a first one-side connecting portion 41a. The other-side member 412 has a first other-side connecting portion 41b. The connecting portions 41a and 41b are rotatably connected to the connecting portions 21a and 31a of the cross units 20A and 30A in the same manner as the interlocking telescopic structure 1A of the second embodiment.
　第１一方側部材４１１には、第１一方側ギヤ４１１Ａが固定されている。第１一方側ギヤ４１１Ａは、ギヤの一例である。第１他方側部材４１２には、第１他方側ギヤ４１２Ａが固定されている。第１他方側ギヤ４１２Ａは、ギヤの一例である。第１中間連結部４１ｃは、ギヤ４１１Ａ，４１２Ａを備える。つまり、第１中間連結部４１ｃは、第１一方側部材４１１及び第１他方側部材４１２の双方に設けられている。また、第１中間連結部４１ｃは、第１中間ギヤ４１Ａを更に備えている。第１中間ギヤ４１Ａは、ギヤの一例である。 A first one-side gear 411A is fixed to the first one-side member 411 . The first one-side gear 411A is an example of a gear. A first other-side gear 412A is fixed to the first other-side member 412 . The first other side gear 412A is an example of a gear. The first intermediate connecting portion 41c includes gears 411A and 412A. That is, the first intermediate connecting portion 41 c is provided on both the first one-side member 411 and the first other-side member 412 . The first intermediate connecting portion 41c further includes a first intermediate gear 41A. The first intermediate gear 41A is an example of a gear.
　連結部材４Ｆの第２部材４２は、第２一方側部材４２１と、第２他方側部材４２２とを備える。第２一方側部材４２１は、第２一方側連結部４２ａを有する。第２他方側部材４２２は、第２他方側連結部４２ｂを有する。連結部４２ａ，４２ｂは、第２実施形態の連動伸縮構造体１Ａと同様にして、クロスユニット２０Ａ，３０Ａの連結部２２ａ，３２ａと回動可能に連結されている。 The second member 42 of the connecting member 4F includes a second one-side member 421 and a second other-side member 422. The second one-side member 421 has a second one-side connecting portion 42a. The second other side member 422 has a second other side connecting portion 42b. The connecting portions 42a and 42b are rotatably connected to the connecting portions 22a and 32a of the cross units 20A and 30A in the same manner as the interlocking telescopic structure 1A of the second embodiment.
　第２一方側部材４２１には、第２一方側ギヤ４２１Ａが固定されている。第２一方側ギヤ４２１Ａは、ギヤの一例である。第２他方側部材４２２には、第２他方側ギヤ４２２Ａが固定されている。第２他方側ギヤ４２２Ａは、ギヤの一例である。第２中間連結部４２ｃは、ギヤ４２１Ａ，４２２Ａを備える。つまり、第２中間連結部４２ｃは、第２一方側部材４２１及び第２他方側部材４２２の双方に設けられている。また、第２中間連結部４２ｃは、第２中間ギヤ４２Ａを更に備えている。第２中間ギヤ４２Ａは、ギヤの一例である。 A second one-side gear 421 A is fixed to the second one-side member 421 . The second one-side gear 421A is an example of a gear. A second other-side gear 422A is fixed to the second other-side member 422 . The second other side gear 422A is an example of a gear. The second intermediate connecting portion 42c includes gears 421A and 422A. That is, the second intermediate connecting portion 42 c is provided on both the second one side member 421 and the second other side member 422 . The second intermediate connecting portion 42c further includes a second intermediate gear 42A. The second intermediate gear 42A is an example of a gear.
　図１８に示すように、ギヤ４１１Ａ，４１２Ａ，４１Ａ，４２１Ａ，４２２Ａ，４２Ａは、固定ピン６によって板部材５に回動可能に支持されている。なお、ギヤ４１１Ａ，４１２Ａ，４１Ａ，４２１Ａ，４２２Ａ，４２Ａを支持するための構成は、固定ピン６及び板部材５の構成に限らず、公知の種々の構成が採用可能である。 As shown in FIG. 18, the gears 411A, 412A, 41A, 421A, 422A, and 42A are rotatably supported by the plate member 5 by the fixing pin 6. The configuration for supporting the gears 411A, 412A, 41A, 421A, 422A, 42A is not limited to the configuration of the fixing pin 6 and the plate member 5, and various known configurations can be adopted.
　図１７に示すように、ギヤ４１１Ａ，４１２Ａは第１中間ギヤ４１Ａを介して互いに噛合されており、ギヤ４２１Ａ，４２２Ａは第２中間ギヤ４２Ａを介して互いに噛合されている。また、ギヤ４１１Ａ，４２１Ａは互いに噛合されており、ギヤ４１２Ａ，４２２Ａは互いに噛合されている。これにより、ギヤ４１１Ａ，４１２Ａ，４１Ａ，４２１Ａ，４２２Ａ，４２Ａが回転することによって、連結部材４Ｆの第１部材４１および第２部材４２は、連結部材４Ａの第１部材４１および第２部材４２と同様に動作する。 As shown in FIG. 17, the gears 411A, 412A are meshed with each other via the first intermediate gear 41A, and the gears 421A, 422A are meshed with each other via the second intermediate gear 42A. Gears 411A and 421A are meshed with each other, and gears 412A and 422A are meshed with each other. As a result, the gears 411A, 412A, 41A, 421A, 422A, and 42A rotate so that the first member 41 and the second member 42 of the connecting member 4F are connected to the first member 41 and the second member 42 of the connecting member 4A. works similarly.
　以上のように構成された連動伸縮構造体１Ｆは、図１７の状態と図１９の状態との間で状態遷移可能である。図１７の状態と図１９の状態との間での状態遷移は、第２実施形態における図６の状態と図５の状態との間での状態遷移と同様である。 The interlocking telescopic structure 1F configured as described above is capable of state transition between the state shown in FIG. 17 and the state shown in FIG. The state transition between the states of FIG. 17 and the state of FIG. 19 is the same as the state transition between the state of FIG. 6 and the state of FIG. 5 in the second embodiment.
　図１７に示す構成では、ギヤ４１１Ａ，４１２Ａは１個の第１中間ギヤ４１Ａを介して噛合されており、ギヤ４２１Ａ，４２２Ａは１個の第２中間ギヤ４２Ａを介して互いに噛合されている。しかし、ギヤ４１１Ａ，４１２Ａの間及びギヤ４２１Ａ，４２２Ａの間に介在されるギヤの数は、奇数個であればよく１個に限らない。 In the configuration shown in FIG. 17, gears 411A and 412A are meshed via one first intermediate gear 41A, and gears 421A and 422A are meshed with each other via one second intermediate gear 42A. However, the number of gears interposed between the gears 411A and 412A and between the gears 421A and 422A may be an odd number and is not limited to one.
　また、図１７に示す構成では、ギヤ４１１Ａ，４２１Ａは直接に噛合されており、ギヤ４１２Ａ，４２２Ａは直接に噛合されている。しかし、ギヤ４１１Ａ，４２１Ａの間及びギヤ４１２Ａ，４２２Ａの間に、偶数個のギヤが介在されていてもよい。詳細には、ギヤ４１１Ａ，４２１Ａは偶数個のギヤを介して互いに噛合されており、ギヤ４１２Ａ，４２２Ａは偶数個のギヤを介して互いに噛合されていてもよい。なお、前記の「直接に噛合されている」とは、「０個（偶数個）のギヤを介して互いに噛合されている」との意味にも捉えられる。 Also, in the configuration shown in FIG. 17, the gears 411A and 421A are directly meshed, and the gears 412A and 422A are directly meshed. However, an even number of gears may be interposed between the gears 411A, 421A and between the gears 412A, 422A. Specifically, the gears 411A and 421A may be meshed with each other through an even number of gears, and the gears 412A and 422A may be meshed with each other through an even number of gears. Note that the above-mentioned "directly meshed" can also mean "intermeshed with each other via 0 (even number) of gears".
　第７実施形態によれば、各ギヤ４１Ａ，４１１Ａ，４１２Ａ，４２Ａ，４２１Ａ，４２２Ａがある回転方向に回転したとき、連結部４１ａ，４２ａは互いに近づき、連結部４１ｂ，４２ｂは互いに離れる。また、各ギヤ４１Ａ，４１１Ａ，４１２Ａ，４２Ａ，４２１Ａ，４２２Ａが当該ある回転方向と逆方向に回転したとき、連結部４１ａ，４２ａは互いに離れ、連結部４１ｂ，４２ｂは互いに近づく。これにより、第１伸縮アーム２の伸縮と第２伸縮アーム３の伸縮とを逆の動きとすることができる。 According to the seventh embodiment, when the gears 41A, 411A, 412A, 42A, 421A, and 422A rotate in a certain rotational direction, the connecting portions 41a and 42a approach each other and the connecting portions 41b and 42b move away from each other. Also, when the respective gears 41A, 411A, 412A, 42A, 421A, 422A rotate in a direction opposite to the certain rotational direction, the connecting portions 41a, 42a move away from each other, and the connecting portions 41b, 42b approach each other. As a result, the expansion and contraction of the first telescopic arm 2 and the expansion and contraction of the second telescopic arm 3 can be reversed.
　また、第７実施形態によれば、ギヤ４１Ａ，４２Ａを取り除くまたはギヤ４１Ａ，４２Ａをそれぞれ偶数個とすることによって、第１伸縮アーム２の伸長・収縮の動きと第２伸縮アーム３の伸長・収縮の動きとが同じ種類であるように、連動伸縮構造体１Ｆを前述した第６実施形態の連動伸縮構造体１Ｅと同様に構成に変えることができる。つまり、第７実施形態によれば、連動伸縮構造体１Ｆの構成を容易に変えることができる。 Further, according to the seventh embodiment, by removing the gears 41A and 42A or providing an even number of the gears 41A and 42A, the extension/retraction movement of the first telescoping arm 2 and the extension/retraction of the second telescoping arm 3 are performed. The interlocking telescoping structure 1F can be configured similarly to the interlocking telescoping structure 1E of the sixth embodiment described above so that the contraction movement is of the same type. That is, according to the seventh embodiment, the configuration of the interlocking telescopic structure 1F can be easily changed.
　＜プログラム＞
　以上説明した連動伸縮構造体１、１Ａ、１Ｂ、１Ｃ、１Ｄ、１Ｅ、１Ｆは、コンピュータ上でシミュレーション可能である。 <Program>
The interlocking expansion/ contraction structures 1, 1A, 1B, 1C, 1D, 1E, and 1F described above can be simulated on a computer.
　図２０は、例えば連動伸縮構造体１の伸長・収縮の動作をシミュレートするためのハードウェア構成を例示するブロック図である。当該ハードウェア構成は、シミュレーション装置１００と、入力部２００と、表示部３００とを含んでいる。 FIG. 20 is a block diagram illustrating the hardware configuration for simulating the expansion/contraction motion of the interlocking expansion/contraction structure 1, for example. The hardware configuration includes a simulation device 100 , an input section 200 and a display section 300 .
　シミュレーション装置１００は、演算装置であり、例えばデスクトップコンピュータ、ラップトップコンピュータ、スマートフォン等である。 The simulation device 100 is an arithmetic device, such as a desktop computer, laptop computer, smartphone, or the like.
　入力部２００は、ユーザによって入力を受け付け、入力に応じた信号をシミュレーション装置１００へ送る。入力部２００は、例えば、キーボード、マウス、タッチパネル等である。 The input unit 200 receives input from the user and sends a signal corresponding to the input to the simulation device 100 . The input unit 200 is, for example, a keyboard, mouse, touch panel, or the like.
　表示部３００は、シミュレーション装置１００から取得した信号に応じた画像を画面に表示させるものであり、例えば液晶ディスプレイ、有機ＥＬディスプレイ等である。なお、シミュレーション装置１００、入力部２００、表示部３００は、別体であってもよいし、一体であってもよい。例えば、シミュレーション装置１００がラップトップコンピュータやスマートフォンである場合、シミュレーション装置１００は、入力部２００及び表示部３００と一体に構成される。 The display unit 300 displays an image corresponding to the signal acquired from the simulation device 100 on the screen, and is, for example, a liquid crystal display, an organic EL display, or the like. The simulation device 100, the input unit 200, and the display unit 300 may be separate units or integrated. For example, when the simulation device 100 is a laptop computer or a smartphone, the simulation device 100 is configured integrally with the input unit 200 and the display unit 300 .
　シミュレーション装置１００は、制御部１１０と、記憶部１２０と、通信インタフェース（通信Ｉ／Ｆ）１３０と、信号入力部１４０と、信号出力部１５０とを備える。 The simulation device 100 includes a control section 110 , a storage section 120 , a communication interface (communication I/F) 130 , a signal input section 140 and a signal output section 150 .
　制御部１１０は、ＣＰＵ（Central Processing Unit）等の演算を実行する部分である。 The control unit 110 is a part that executes calculations such as a CPU (Central Processing Unit).
　記憶部１２０は、連動伸縮構造体の伸長・収縮の動作のシミュレーションを実現するために必要なプログラム及びデータを含む種々の情報を記録する記録媒体である。記憶部１２０は、例えば、フラッシュメモリ、ＳＳＤ（Solid State Drive）などの半導体メモリ装置、ハードディスク等の磁気記憶装置、その他の記憶デバイス単独で又はそれらを適宜組み合わせて実現される。記憶部１２０は、種々の情報を一時的に記憶する高速動作可能なＳＲＡＭ、ＤＲＡＭなどの揮発性メモリを含んでもよい。 The storage unit 120 is a recording medium for recording various information including programs and data necessary for simulating the extension/contraction motion of the interlocking telescopic structure. The storage unit 120 is realized by, for example, a semiconductor memory device such as a flash memory, an SSD (Solid State Drive), a magnetic storage device such as a hard disk, or other storage devices alone or by appropriately combining them. Storage unit 120 may include a volatile memory such as SRAM, DRAM, or the like, which temporarily stores various information and is capable of high-speed operation.
　制御部１１０が、記憶部１２０に記憶されたプログラムを実行することにより、後述されるシミュレーションが実行される。なお、プログラムは、記憶部１２０に記憶されたものに限らず、ＡＳＩＣ（Application Specific Integrated Circuit）等のハードウェアによって構成されていてもよい。 The control unit 110 executes a program stored in the storage unit 120 to execute a simulation, which will be described later. The programs are not limited to those stored in the storage unit 120, and may be configured by hardware such as ASIC (Application Specific Integrated Circuit).
　通信インタフェース１３０は、シミュレーション装置１００と外部機器との通信を可能にするものであればよい。通信インタフェース１３０は、様々な態様で実現可能である。例えば、通信インタフェース１３０は、外部機器と有線で接続する態様であってもよいし、外部機器と無線で通信接続する態様であってもよい。有線接続の通信インタフェース１３０としては、例えば、Ｅｔｈｅｒｎｅｔ（イーサネット：登録商標）規格に基づく有線ＬＡＮ、又は、光ファイバーケーブルを用いた有線接続などがある。無線接続の通信インタフェース１３０としては、例えば、ＩＥＥＥ８０２．１１対応の無線ＬＡＮ、第３世代移動通信システム（通称３Ｇ）、第４世代移動通信システム（通称４Ｇ）、第５世代移動通信システム（通称５Ｇ）等がある。 The communication interface 130 may be any interface that enables communication between the simulation apparatus 100 and external devices. Communication interface 130 can be implemented in a variety of ways. For example, the communication interface 130 may be connected to the external device by wire, or may be connected to the external device wirelessly. The wired communication interface 130 includes, for example, a wired LAN based on the Ethernet (Ethernet: registered trademark) standard, or a wired connection using an optical fiber cable. As the communication interface 130 for wireless connection, for example, a wireless LAN compatible with IEEE 802.11, a third generation mobile communication system (commonly known as 3G), a fourth generation mobile communication system (commonly known as 4G), a fifth generation mobile communication system (commonly known as 5G) ), etc.
　信号入力部１４０は、入力部２００からの信号を取得し、制御部１１０や記憶部１２０に出力する。シミュレーション装置１００が、光ディスク、半導体メモリ等の記録媒体に記憶されたプログラムやデータを読み取る機能を有する場合、信号入力部１４０は、当該読み取り機能を実現するための媒体リーダを含む。 The signal input unit 140 acquires a signal from the input unit 200 and outputs it to the control unit 110 and the storage unit 120. If the simulation apparatus 100 has a function of reading programs and data stored in a recording medium such as an optical disk or a semiconductor memory, the signal input unit 140 includes a medium reader for realizing the reading function.
　信号出力部１５０は、制御部１１０から命令に応じて、信号を表示部３００へ出力する。 The signal output unit 150 outputs a signal to the display unit 300 in response to a command from the control unit 110 .
　図２１は、連動伸縮構造体の伸縮動作のシミュレーションを説明するためのフローチャートである。以下、図２１が参照されつつ、連動伸縮構造体の伸縮動作のシミュレーションが説明される。 FIG. 21 is a flow chart for explaining the simulation of the expansion and contraction motion of the interlocking expansion and contraction structure. A simulation of the expansion/contraction motion of the interlocking expansion/contraction structure will be described below with reference to FIG. 21 .
　最初に、シミュレーション装置１００の信号入力部１４０は、外部機器、媒体リーダに装着された記録媒体、及び入力部２００等から、連動伸縮構造体に関する情報を取得する（Ｓ１０）。外部機器からの情報は、通信インタフェース１３０を介して取得される。 First, the signal input unit 140 of the simulation device 100 acquires information about the interlocking telescopic structure from the external device, the recording medium attached to the medium reader, the input unit 200, etc. (S10). Information from the external device is acquired via the communication interface 130 .
　連動伸縮構造体に関する情報は、少なくとも第１情報、第２情報、及び第３情報を含む。 The information about the interlocking telescopic structure includes at least first information, second information, and third information.
　第１情報は、第１伸縮アーム２の構造に関する情報である。第１伸縮アーム２の構造に関する情報は、例えば、第１伸縮アーム２を構成する各クロスユニット２０における各剛性部材２１，２２の各連結部２１ａ，２１ｂ，２１ｃ，２２ａ，２２ｂ，２２ｃの座標を示すデータである。第１伸縮アーム２の構造に関する情報として、前記の座標に加えて、各剛性部材２１，２２の形状に関する情報（例えば、前記座標の座標系において各剛性部材２１，２２が占有する部分の座標）を更に含んでいてもよい。 The first information is information regarding the structure of the first telescopic arm 2 . The information on the structure of the first telescopic arm 2 is, for example, the coordinates of the connecting portions 21a, 21b, 21c, 22a, 22b, and 22c of the rigid members 21 and 22 in the cross units 20 constituting the first telescopic arm 2. data shown. Information about the shape of each rigid member 21, 22 (for example, the coordinates of the portion occupied by each rigid member 21, 22 in the coordinate system of the coordinates) in addition to the coordinates as information about the structure of the first telescopic arm 2 may further include
　第２情報は、第２伸縮アーム３の構造に関する情報である。第２伸縮アーム３の構造に関する情報は、例えば、第２伸縮アーム３を構成する各クロスユニット３０における各剛性部材３１，３２の各連結部３１ａ，３１ｂ，３１ｃ，３２ａ，３２ｂ，３２ｃの座標を示すデータである。第２伸縮アーム３の構造に関する情報として、前記の座標に加えて、各剛性部材３１，３２の形状に関する情報（例えば、前記座標の座標系において各剛性部材３１，３２が占有する部分の座標）を更に含んでいてもよい。 The second information is information regarding the structure of the second telescopic arm 3 . The information on the structure of the second telescopic arm 3 is, for example, the coordinates of the connecting portions 31a, 31b, 31c, 32a, 32b, 32c of the rigid members 31, 32 in the cross units 30 constituting the second telescopic arm 3. data shown. Information on the shape of each rigid member 31, 32 (for example, the coordinates of the portion occupied by each rigid member 31, 32 in the coordinate system) may further include
　第３情報は、連結部材４の構造に関する情報である。連結部材４の構造に関する情報は、例えば、連結部材４を構成する各第１部材４１および第２部材４２の各連結部４１ａ，４１ｂ，４１ｃ，４２ａ，４２ｂ，４２ｃの座標を示すデータである。連結部材４の構造に関する情報として、前記の座標に加えて、各第１部材４１および第２部材４２の形状に関する情報（例えば、前記座標の座標系において第１部材４１および第２部材４２が占有する部分の座標）を更に含んでいてもよい。 The third information is information regarding the structure of the connecting member 4 . The information about the structure of the connecting member 4 is, for example, data indicating the coordinates of the connecting portions 41a, 41b, 41c, 42a, 42b, and 42c of the first members 41 and the second members 42 that constitute the connecting member 4. FIG. As information about the structure of the connecting member 4, in addition to the coordinates, information about the shape of each of the first members 41 and the second members 42 (for example, information about the shapes of the first members 41 and the second members 42 in the coordinate system of the coordinates). (coordinates of the part to be processed) may be further included.
　第１伸縮アーム２と第２伸縮アーム３と連結部材４の構造に関する情報は、前述したような座標に限らず、公知の種々の情報が採用可能である。例えば、これらの情報は、行列データ、ベクトルデータ等によって形成されていてもよい。 Information about the structures of the first telescopic arm 2, the second telescopic arm 3, and the connecting member 4 is not limited to the coordinates as described above, and various known information can be adopted. For example, these pieces of information may be formed by matrix data, vector data, or the like.
　信号入力部１４０は、取得した情報を制御部１１０へ出力する。制御部１１０は、信号入力部１４０から受け取った情報（以下、新情報と記す。）を、既に記憶部１２０に記憶されている情報（以下、旧情報と記す。）と比較する。 The signal input unit 140 outputs the acquired information to the control unit 110. Control unit 110 compares information received from signal input unit 140 (hereinafter referred to as new information) with information already stored in storage unit 120 (hereinafter referred to as old information).
　旧情報が記憶部１２０に記憶されていない場合（Ｓ２０：ＮＯ）、制御部１１０は、新情報を信号出力部１５０へ出力すると共に、新情報を表示部３００に表示する旨の命令を信号出力部１５０へ出力する（Ｓ４０）。また、制御部１１０は、新情報を記憶部１２０へ出力して記憶部１２０に記憶する。この新情報は、次回のステップＳ２０の実行時に旧情報となる。なお、制御部１１０が新情報を記憶部１２０へ出力する代わりに、信号入力部１４０が取得した情報を記憶部１２０へ直接送ってもよい。 If the old information is not stored in the storage unit 120 (S20: NO), the control unit 110 outputs the new information to the signal output unit 150 and outputs a signal to display the new information on the display unit 300. Output to the unit 150 (S40). Control unit 110 also outputs the new information to storage unit 120 and stores the new information in storage unit 120 . This new information becomes old information when step S20 is executed next time. Note that the information acquired by the signal input unit 140 may be sent directly to the storage unit 120 instead of the control unit 110 outputting the new information to the storage unit 120 .
　旧情報が記憶部１２０に記憶されている場合（Ｓ２０：ＹＥＳ）、制御部１１０は、新情報及び旧情報に基づいて、以下に詳述するように、変更後情報を算出する（Ｓ３０）。 If the old information is stored in the storage unit 120 (S20: YES), the control unit 110 calculates post-change information based on the new information and the old information (S30).
　制御部１１０は、新情報と旧情報とを比較する。新情報の旧情報からの変化に応じて、新情報のうち、旧情報から変化した情報以外の情報の変化を算出する。当該算出は、予め設定された算出式に基づいて実行される。算出式は、例えば、前述したような連動伸縮構造体１の各連結部の回動動作を実現するような行列式等である。 The control unit 110 compares the new information and the old information. According to the change of the new information from the old information, the change of the information other than the information changed from the old information is calculated among the new information. The calculation is performed based on a preset calculation formula. The calculation formula is, for example, a determinant or the like that realizes the rotational movement of each connecting portion of the interlocking telescopic structure 1 as described above.
　制御部１１０は、算出した変更後情報を信号出力部１５０へ出力すると共に、変更後情報に応じた信号を表示部３００に表示する旨の命令を信号出力部１５０へ出力する（Ｓ４０）。 The control unit 110 outputs the calculated post-change information to the signal output unit 150, and outputs a command to the signal output unit 150 to display a signal corresponding to the post-change information on the display unit 300 (S40).
　信号出力部１５０は、制御部１１０から命令に応じて、新情報または変更後情報に応じた信号を表示部３００へ出力する。これにより、当該信号に応じた連動伸縮構造体１が、例えば図１に示すような態様で、表示部３００に表示される（Ｓ５０）。なお、連動伸縮構造体１の表示部３００の表示態様は、図１に示す平面表示に限らず、斜視表示等の三次元表示も可能である。つまり、任意の方向から見た連動伸縮構造体１が、表示部３００に表示可能である。 The signal output unit 150 outputs a signal corresponding to new information or post-change information to the display unit 300 in response to a command from the control unit 110 . As a result, the interlocking elastic structure 1 corresponding to the signal is displayed on the display unit 300, for example, in the manner shown in FIG. 1 (S50). The display mode of the display unit 300 of the interlocking elastic structure 1 is not limited to the planar display shown in FIG. 1, and three-dimensional display such as perspective display is also possible. That is, the interlocking elastic structure 1 viewed from any direction can be displayed on the display unit 300 .
　例えば、連動伸縮構造体１が図１に示す状態から図２に示す状態へ状態遷移する場合、シミュレーション装置１００は、以下のように情報を処理する。 For example, when the interlocking telescopic structure 1 transitions from the state shown in FIG. 1 to the state shown in FIG. 2, the simulation device 100 processes information as follows.
　最初に、信号入力部１４０は、図１に示す連動伸縮構造体１の各連結部の座標を示す情報を外部から取得して、制御部１１０へ出力する（Ｓ１０）。 First, the signal input unit 140 acquires information indicating the coordinates of each connection part of the interlocking elastic structure 1 shown in FIG. 1 from the outside, and outputs the information to the control unit 110 (S10).
　記憶部１２０に情報が記憶されていないため（Ｓ２０：ＮＯ）、制御部１１０は、信号入力部１４０から受け取った情報を表示命令と共に信号出力部１５０へ出力する（Ｓ４０）。なお、制御部１１０は、信号入力部１４０から受け取った情報を記憶部１２０に記憶する。信号出力部１５０は、制御部１１０から命令に応じて、当該情報に応じた信号を表示部３００へ出力する。これにより、当該信号に応じた連動伸縮構造体１が、図１に示すような態様で、表示部３００に表示される（Ｓ５０）。ここで、図２１に示すフローチャートの処理は終了する。 Since no information is stored in the storage unit 120 (S20: NO), the control unit 110 outputs the information received from the signal input unit 140 together with the display command to the signal output unit 150 (S40). Note that the control unit 110 stores the information received from the signal input unit 140 in the storage unit 120 . Signal output section 150 outputs a signal corresponding to the information to display section 300 in response to a command from control section 110 . As a result, the interlocking elastic structure 1 corresponding to the signal is displayed on the display unit 300 in the manner shown in FIG. 1 (S50). Here, the processing of the flowchart shown in FIG. 21 ends.
　次に、信号入力部１４０は、新たな情報を外部から取得して、制御部１１０へ出力する（Ｓ１０）。このとき、図２１に示すフローチャートの処理が再び実行開始される。新たな情報は、図１に示す連動伸縮構造体１において、連結部４２ｂ，２２ａ，３２ａの座標が図１に示す位置から時計回りに所定量変化したときの、変化後の連結部４２ｂ，２２ａ，３２ａの座標を含む。例えば、表示部３００に表示された連動伸縮構造体１の連結部４２ｂ，２２ａ，３２ａがドラッグ処理等によって移動されたとき、その移動による連結部４２ｂ，２２ａ，３２ａの座標の変化が、前記の新たな情報に相当する。 Next, the signal input unit 140 acquires new information from the outside and outputs it to the control unit 110 (S10). At this time, the processing of the flowchart shown in FIG. 21 is started again. The new information is, in the interlocking elastic structure 1 shown in FIG. , 32a. For example, when the connecting portions 42b, 22a, and 32a of the interlocking telescopic structure 1 displayed on the display unit 300 are moved by a drag process or the like, the change in the coordinates of the connecting portions 42b, 22a, and 32a due to the movement causes the above-mentioned It corresponds to new information.
　前回のフローチャートの処理において、記憶部１２０に情報が記憶されているため（Ｓ２０：ｙｅｓ）、制御部１１０は、連結部４２ｂ，２２ａ，３２ａの座標の変化に基づいて、連動伸縮構造体１を構成する連結部のうち、連結部４２ｂ，２２ａ，３２ａを除く他の連結部の座標（変更後情報）を算出する（Ｓ４０）。 Since the information is stored in the storage unit 120 in the processing of the previous flowchart (S20: yes), the control unit 110 moves the interlocking telescopic structure 1 based on the change in the coordinates of the connecting portions 42b, 22a, and 32a. Coordinates (post-change information) of the connecting portions other than the connecting portions 42b, 22a, and 32a are calculated (S40).
　その後、制御部１１０は、算出した変更後情報を表示命令と共に信号出力部１５０へ出力する（Ｓ３０）。なお、制御部１１０は、変更後情報を記憶部１２０に記憶する。信号出力部１５０は、制御部１１０から命令に応じて、変更後情報に応じた信号を表示部３００へ出力する。これにより、当該信号に応じた連動伸縮構造体１が、図１に示すような態様から図２に示すような態様に変化されて、表示部３００に表示される（Ｓ５０）。ここで、図２１に示すフローチャートの処理は終了する。 After that, the control unit 110 outputs the calculated post-change information to the signal output unit 150 together with the display command (S30). Note that control unit 110 stores the post-change information in storage unit 120 . Signal output unit 150 outputs a signal corresponding to post-change information to display unit 300 in response to a command from control unit 110 . As a result, the interlocking elastic structure 1 according to the signal is displayed on the display unit 300 after being changed from the mode shown in FIG. 1 to the mode shown in FIG. 2 (S50). Here, the processing of the flowchart shown in FIG. 21 ends.
　以下、信号入力部１４０が新たな情報を外部から取得する度に、前述した処理が繰り返される。 Thereafter, the above-described processing is repeated each time the signal input unit 140 acquires new information from the outside.
　このプログラムによれば、連動伸縮構造体１、１Ａ、１Ｂ、１Ｃ、１Ｄ、１Ｅ、１Ｆを疑似的に動作させることができる。よって、連動伸縮構造体１、１Ａ、１Ｂ、１Ｃ、１Ｄ、１Ｅ、１Ｆの動作を十分に検証して、連動伸縮構造体１、１Ａ、１Ｂ、１Ｃ、１Ｄ、１Ｅ、１Ｆを製造することができる。 According to this program, interlocking telescopic structures 1, 1A, 1B, 1C, 1D, 1E, and 1F can be simulated. Therefore, it is possible to manufacture the interlocking telescopic structures 1, 1A, 1B, 1C, 1D, 1E, and 1F by sufficiently verifying the operations of the interlocking telescopic structures 1, 1A, 1B, 1C, 1D, 1E, and 1F. can.
　本発明に係る連動伸縮構造体１、１Ａ、１Ｂ、１Ｃ、１Ｄ、１Ｅ、１Ｆは、単に伸長・伸縮が自在であるだけでなく、第１伸縮アーム２の伸縮に連動して、第２伸縮アーム３に第１伸縮アーム２とは異なる伸縮をさせることができる。また、連動伸縮構造体１、１Ａ、１Ｂ、１Ｃ、１Ｄ、１Ｅ、１Ｆの第１伸縮アーム２と第２伸縮アーム３と連結部材４が備える剛性部材２１，２２，３１，３２，４１，４２として、様々な材料を採用することができる。また、様々な形状の剛性部材２１，２２，３１，３２，４１，４２を用いることができる。連動伸縮構造体１、１Ａ、１Ｂ、１Ｃ、１Ｄ、１Ｅ、１Ｆは、このような特徴に鑑みて、例えば、縦型ブラインド、横型ブラインド、縦型ルーバー、横型ルーバー、カーテン、緞帳、サンシェード等の日よけ、自動車や船舶等の移動体のアッパーボディ、建築物のドアや窓、移動するパーティション等に適用することができる。なお、ブラインド、ルーバー、及びカーテンは、日よけとして利用可能であるが、ここでは日よけとは別に規定している。また、本発明に係る連動伸縮構造体１、１Ａ、１Ｂ、１Ｃ、１Ｄ、１Ｅ、１Ｆは、知育玩具等の子供用玩具、子供だけでなく大人も利用するような模型等の玩具、インテリア、オブジェ、アート、アクセサリー等のファッション関連の物、デコレーション、イルミネーション、ツリー（例えばツリーをモチーフとした構造物）等に適用することができる。 The interlocking telescoping structures 1, 1A, 1B, 1C, 1D, 1E, and 1F according to the present invention are not only freely extendable and retractable, but also interlocked with the extension and retraction of the first telescoping arm 2 to perform the second telescoping. The arm 3 can be telescopically different from the first telescopic arm 2 . In addition, rigid members 21, 22, 31, 32, 41, and 42 provided in the first telescopic arm 2, the second telescopic arm 3, and the connecting member 4 of the interlocking telescopic structures 1, 1A, 1B, 1C, 1D, 1E, and 1F A variety of materials can be used as the Also, rigid members 21, 22, 31, 32, 41, 42 of various shapes can be used. In view of such features, the interlocking telescopic structures 1, 1A, 1B, 1C, 1D, 1E, and 1F are, for example, vertical blinds, horizontal blinds, vertical louvers, horizontal louvers, curtains, drop curtains, sunshades, and the like. It can be applied to awnings, upper bodies of moving bodies such as automobiles and ships, doors and windows of buildings, moving partitions, and the like. Although blinds, louvers, and curtains can be used as sunshades, they are defined separately from sunshades here. In addition, the interlocking telescopic structures 1, 1A, 1B, 1C, 1D, 1E, and 1F according to the present invention can be used for children's toys such as educational toys, toys such as models used by not only children but also adults, interiors, It can be applied to objects, art, fashion-related items such as accessories, decorations, illuminations, trees (for example, structures with tree motifs), and the like.
　図２２及び図２３は、それぞれ、連動伸縮構造体１Ａ、１Ｄの適用例を示す斜視図である。 22 and 23 are perspective views showing application examples of the interlocking telescopic structures 1A and 1D, respectively.
　図２２では、連動伸縮構造体１Ａはブラインド４００に適用されている。図２２に示す適用例では、２つの連動伸縮構造体１Ａの間に、複数のシート部材７が挟まれている。なお、連動伸縮構造体１Ａの剛性部材２１，２２，３１，３２がシート部材７を含む形状であるという見方もできる。ブラインド４００は、連動伸縮構造体１Ａ以外の連動伸縮構造体を備えていてもよい。各シート部材７は、１つのクロスユニット２０または１つのクロスユニット３０に対応して設けられている。このブラインド４００は、一部（例えば第１伸縮アーム２に設けられたシート部材７）を畳んだ状態としたときに、残り（例えば第２伸縮アーム３に設けられたシート部材７）を拡げた状態（覆いとして機能する状態）とすることができる。もちろん、逆の状態（一部が広がり且つ残りが畳んだ状態）とすることも可能である。このブラインド４００が、縦型のブラインドとして、窓の日よけとして用いられた場合、例えば、窓の下部において外光を遮りつつ、窓の上部から外光を取り入れることができる。 In FIG. 22, the interlocking telescopic structure 1A is applied to the blind 400. In the application example shown in FIG. 22, a plurality of sheet members 7 are sandwiched between two interlocking telescopic structures 1A. In addition, it can also be viewed that the rigid members 21 , 22 , 31 , 32 of the interlocking elastic structure 1</b>A have a shape including the sheet member 7 . The blind 400 may include an interlocking telescopic structure other than the interlocking telescopic structure 1A. Each sheet member 7 is provided corresponding to one cloth unit 20 or one cloth unit 30 . In this blind 400, when a part (for example, the sheet member 7 provided on the first telescopic arm 2) is folded, the rest (for example, the sheet member 7 provided on the second telescopic arm 3) is opened. state (functioning as a cover). Of course, it is also possible to have the opposite condition (partially expanded and the rest collapsed). When this blind 400 is used as a vertical blind as a shade for a window, for example, outside light can be taken in from the upper part of the window while blocking outside light at the lower part of the window.
　図２３では、連動伸縮構造体１Ｄはパーティション５００に適用されている。図２３に示す適用例では、１枚の板部材８における長方形の主面の４つの頂点部が、連動伸縮構造体１Ｄの連結部材４Ｄに取り付けられている。なお、連結部材４Ｄの第１部材４１および第２部材４２が板部材８を含む形状であるという見方もできる。パーティション５００は、連動伸縮構造体１Ｄ以外の連動伸縮構造体を備えていてもよい。４つの連動伸縮構造体１Ｄの両端部は、第２伸縮アーム３及びポール９によって連結されている。板部材８は、２つの空間８Ａ，８Ｂを仕切っている。連動伸縮構造体１Ｄの第１伸縮アーム２および第２伸縮アーム３が伸縮することで、２つの空間８Ａ，８Ｂの大きさが変化する。このとき、第１伸縮アーム２の変動長さと第２伸縮アーム３の変動長さとが異なることによって、２つの空間８Ａ，８Ｂの大きさの変化に違いを持たせることができる。 In FIG. 23, the interlocking telescopic structure 1D is applied to the partition 500. In the application example shown in FIG. 23, four apexes of the rectangular main surface of one plate member 8 are attached to the connecting member 4D of the interlocking telescopic structure 1D. In addition, it can also be viewed that the first member 41 and the second member 42 of the connecting member 4</b>D have a shape including the plate member 8 . The partition 500 may comprise an interlocking telescoping structure other than the interlocking telescoping structure 1D. Both ends of the four interlocking telescoping structures 1D are connected by the second telescoping arms 3 and the poles 9. As shown in FIG. The plate member 8 partitions the two spaces 8A and 8B. The sizes of the two spaces 8A and 8B change as the first telescoping arm 2 and the second telescoping arm 3 of the interlocking telescoping structure 1D expand and contract. At this time, since the variable length of the first telescopic arm 2 and the variable length of the second telescopic arm 3 are different, it is possible to make the sizes of the two spaces 8A and 8B change differently.
　なお、前記様々な実施形態のうちの任意の実施形態を適宜組み合わせることにより、それぞれの有する効果を奏するようにすることができる。 It should be noted that by appropriately combining any of the various embodiments described above, the respective effects can be achieved.
　本発明は、適宜図面を参照しながら好ましい実施の形態に関連して充分に記載されているが、この技術に熟練した人々にとっては種々の変形や修正は明白である。そのような変形や修正は、添付した請求の範囲による本発明の範囲から外れない限りにおいて、その中に含まれると理解されるべきである。 Although the present invention has been fully described in connection with preferred embodiments with appropriate reference to the drawings, various variations and modifications will be apparent to those skilled in the art. Such variations and modifications are to be included therein insofar as they do not depart from the scope of the invention as set forth in the appended claims.
　　　１　連動伸縮構造体
　　　２　第１伸縮アーム
　　２０　クロスユニット
　　２１　剛性部材
　　２２　剛性部材
　　　３　第２伸縮アーム
　　３０　クロスユニット
　　３１　剛性部材
　　３２　剛性部材
　　　４　連結部材
　　４１　第１部材（剛性部材）
　４１Ａ　第１中間ギヤ（ギヤ）
　４１ａ　第１一方側連結部（連結部）
　４１ｂ　第１他方側連結部（連結部）
　４１ｃ　第１中間連結部（連結部）
　４１１　第１一方側部材
４１１Ａ　第１一方側ギヤ（ギヤ）
　４１２　第１他方側部材
４１２Ａ　第１他方側ギヤ（ギヤ）
　　４２　第２部材（剛性部材）
　４２Ａ　第２中間ギヤ（ギア）
　４２ａ　第２一方側連結部（連結部）
　４２ｂ　第２他方側連結部（連結部）
　４２ｃ　第２中間連結部（連結部）
　４２１　第２一方側部材
４２１Ａ　第２一方側ギヤ（ギヤ）
　４２２　第２他方側部材
４２２Ａ　第２他方側ギヤ（ギヤ）
　　Ｌ１　仮想線分
　　Ｌ２　中間仮想線
　　Ｌ３　第１仮想線
　　Ｌ４　第２仮想線
　　Ｌ５　第１仮想線分
　　Ｌ６　第２仮想線分
　　Ｌ７　第１仮想線分
　　Ｌ８　第２仮想線分 1 interlocking telescopic structure 2 first telescopic arm 20 cross unit 21 rigid member 22 rigid member 3 second telescopic arm 30 cross unit 31 rigid member 32 rigid member 4 connecting member 41 first member (rigid member)
41A 1st intermediate gear (gear)
41a first one-side connecting portion (connecting portion)
41b first other side connecting portion (connecting portion)
41c first intermediate connecting portion (connecting portion)
411 First one-side member 411A First one-side gear (gear)
412 First other side member 412A First other side gear (gear)
42 Second member (rigid member)
42A Second intermediate gear (gear)
42a second one-side connecting portion (connecting portion)
42b second other side connecting portion (connecting portion)
42c second intermediate connecting portion (connecting portion)
421 Second one-side member 421A Second one-side gear (gear)
422 Second other side member 422A Second other side gear (gear)
L1 virtual line segment L2 middle virtual line L3 first virtual line L4 second virtual line L5 first virtual line segment L6 second virtual line segment L7 first virtual line segment L8 second virtual line segment

Claims (9)

  1. 　２つの剛性部材が互いに回動可能に連結された複数のクロスユニットが列状に連結されることによって伸縮自在に構成された第１伸縮アームと、
    　２つの剛性部材が互いに回動可能に連結された複数のクロスユニットが列状に連結されることによって伸縮自在に構成された第２伸縮アームと、
    　前記第１伸縮アーム及び前記第２伸縮アームの間に介在して前記第１伸縮アーム及び前記第２伸縮アームを連結する連結部材と、を備え、
    　前記連結部材は、
    　第１部材と、
    　前記第１部材と回動可能に連結された第２部材と、を備え、
    　前記第１部材は、
    　前記第１伸縮アームの端部に位置するクロスユニットの２つの剛性部材の一方と回動可能に連結される第１一方側連結部と、
    　前記第２伸縮アームの端部に位置するクロスユニットの２つの剛性部材の一方と回動可能に連結される第１他方側連結部と、
    　前記第２部材と回動可能に連結される第１中間連結部と、を備え、
    　前記第２部材は、
    　前記第１伸縮アームの端部に位置する前記クロスユニットの前記２つの剛性部材の他方と回動可能に連結される第２一方側連結部と、
    　前記第２伸縮アームの端部に位置する前記クロスユニットの前記２つの剛性部材の他方と回動可能に連結される第２他方側連結部と、
    　前記第１中間連結部と回動可能に連結される第２中間連結部と、を備え、
    　前記第１部材及び前記第２部材の一方が他方に対して回動したときに、前記第２部材の回動軸の周りの周方向における前記第１一方側連結部と前記第２一方側連結部との間の距離の変動率及び変動長さの少なくとも一方は、前記周方向における前記第１他方側連結部と前記第２他方側連結部との間の距離の変動率及び変動長さの少なくとも一方と異なり、
    　前記第２部材の前記回動軸に沿った軸線方向から見て、前記第１一方側連結部は、前記第１中間連結部と前記第１他方側連結部とを結ぶ仮想線分から外れた位置にあり、
    　前記第２一方側連結部及び前記第２他方側連結部は、１つの連結部として兼用され、前記第１伸縮アームの端部に位置する前記クロスユニットの前記２つの剛性部材の他方と、前記第２伸縮アームの端部に位置する前記クロスユニットの前記２つの剛性部材の他方との双方と回動可能に連結される連動伸縮構造体。     a first telescopic arm configured to be telescopic by connecting in a row a plurality of cross units in which two rigid members are rotatably connected to each other;
    a second telescoping arm configured to be telescopic by connecting in a row a plurality of cross units in which two rigid members are rotatably connected to each other;
    a connecting member interposed between the first telescoping arm and the second telescoping arm and connecting the first telescoping arm and the second telescoping arm;
    The connecting member is
    a first member;
    a second member rotatably connected to the first member,
    The first member is
    a first one-side connecting portion rotatably connected to one of the two rigid members of the cross unit positioned at the end of the first extendable arm;
    a first other side connecting portion rotatably connected to one of the two rigid members of the cross unit positioned at the end of the second extendable arm;
    a first intermediate connecting portion rotatably connected to the second member;
    The second member is
    a second one-side connecting portion rotatably connected to the other of the two rigid members of the cross unit positioned at the end of the first telescoping arm;
    a second other side connecting portion rotatably connected to the other of the two rigid members of the cross unit positioned at the end of the second extendable arm;
    a second intermediate connection portion rotatably connected to the first intermediate connection portion;
    When one of the first member and the second member rotates with respect to the other, the first one-side coupling portion and the second one-side coupling in a circumferential direction around the rotation axis of the second member at least one of the rate of variation and the length of variation of the distance between the two portions is the rate of variation and the length of variation of the distance between the first other-side connecting portion and the second other-side connecting portion in the circumferential direction. Unlike at least one
    When viewed from the axial direction along the rotation shaft of the second member, the first one-side connecting portion is located outside a virtual line connecting the first intermediate connecting portion and the first other-side connecting portion. located in
    The second one-side connecting portion and the second other-side connecting portion are also used as one connecting portion, and the other of the two rigid members of the cross unit positioned at the end of the first telescoping arm and the An interlocking telescoping structure rotatably connected to the other of the two rigid members of the cross unit positioned at the end of the second telescoping arm.
  2. 　２つの剛性部材が互いに回動可能に連結された複数のクロスユニットが列状に連結されることによって伸縮自在に構成された第１伸縮アームと、
    　２つの剛性部材が互いに回動可能に連結された複数のクロスユニットが列状に連結されることによって伸縮自在に構成された第２伸縮アームと、
    　前記第１伸縮アーム及び前記第２伸縮アームの間に介在して前記第１伸縮アーム及び前記第２伸縮アームを連結する連結部材と、を備え、
    　前記連結部材は、
    　第１部材と、
    　前記第１部材と回動可能に連結された第２部材と、を備え、
    　前記第１部材は、
    　前記第１伸縮アームの端部に位置するクロスユニットの２つの剛性部材の一方と回動可能に連結される第１一方側連結部と、
    　前記第２伸縮アームの端部に位置するクロスユニットの２つの剛性部材の一方と回動可能に連結される第１他方側連結部と、
    　前記第２部材と回動可能に連結される第１中間連結部と、を備え、
    　前記第２部材は、
    　前記第１伸縮アームの端部に位置する前記クロスユニットの前記２つの剛性部材の他方と回動可能に連結される第２一方側連結部と、
    　前記第２伸縮アームの端部に位置する前記クロスユニットの前記２つの剛性部材の他方と回動可能に連結される第２他方側連結部と、
    　前記第１中間連結部と回動可能に連結される第２中間連結部と、を備え、
    　前記第１部材及び前記第２部材の一方が他方に対して回動したときに、前記第２部材の回動軸の周りの周方向における前記第１一方側連結部と前記第２一方側連結部との間の距離の変動率及び変動長さの少なくとも一方は、前記周方向における前記第１他方側連結部と前記第２他方側連結部との間の距離の変動率及び変動長さの少なくとも一方と異なり、
    　前記第２部材の前記回動軸に沿った軸線方向から見て、前記第１一方側連結部及び前記第１他方側連結部は、前記第１中間連結部を通る中間仮想線の一方側に位置し、前記第２一方側連結部及び前記第２他方側連結部は、前記中間仮想線の他方側に位置し、
    　前記軸線方向から見て、前記第１一方側連結部は、前記第１他方側連結部と前記第１中間連結部と前記第２一方側連結部とを通る第１仮想線に対して前記第２他方側連結部の反対側に位置し、
    　前記軸線方向から見て、前記第２一方側連結部は、前記第２他方側連結部と前記第２中間連結部と前記第１一方側連結部とを通る第２仮想線に対して前記第１他方側連結部の反対側に位置する連動伸縮構造体。     a first telescopic arm configured to be telescopic by connecting in a row a plurality of cross units in which two rigid members are rotatably connected to each other;
    a second telescoping arm configured to be telescopic by connecting in a row a plurality of cross units in which two rigid members are rotatably connected to each other;
    a connecting member interposed between the first telescoping arm and the second telescoping arm and connecting the first telescoping arm and the second telescoping arm;
    The connecting member is
    a first member;
    a second member rotatably connected to the first member,
    The first member is
    a first one-side connecting portion rotatably connected to one of the two rigid members of the cross unit positioned at the end of the first extendable arm;
    a first other side connecting portion rotatably connected to one of the two rigid members of the cross unit positioned at the end of the second extendable arm;
    a first intermediate connecting portion rotatably connected to the second member;
    The second member is
    a second one-side connecting portion rotatably connected to the other of the two rigid members of the cross unit positioned at the end of the first telescoping arm;
    a second other side connecting portion rotatably connected to the other of the two rigid members of the cross unit positioned at the end of the second extendable arm;
    a second intermediate connection portion rotatably connected to the first intermediate connection portion;
    When one of the first member and the second member rotates with respect to the other, the first one-side coupling portion and the second one-side coupling in a circumferential direction around the rotation axis of the second member at least one of the rate of variation and the length of variation of the distance between the two portions is the rate of variation and the length of variation of the distance between the first other-side connecting portion and the second other-side connecting portion in the circumferential direction. Unlike at least one
    When viewed from the axial direction along the rotation shaft of the second member, the first one-side connecting portion and the first other-side connecting portion are located on one side of an intermediate imaginary line passing through the first intermediate connecting portion. The second one-side connecting portion and the second other-side connecting portion are positioned on the other side of the intermediate virtual line,
    When viewed from the axial direction, the first one-side connecting portion is located at the first phantom line passing through the first other-side connecting portion, the first intermediate connecting portion, and the second one-side connecting portion. 2 Located on the opposite side of the other side connecting part,
    When viewed from the axial direction, the second one-side connecting portion is located at the second phantom line passing through the second other-side connecting portion, the second intermediate connecting portion, and the first one-side connecting portion. 1 An interlocking telescopic structure located on the opposite side of the other side connecting part.
  3. 　少なくとも１つの前記第１伸縮アームと、
    　少なくとも１つの前記第２伸縮アームと、
    　複数の前記連結部材と、を備え、
    　前記少なくとも１つの前記第１伸縮アームと前記少なくとも１つの前記第２伸縮アームとが前記連結部材を介して連結されることによって環状に構成されている請求項１または２に記載の連動伸縮構造体。     at least one first telescopic arm;
    at least one second telescopic arm;
    and a plurality of the connecting members,
    3. The interlocking telescopic structure according to claim 1, wherein the at least one first telescopic arm and the at least one second telescopic arm are connected via the connecting member to form a ring. .
  4. 　２つの剛性部材が互いに回動可能に連結された複数のクロスユニットが列状に連結されることによって伸縮自在に構成された第１伸縮アームと、
    　２つの剛性部材が互いに回動可能に連結された複数のクロスユニットが列状に連結されることによって伸縮自在に構成された第２伸縮アームと、
    　前記第１伸縮アーム及び前記第２伸縮アームの間に介在して前記第１伸縮アーム及び前記第２伸縮アームを連結する連結部材と、を備え、
    　前記連結部材は、
    　第１部材と、
    　前記第１部材と回動可能に連結された第２部材と、を備え、
    　前記第１部材は、
    　前記第１伸縮アームの端部に位置するクロスユニットの２つの剛性部材の一方と回動可能に連結される第１一方側連結部と、
    　前記第２伸縮アームの端部に位置するクロスユニットの２つの剛性部材の一方と回動可能に連結される第１他方側連結部と、
    　前記第２部材と回動可能に連結される第１中間連結部と、を備え、
    　前記第２部材は、
    　前記第１伸縮アームの端部に位置する前記クロスユニットの前記２つの剛性部材の他方と回動可能に連結される第２一方側連結部と、
    　前記第２伸縮アームの端部に位置する前記クロスユニットの前記２つの剛性部材の他方と回動可能に連結される第２他方側連結部と、
    　前記第１中間連結部と回動可能に連結される第２中間連結部と、を備え、
    　前記第１部材及び前記第２部材の一方が他方に対して回動したときに、前記第２部材の回動軸の周りの周方向における前記第１一方側連結部と前記第２一方側連結部との間の距離の変動率及び変動長さの少なくとも一方は、前記周方向における前記第１他方側連結部と前記第２他方側連結部との間の距離の変動率及び変動長さの少なくとも一方と異なり、
    　前記第２部材の前記回動軸に沿った軸線方向から見て、前記第１中間連結部を介して前記第１一方側連結部及び前記第１他方側連結部を結ぶ第１仮想線分と、前記第２中間連結部を介して前記第２一方側連結部及び前記第２他方側連結部を結ぶ第２仮想線分とは、交差しており、
    　前記軸線方向から見て、前記第１仮想線分と前記第２仮想線分との少なくとも一方は、Ｖ字状である連動伸縮構造体。     a first telescopic arm configured to be telescopic by connecting in a row a plurality of cross units in which two rigid members are rotatably connected to each other;
    a second telescoping arm configured to be telescopic by connecting in a row a plurality of cross units in which two rigid members are rotatably connected to each other;
    a connecting member interposed between the first telescoping arm and the second telescoping arm and connecting the first telescoping arm and the second telescoping arm;
    The connecting member is
    a first member;
    a second member rotatably connected to the first member,
    The first member is
    a first one-side connecting portion rotatably connected to one of the two rigid members of the cross unit positioned at the end of the first extendable arm;
    a first other side connecting portion rotatably connected to one of the two rigid members of the cross unit positioned at the end of the second extendable arm;
    a first intermediate connecting portion rotatably connected to the second member;
    The second member is
    a second one-side connecting portion rotatably connected to the other of the two rigid members of the cross unit positioned at the end of the first telescoping arm;
    a second other side connecting portion rotatably connected to the other of the two rigid members of the cross unit positioned at the end of the second extendable arm;
    a second intermediate connection portion rotatably connected to the first intermediate connection portion;
    When one of the first member and the second member rotates with respect to the other, the first one-side coupling portion and the second one-side coupling in a circumferential direction around the rotation axis of the second member at least one of the rate of variation and the length of variation of the distance between the two portions is the rate of variation and the length of variation of the distance between the first other-side connecting portion and the second other-side connecting portion in the circumferential direction. Unlike at least one
    a first imaginary line segment connecting the first one-side connecting portion and the first other-side connecting portion via the first intermediate connecting portion when viewed from the axial direction along the rotation shaft of the second member; , and a second virtual line segment connecting the second one-side connecting portion and the second other-side connecting portion via the second intermediate connecting portion, and intersect,
    At least one of the first virtual line segment and the second virtual line segment is V-shaped when viewed from the axial direction.
  5. 　前記軸線方向から見て、前記第１一方側連結部と前記第１中間連結部との距離は、前記第１他方側連結部と前記第１中間連結部との距離より長く、及び／または、前記第２一方側連結部と前記第２中間連結部との距離は、前記第２他方側連結部と前記第２中間連結部との距離より長い請求項４に記載の連動伸縮構造体。 When viewed from the axial direction, the distance between the first one-side connecting portion and the first intermediate connecting portion is longer than the distance between the first other-side connecting portion and the first intermediate connecting portion, and/or The interlocking expansion/contraction structure according to claim 4, wherein the distance between the second one-side connecting portion and the second intermediate connecting portion is longer than the distance between the second other-side connecting portion and the second intermediate connecting portion.
  6. 　前記軸線方向から見て、前記第１仮想線分と前記第２仮想線分との各々はＶ字状であり、前記第１仮想線分のＶ字と前記第２仮想線分のＶ字とは互いに反対を向いている請求項４または５に記載の連動伸縮構造体。 When viewed from the axial direction, each of the first virtual line segment and the second virtual line segment is V-shaped, and the V-shape of the first virtual line and the V-shape of the second virtual line 6. The interlocking telescoping structure according to claim 4 or 5, wherein the are opposite to each other.
  7. 　前記第１部材は、
    　前記第１一方側連結部を有する第１一方側部材と、
    　前記第１他方側連結部を有する第１他方側部材と、を備え、
    　前記第１中間連結部は、
    　前記第１一方側部材に固定された第１一方側ギヤと、
    　前記第１他方側部材に固定された第１他方側ギヤと、
    　奇数個の第１中間ギヤと、を備え、
    　前記第２部材は、
    　前記第２一方側連結部を有する第２一方側部材と、
    　前記第２他方側連結部を有する第２他方側部材と、を備え、
    　前記第２中間連結部は、
    　前記第２一方側部材に固定された第２一方側ギヤと、
    　前記第２他方側部材に固定された第２他方側ギヤと、
    　奇数個の第２中間ギヤと、を備え、
    　前記第１一方側ギヤ及び前記第１他方側ギヤは、奇数個の前記第１中間ギヤを介して互いに噛合され、
    　前記第２一方側ギヤ及び前記第２他方側ギヤは、奇数個の前記第２中間ギヤを介して互いに噛合され、
    　前記第１一方側ギヤ及び前記第２一方側ギヤは、直接に、または偶数個のギヤを介して、互いに噛合され、
    　前記第１他方側ギヤ及び前記第２他方側ギヤは、直接に、または偶数個のギヤを介して、互いに噛合されている請求項１から３のいずれか１項に記載の連動伸縮構造体。     The first member is
    a first one-side member having the first one-side connecting portion;
    a first other-side member having the first other-side connecting portion;
    The first intermediate connecting portion is
    a first one-side gear fixed to the first one-side member;
    a first other-side gear fixed to the first other-side member;
    an odd number of first intermediate gears;
    The second member is
    a second one-side member having the second one-side connecting portion;
    a second other-side member having the second other-side connecting portion;
    The second intermediate connecting part is
    a second one-side gear fixed to the second one-side member;
    a second other side gear fixed to the second other side member;
    an odd number of second intermediate gears;
    the first one-side gear and the first other-side gear are meshed with each other via an odd number of the first intermediate gears;
    the second one-side gear and the second other-side gear are meshed with each other via an odd number of the second intermediate gears;
    the first one-side gear and the second one-side gear are meshed with each other directly or via an even number of gears;
    The interlocking telescopic structure according to any one of claims 1 to 3, wherein the first other side gear and the second other side gear are meshed with each other directly or through an even number of gears.
  8. 　前記第１部材は、
    　前記第１一方側連結部を有する第１一方側部材と、
    　前記第１他方側連結部を有する第１他方側部材と、を備え、
    　前記第１中間連結部は、
    　前記第１一方側部材に固定された第１一方側ギヤと、
    　前記第１他方側部材に固定された第１他方側ギヤと、を備え、
    　前記第２部材は、
    　前記第２一方側連結部を有する第２一方側部材と、
    　前記第２他方側連結部を有する第２他方側部材と、を備え、
    　前記第２中間連結部は、
    　前記第２一方側部材に固定された第２一方側ギヤと、
    　前記第２他方側部材に固定された第２他方側ギヤと、を備え、
    　前記第１一方側ギヤ及び前記第２一方側ギヤは、直接に、または偶数個のギヤを介して、互いに噛合され、
    　前記第１一方側ギヤ及び前記第２他方側ギヤは、直接に、または偶数個のギヤを介して、互いに噛合され、
    　前記第１他方側ギヤ及び前記第２一方側ギヤは、直接に、または偶数個のギヤを介して、互いに噛合され、
    　前記第１他方側ギヤ及び前記第２他方側ギヤは、直接に、または偶数個のギヤを介して、互いに噛合されている請求項４から６のいずれか１項に記載の連動伸縮構造体。     The first member is
    a first one-side member having the first one-side connecting portion;
    a first other-side member having the first other-side connecting portion;
    The first intermediate connecting portion is
    a first one-side gear fixed to the first one-side member;
    a first other side gear fixed to the first other side member;
    The second member is
    a second one-side member having the second one-side connecting portion;
    a second other-side member having the second other-side connecting portion;
    The second intermediate connecting part is
    a second one-side gear fixed to the second one-side member;
    a second other side gear fixed to the second other side member;
    the first one-side gear and the second one-side gear are meshed with each other directly or via an even number of gears;
    the first one-side gear and the second other-side gear are meshed with each other directly or via an even number of gears;
    the first other side gear and the second one side gear are meshed with each other directly or via an even number of gears;
    The interlocking telescopic structure according to any one of claims 4 to 6, wherein the first other side gear and the second other side gear are meshed with each other directly or via an even number of gears.
  9. 　請求項１から８のいずれか１項に記載の連動伸縮構造体の伸縮動作をシミュレートするプログラムであって、
    　前記第１伸縮アームの構造に関する第１情報と、前記第２伸縮アームの構造に関する第２情報と、前記連結部材の構造に関する第３情報と、を取得し、
    　前記第１情報、前記第２情報、及び前記第３情報のうちの一部の情報の変化に応じて、変化した情報以外の前記第１情報、前記第２情報、及び前記第３情報の変化を算出する処理をコンピュータに実行させるプログラム。     A program for simulating the expansion and contraction motion of the interlocking expansion and contraction structure according to any one of claims 1 to 8,
    Acquiring first information about the structure of the first telescopic arm, second information about the structure of the second telescopic arm, and third information about the structure of the connecting member;
    change of the first information, the second information, and the third information other than the changed information in accordance with a change of a part of the first information, the second information, and the third information; A program that causes a computer to execute the process of calculating
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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH04275893A (en) * 1991-02-28 1992-10-01 Komatsu Ltd Driving mechanism for magic hand type conveying device
JPH0782796A (en) * 1993-09-17 1995-03-28 Tokai Univ Cable type scissors unit-connected variable structure
JP2008308940A (en) * 2007-06-18 2008-12-25 Ochi Kogyosho:Kk Bellows frame and structure using it

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH04275893A (en) * 1991-02-28 1992-10-01 Komatsu Ltd Driving mechanism for magic hand type conveying device
JPH0782796A (en) * 1993-09-17 1995-03-28 Tokai Univ Cable type scissors unit-connected variable structure
JP2008308940A (en) * 2007-06-18 2008-12-25 Ochi Kogyosho:Kk Bellows frame and structure using it

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