Telescopic device

Abstract

This invention provides a telescopic device capable of smoothly extending and retracting three or more cylindrical components without the use of pneumatic or hydraulic pressure. The telescopic device (10) comprises: first to third cylindrical components (1-3) arranged in a nested configuration; lead screws (11, 12) rotatably supported on each of the first and second cylindrical components (1); nuts (32, 33) installed on each of the second and third cylindrical components (3) and screwed onto the lead screws (11, 12) of the first and second cylindrical components (1); and a transmission device (22) that transmits the rotation of the lead screw of the first cylindrical component to the lead screw of the second cylindrical component and is axially movable relative to the lead screw of the first cylindrical component. The extension and retraction of the first to third cylindrical components is achieved by the simultaneous rotation of the lead screws of the first and second cylindrical components.

Description

TECHNICAL FIELD

[0001] The present application relates to an extension device that has three or more cylinder members combined in a nested manner and extends and contracts the three or more cylinder members. BACKGROUND

[0002] As such an extension device, there is known an extension device that has first to third cylinder members combined in a nested manner (see Patent Document 1). Air pressure or hydraulic pressure is supplied to the inside of the first to third cylinder members. The outermost first cylinder member is fixed to a base. An object is placed on the innermost third cylinder member. If air pressure or hydraulic pressure is supplied to the inside of the first to third cylinder members, the first to third cylinder members are extended. On the other hand, if air pressure or hydraulic pressure is discharged from the inside of the first to third cylinder members, the first to third cylinder members are contracted. Thus, it is possible to raise and lower the object placed on the third cylinder member.

[0003] PRIOR ART DOCUMENTS

[0004] PATENT DOCUMENTS

[0005] Patent Document 1: Japanese Patent Application Laid-Open No. 9-156889

[0006] However, in the conventional extension device using air pressure or hydraulic pressure, there is a problem that the structure becomes complicated because a seal member that seals air pressure or hydraulic pressure, a pump, and a tank are required. In addition, the conventional extension device is a type that extends from the ground toward the sky using air pressure or hydraulic pressure, and on the other hand, descends using gravity. Thus, if the extension device is made to face the horizontal direction, or the up and down of the extension device is reversed, there is a problem that the extension device cannot be contracted. SUMMARY

[0007] PROBLEMS TO BE SOLVED BY THE INVENTION

[0008] The present application has been achieved in view of the above-described problems, and has an object to provide an extension device that can extend and contract three or more cylinder members without using air pressure or hydraulic pressure.

[0009] MEANS FOR SOLVING THE PROBLEMS

[0010] To solve the above problems, one aspect of the present application is a telescopic device including: first to n (where n ≥ 3) cylinder members combined in a nested manner; a screw shaft rotatably supported by each of the first to n-1 cylinder members; a nut attached to each of the second to n cylinder members and screwed with the screw shaft of each of the first to n-1 cylinder members; and a transmission device that transmits rotation of the screw shaft of each of the first to n-2 cylinder members to the screw shaft of each of the second to n-1 cylinder members and is movable in the axial direction with respect to the screw shaft of each of the first to n-2 cylinder members, whereby the first to n cylinder members are simultaneously rotated by the screw shaft of each of the first to n-1 cylinder members, and the first to n cylinder members are telescoped.

[0011] Effects of the Invention

[0012] According to one aspect of the present application, the first to n cylinder members are telescoped using n-1 (where n ≥ 3) feed screws each including a screw shaft and a nut, and n-2 transmission devices that are movable in the axial direction, whereby the first to n cylinder members are telescoped without using air pressure or hydraulic pressure. BRIEF DESCRIPTION OF DRAWINGS

[0013] Figure 1 Fig. 1 is a view showing the appearance of a telescopic device according to a first embodiment of the present application. Figure 1 Fig. 1(a) shows a contracted state. Figure 1 Fig. 1(b) shows an extended state. Figure 1 Fig. 1(c) shows a plan view.

[0014] Figure 2 Fig. 2 is a longitudinal sectional view of the telescopic device according to the first embodiment of the present application (contracted state).

[0015] Figure 3 Fig. 3 is a longitudinal sectional view of the telescopic device according to the first embodiment of the present application (extended state).

[0016] Figure 4 Fig. 4 is a view showing a driving wheel of the telescopic device according to the first embodiment of the present application. Figure 4 Fig. 4(a) is a longitudinal sectional view. Figure 4 Fig. 4(b) is a bottom view.

[0017] Figure 5 Fig. 5 is a sectional view showing a spline nut and a trapezoidal thread nut assembled to the driving wheel of the telescopic device according to the first embodiment of the present application.

[0018] Figure 6 Fig. 6 is a perspective view showing a ball spline nut and a ball screw nut assembled to the driving wheel of the telescopic device according to the first embodiment of the present application.

[0019] Figure 7 (a) is a longitudinal sectional view of the telescopic device (extended state) according to the second embodiment of the present invention. Figure 7 (b) is a sectional view along the bb line. Figure 7 (c) is a section view along the cc line. Figure 7 (d) is a sectional view along the dd line.

[0020] Figure 8 (a) is a longitudinal sectional view of the telescopic device (extended state) according to the third embodiment of the present invention. Figure 8 (b) is a sectional view along the bb line. Figure 8 (c) is a section view along the cc line. Figure 8 (d) is a sectional view along the dd line. Figure 8 (e) is a sectional view along the ee line.

[0021] Figure 9 (a) is a longitudinal sectional view of the telescopic device (extended state) according to the fourth embodiment of the present invention. Figure 9 (b) is a sectional view along the bb line. Figure 9 (c) is a section view along the cc line. Figure 9 (d) is a sectional view along the dd line. Figure 9 (e) is a sectional view along line ee. Figure 9 (f) is a section view along the ff line.

[0022] Figure 10 This diagram illustrates an example of applying the telescopic device of this embodiment to a conveying device.

[0023] Figure 11 This diagram illustrates an example of applying the telescopic device of this embodiment to a parallel linkage robot.

[0024] Explanation of reference numerals in the attached figures:

[0025] 1…First rod (first cylinder component)

[0026] 2…Second rod (second cylinder component)

[0027] 3… Third rod (third cylinder component)

[0028] 4… Fourth rod (fourth cylinder component)

[0029] 5…The fifth rod (the fifth cylinder component)

[0030] 6…Sixth rod (sixth cylinder component)

[0031] 10… Telescopic device

[0032] 10-1…First telescopic device

[0033] 10-2…Second telescopic device

[0034] 10-3… Third telescopic device

[0035] 11~15…lead screw shaft

[0036] 22~25…Transfer device

[0037] 32~36… nuts

[0038] 46… Spline nut

[0039] 51…ball spline nut

[0040] 60… Telescopic device

[0041] 70… Telescopic device

[0042] 80… Telescopic device

[0043] 90… Conveying device

[0044] 93~95…pivot

[0045] 100… Parallel Linkage Robot

[0046] 101…base

[0047] 102…Modular parts. Detailed Implementation

[0048] Hereinafter, based on the accompanying drawings, a telescopic device according to an embodiment of the present invention will be described in detail. However, the telescopic device of the present invention can be embodied in various ways and is not limited to the embodiments described in this specification. This embodiment is provided with the aim of enabling those skilled in the art to fully understand the scope of the invention by making the specification sufficiently disclosed.

[0049] (First Implementation)

[0050] Figure 1 This shows the appearance of the telescopic device 10 according to the first embodiment of the present invention. The telescopic device 10 of this embodiment is a three-stage telescopic device 10. Figure 1 (a) indicates the retracted state of the telescopic device 10. Figure 1 (b) indicates the elongated state. Figure 1 (c) is a top view of the telescopic device 10.

[0051] The telescopic device 10 comprises nested first to third cylindrical members (hereinafter referred to as first to third rods 1 to 3). A second rod 2 is assembled inside the first rod 1, and a third rod 3 is assembled inside the second rod 2. The cross-sectional shape of the first to third rods 1 to 3 is substantially m (m≥4)-sided, such as a quadrilateral or hexagon. The lower end of the first rod 1 is fixed to the base 17. An object (not shown) is placed on the upper end of the third rod 3. 16 is a motor serving as a drive source. Rotating the drive motor 16 causes the first to third rods 1 to 3 to extend or retract. It should be noted that, instead of the motor 16, the first to third rods 1 to 3 can also be extended or retracted using a hand crank (not shown).

[0052] Figure 2 and Figure 3 This is a longitudinal sectional view of the telescopic device 10. Figure 2 Indicates a reduced state. Figure 3 Indicates the state of elongation. For example... Figure 2 As shown, the first rod 1 is a bottomed cylindrical shape. The upper end of the first rod 1 is open, and it has a base plate 1a at the lower end. A second rod 2 is assembled inside the first rod 1. The second rod 2 is also a bottomed cylindrical shape. The upper end of the second rod 2 is open, and it has a base plate 2a at the lower end. A third rod 3 is assembled on the second rod 2. The third rod 3 is a covered bottomed cylindrical shape. The third rod 3 has an upper plate 3b at its upper end and a base plate 3a at its lower end.

[0053] like Figure 3 As shown, the axial movement of the second rod 2 is guided by the first rod 1. A resin sliding member 1c is provided at the upper end of the first rod 1 for sliding on the outer surface of the second rod 2. A resin sliding member 2c is provided at the lower end of the second rod 2 for sliding on the inner surface of the first rod 1. The axial movement of the third rod 3 is guided by the second rod 2. A resin sliding member 2d is provided at the upper end of the second rod 2 for sliding on the outer surface of the third rod 3. A resin sliding member 3d is provided at the lower end of the third rod 3 for sliding on the inner surface of the second rod 2.

[0054] Again Figure 2 As shown, a lead screw shaft 11 is rotatably supported on the base plate 1a of the first rod 1 via a bearing 41. A helical thread groove is formed on the outer surface of the lead screw shaft 11, and an axial groove 11a extending axially is also formed. The thread groove is, for example, a trapezoidal thread, a ball screw thread groove, etc. The axial groove 11a is a keyway or a spline groove.

[0055] The lead screw 11 is driven to rotate by the motor 16. The rotation of the motor 16 is transmitted to the lead screw 11 via the transmission device 20. The transmission device 20 includes, for example, a driving pulley 20a (pulley) fixed to the output shaft of the motor 16, a driven pulley 20b (pulley) fixed to the lead screw 11, and a belt 20c spanning the driving pulley 20a and the driven pulley 20b. It should be noted that the transmission device 20 is not limited to the winding transmission device described above, and may also be a gear, for example.

[0056] A nut 32, which engages with the lead screw shaft 11, is installed on the base plate 2a of the second rod 2. The nut 32 is, for example, a trapezoidal thread nut with a trapezoidal thread. The nut 32 can also be a ball screw nut. If the lead screw shaft 11 is rotated, the second rod 2, which is fixed to the nut 32, moves axially.

[0057] On the base plate 2a of the second rod 2, a lead screw shaft 12 is rotatably supported via a bearing 42 at a position away from the nut 32. A helical thread groove is formed on the outer surface of the lead screw shaft 12. The thread groove is, for example, a trapezoidal thread or a ball screw thread groove. No axial groove is formed on the outer surface of the lead screw shaft 12.

[0058] The rotation of the lead screw 11 of the first rod 1 is transmitted to the lead screw 12 of the second rod 2 via a transmission device 22. The transmission device 22 includes a driving pulley 22a (pulley), a driven pulley 22b (pulley), and a belt 22c mounted between the driving pulley 22a and the driven pulley 22b. The driving pulley 22a is axially movable relative to the lead screw 11 of the first rod 1. The driven pulley 22b is fixed to the lead screw 12 of the second rod 2. It should be noted that the transmission device 22 is not limited to the aforementioned winding transmission device; for example, it could also be a gear.

[0059] Figure 4 This refers to the drive wheel 22a. A key 22a1 is formed on the drive wheel 22a that engages with the axial groove (keyway) 11a of the lead screw shaft 11 of the first rod 1. The key 22a1 can be integrally formed with the drive wheel 22a or it can be separately provided from the drive wheel 22a. To improve torque transmission capability, two or more keys 22a1 can be provided.

[0060] like Figure 5 As shown, instead of forming a key 22a1 on the drive wheel 22a, a spline nut 46 can be fixed on the drive wheel 22a. The spline nut 46 engages with the axial groove (spline groove) 11a formed on the lead screw shaft 11 in a manner that allows axial movement but prevents rotation. The spline nut 46 is fixed to the bearing 43. Figure 2 (Refer to) the inner ring. 11b is the threaded groove (trapezoidal thread) formed on the lead screw shaft 11, and 32 is the nut (trapezoidal thread nut) that engages with the threaded groove 11b.

[0061] like Figure 6As shown, instead of fixing the spline nut 46 to the drive wheel 22a, a ball spline nut 51 can also be fixed to the drive wheel 22a. The ball spline nut 51 engages with the axial groove (spline groove) 11a formed in the lead screw shaft 11 in a manner that allows axial movement but prevents rotation. The ball spline nut 51 has an axial groove (not shown) on its inner surface that opposes the axial groove 11a of the lead screw shaft 11. A circulation path is provided in the ball spline nut 51 to circulate the balls (not shown) that roll between the axial groove 11a of the lead screw shaft 11 and the axial groove of the ball spline nut 51. In this example, the ball spline nut 51 is rotatably connected to the base plate 2a of the second rod 2 via the balls 52 and the outer ring 53. 11b is a threaded groove (threaded groove for ball screw) formed in the lead screw shaft 11, and 32 is a nut (ball screw nut) that engages with the threaded groove 11b. By using the ball spline nut 51 and the ball screw nut 32, the first to third rods 1 to 3 can be smoothly extended and retracted.

[0062] Again Figure 2 As shown, the transmission device 22, together with the second rod 2, can move axially relative to the lead screw shaft 11 of the first rod 1. A retainer 44 for retaining the bearing 43 is fixed to the base plate 2a of the second rod 2. The drive wheel 22a is fixed to the inner ring of the bearing 43.

[0063] A nut 33, which engages with the lead screw shaft 12 of the second rod 2, is installed on the base plate 3a of the third rod 3. The nut 33 is, for example, a trapezoidal thread nut or a ball screw nut. If the lead screw shaft 12 is rotated, the third rod 3, which is fixed to the nut 33, moves axially.

[0064] like Figure 3 As shown, if the motor 16 rotates the lead screw shaft 11 of the first rod 1, the second rod 2, fixed to the nut 32, moves axially (rises). Simultaneously, through the transmission device 22, which moves (rises) along with the second rod 2, the lead screw shaft 12 of the second rod 2 rotates, and the third rod 3, fixed to the nut 33, moves axially (rises). The rising of the second rod 2 and the rising of the third rod 3 occur simultaneously. On the other hand, if the motor 16 rotates the lead screw shaft 11 of the first rod 1 in the opposite direction, the lead screw shaft 12 of the second rod 2 rotates in the opposite direction simultaneously with the lead screw shaft 11, and the second rod 2 and the third rod 3 descend. Figure 1 In the reduced state shown, at least a portion of the lead screw shaft 11 rotatably supported on the first rod 1 and at least a portion of the lead screw shaft 12 rotatably supported on the second rod 2 are located inside the third rod 3.

[0065] The structure of the telescopic device in this embodiment has been described above. The effects of the telescopic device in this embodiment are as follows.

[0066] Because two feed screws (screw shafts 11, 12 and nuts 32, 33) and a transmission device 22 that can move axially are used to extend and retract the first to third rods 1 to 3, the first to third rods 1 to 3 can be extended and retracted smoothly without the use of pneumatic or hydraulic pressure.

[0067] Since an axial groove 11a is formed in the lead screw shaft 11 of the first rod 1, and a key 22a1, a spline nut 46, or a ball spline nut 51 that engages with the axial groove 11a is provided in the drive wheel 22a of the transmission device 22, the transmission device 22 can move axially relative to the lead screw shaft 11 of the first rod 1.

[0068] If nuts 32 and 33 are trapezoidal thread nuts, they can be self-locking, preventing the first to third rods 1-3 from extending or retracting due to the weight of the object, even without a brake on the motor 16. Therefore, the telescopic device 10 can be used as a lifting device.

[0069] If nuts 32 and 33 are ball screw nuts, the telescopic device 10 can work smoothly.

[0070] exist Figure 1 In the reduced state shown, at least a portion of the lead screw shaft 11 of the first lever 1 and at least a portion of the lead screw shaft 12 of the second lever 2 are located inside the third lever 3, thus enabling the telescopic device 10 to be compact. Furthermore, it becomes easier to guide the movement of the third lever 3 from the second lever 2, and easier to guide the movement of the second lever 2 from the first lever 1. Moreover, the force that causes the telescopic device 10 to extend or retract can be concentrated near the center of the telescopic device 10, allowing the telescopic device 10 to extend and retract smoothly. It should be noted that at least a portion of the lead screw shaft 11 or lead screw shaft 12 may also be located inside the third lever 3.

[0071] (Second Implementation)

[0072] Figure 7 The telescopic device 60 of the second embodiment of the present invention is indicated. The telescopic device 60 of the second embodiment is a four-stage telescopic device 60. The telescopic device 60 of the second embodiment includes first to fourth cylindrical members (hereinafter referred to as first to fourth rods 1 to 4) arranged in a nested manner. Since the structure of the base 17, motor 16, and transmission device 20 is the same as that of the first embodiment, the same reference numerals are used and their descriptions are omitted.

[0073] Lead screw shafts 11-13 are rotatably supported on the first to third links 1-3. Axial grooves are formed in lead screw shafts 11-12. No axial groove is formed in lead screw shaft 13.

[0074] Nuts 32 to 34 are installed on the second to fourth rods 2 to 4. Nuts 32 to 34 are screwed into the lead screw shafts 11 to 13 of the first to third rods 1 to 3.

[0075] A transmission device 22 is provided on the second rod 2 to transmit the rotation of the lead screw shaft 11 of the first rod 1 to the lead screw shaft 12 of the second rod 2. The transmission device 22 is axially movable relative to the lead screw shaft 11 of the first rod 1. A transmission device 23 is provided on the third rod 3 to transmit the rotation of the lead screw shaft 12 of the second rod 2 to the lead screw shaft 13 of the third rod 3. The transmission device 23 is axially movable relative to the lead screw shaft 12 of the second rod 2. The structures of the transmission devices 22 and 23 are the same as those of the transmission device 22 in the first embodiment.

[0076] If motor 16 rotates the lead screw shaft 11 of the first rod 1, then the lead screw shafts 11 to 13 are simultaneously rotated via transmission devices 22 and 23. This simultaneous rotation of the lead screw shafts 11 to 13 causes the first to fourth rods 1 to 4 to extend or retract. In the retracted state of the extension / retraction device 60, at least a portion of the lead screw shafts 11 to 13 is located inside the fourth rod 4.

[0077] like Figure 7 (b) Figure 7 As shown in (d), the cross-sectional shape of the first to fourth members 1-4 is essentially quadrilateral or hexagonal. Figure 7 As shown in (b), when viewed axially, lead screw shafts 12 and 13 are positioned at the corners of the quadrilateral or hexagonal fourth rod 4. Furthermore, the remaining lead screw shaft 11 is positioned offset from the line L formed by connecting lead screw shafts 12 and 13. This arrangement of lead screw shafts 11 to 13 prevents them from overlapping when the first to fourth rods 1 to 4 are reduced in size.

[0078] (Third Implementation)

[0079] Figure 8 The telescopic device 70 of the third embodiment of the present invention is indicated. The telescopic device 70 of the third embodiment is a five-stage telescopic device 70. The telescopic device 70 of the third embodiment includes first to fifth cylindrical members (hereinafter referred to as first to fifth rods 1 to 5) arranged in a nested manner. The structure of the base 17, motor 16, and transmission device 20 is the same as that of the first embodiment, therefore the same reference numerals are used and their descriptions are omitted.

[0080] Lead screw shafts 11-14 are rotatably supported on the first to fourth links 1-4. Axial grooves are formed in lead screw shafts 11-13. No axial groove is formed in lead screw shaft 14.

[0081] Nuts 32 to 35 are installed on the second to fifth rods 2 to 5. Nuts 32 to 35 are screwed into the lead screw shafts 11 to 14 of the first to fourth rods 1 to 4.

[0082] A transmission device 22 is provided on the second rod 2 to transmit the rotation of the lead screw shaft 11 of the first rod 1 to the lead screw shaft 12 of the second rod 2. The transmission device 22 is axially movable relative to the lead screw shaft 11 of the first rod 1. A transmission device 23 is provided on the third rod 3 to transmit the rotation of the lead screw shaft 12 of the second rod 2 to the lead screw shaft 13 of the third rod 3. The transmission device 23 is axially movable relative to the lead screw shaft 12 of the second rod 2. A transmission device 24 is provided on the fourth rod 4 to transmit the rotation of the lead screw shaft 13 of the third rod 3 to the lead screw shaft 14 of the fourth rod 4. The transmission device 24 is axially movable relative to the lead screw shaft 13 of the third rod 3. The structure of the transmission devices 22 to 24 is the same as that of the transmission device 22 in the first embodiment.

[0083] If the motor 16 rotates the lead screw shaft 11 of the first rod 1, then the lead screw shafts 11 to 14 are simultaneously rotated via the transmission devices 22 to 24. This simultaneous rotation of the lead screw shafts 11 to 14 causes the first to fifth rods 1 to 5 to extend or retract. In the retracted state of the extension / retraction device 70, at least a portion of the lead screw shafts 11 to 14 is located inside the fifth rod 5.

[0084] like Figure 8 (b) Figure 8 As shown in (e), the cross-sectional shape of the first to fifth members 1-5 is essentially quadrilateral or hexagonal. Figure 8 As shown in (b), when viewed axially, lead screw shafts 13 and 14 are positioned at the corners of the fifth link 5. Furthermore, the remaining lead screw shafts 11 and 12 are positioned at the remaining corners of the fifth link 5 (positions offset from the line connecting lead screw shafts 13 and 14). This arrangement of lead screw shafts 11 to 14 prevents them from overlapping when the first to fifth links 1 to 5 are reduced in size.

[0085] (Fourth Implementation)

[0086] Figure 9 The telescopic device 80 of the fourth embodiment of the present invention is shown. The telescopic device 80 of the fourth embodiment is a six-stage telescopic device 80. The telescopic device 80 of the fourth embodiment includes first to sixth cylindrical members (hereinafter referred to as first to sixth rods 1 to 6) arranged in a nested manner. The structure of the base 17, motor 16, and transmission device 20 is the same as that of the first embodiment, therefore the same reference numerals are used and their descriptions are omitted.

[0087] Lead screw shafts 11-15 are rotatably supported on the first to fifth links 1-5. Axial grooves are formed in lead screw shafts 11-14. No axial groove is formed in lead screw shaft 15.

[0088] Nuts 32 to 36 are installed on the second to sixth rods 2 to 6. Nuts 32 to 36 are screwed into the lead screw shafts 11 to 15 of the first to fifth rods 1 to 5.

[0089] A transmission device 22 is provided on the second rod 2 to transmit the rotation of the lead screw shaft 11 of the first rod 1 to the lead screw shaft 12 of the second rod 2. The transmission device 22 is axially movable relative to the lead screw shaft 11 of the first rod 1. A transmission device 23 is provided on the third rod 3 to transmit the rotation of the lead screw shaft 12 of the second rod 2 to the lead screw shaft 13 of the third rod 3. The transmission device 23 is axially movable relative to the lead screw shaft 12 of the second rod 2. A transmission device 24 is provided on the fourth rod 4 to transmit the rotation of the lead screw shaft 13 of the third rod 3 to the lead screw shaft 14 of the fourth rod 4. The transmission device 24 is axially movable relative to the lead screw shaft 13 of the third rod 3. A transmission device 25 is provided on the fifth rod 5 to transmit the rotation of the lead screw shaft 14 of the fourth rod 4 to the lead screw shaft 15 of the fifth rod 5. The transmission device 25 is axially movable relative to the lead screw shaft 14 of the fourth rod 4. The structure of the transmission devices 22 to 25 is the same as that of the transmission device 22 in the first embodiment.

[0090] If the motor 16 rotates the lead screw shaft 11 of the first rod 1, then the lead screw shafts 11 to 15 are simultaneously rotated via the transmission devices 22 to 25. This simultaneous rotation of the lead screw shafts 11 to 15 causes the first to sixth rods 1 to 6 to extend or retract. In the retracted state of the extension / retraction device 80, at least a portion of the lead screw shafts 11 to 15 is located inside the sixth rod 6.

[0091] like Figure 9 As shown in (b) to (f), the cross-sectional shapes of the first to sixth members 1 to 6 are essentially quadrilaterals or hexagons. Figure 9 As shown in (b), when viewed axially, lead screw shafts 13 and 14 are positioned at the corners of the sixth link 6. Furthermore, the remaining lead screw shafts 11 and 12 are positioned at the remaining corners of the sixth link 6 (positions offset from the line connecting lead screw shafts 13 and 14). The remaining lead screw shaft 15 is positioned approximately at the center of the sixth link 6. This arrangement of lead screw shafts 11 to 15 prevents them from overlapping when the first to sixth links 1 to 6 are reduced in size.

[0092] (Conveying device)

[0093] Figure 10 This section illustrates an example of applying the telescopic devices 10, 60, 70, and 80 (hereinafter referred to only as telescopic devices 10-1 and 10-2) of this embodiment to the conveying device 90. The conveying device 90 includes a first telescopic device 10-1 on the upper side and a second telescopic device 10-2 on the lower side. A base 92 is fixed to the track 91 or wheel. The base 92 is capable of rotating relative to the track 91 about a vertical axis 92a.

[0094] The base end of the first telescopic device 10-1 is rotatably connected to the vertical plate 92b of the base 92 about a pivot 93. The base end of the second telescopic device 10-2 is rotatably connected to the vertical plate 92b of the base 92 about a pivot 94. The front ends of the first telescopic device 10-1 and the front ends of the second telescopic device 10-2 are rotatably connected about a pivot 95. The first telescopic device 10-1 and the second telescopic device 10-2 intersect at an acute angle (e.g., 30°).

[0095] An object such as a tool is mounted on the front end of either the first telescopic device 10-1 or the second telescopic device 10-2. By extending or retracting the first telescopic device 10-1 and the second telescopic device 10-2, the object can be moved in the X direction (horizontal direction) and / or the Z direction (vertical direction). Furthermore, by rotating the base 92 about the vertical axis 92a, the object can be rotated in the horizontal plane. Therefore, the object can be moved in three dimensions.

[0096] (Parallel linkage robot)

[0097] Figure 11 This describes an example of applying the telescopic devices 10, 60, 70, and 80 (hereinafter referred to as telescopic devices 10-1, 10-2, and 10-3) of this embodiment to a parallel linkage robot 100. The parallel linkage robot 100 includes a base 101, a first telescopic device 10-1, a second telescopic device 10-2, a third telescopic device 10-3, and a movable part 102.

[0098] One end 10a of the first telescopic device 10-1, the second telescopic device 10-2, and the third telescopic device 10-3 can be oscillatingly connected to the base 101 via a joint 103 such as a single-axis hinge, a universal joint, or a spherical joint. The other end 10b of the first telescopic device 10-1, the second telescopic device 10-2, and the third telescopic device 10-3 can be oscillatingly connected to the movable part 102 via a joint 104 such as a single-axis hinge, a universal joint, or a spherical joint. A movable object such as a handle, a tool, a measuring instrument, or a camera is mounted on the movable part 102. By extending or retracting the first telescopic device 10-1, the second telescopic device 10-2, and the third telescopic device 10-3, the movable part 102 can be moved and / or its posture can be changed.

[0099] The parallel linkage robot 100 according to this embodiment has the following effects. By increasing the stroke of the first telescopic device 10-1, the second telescopic device 10-2, and the third telescopic device 10-3, the movement of the movable part 102 can be increased. For example, the movable part 102 can also be a front or side view.

[0100] It can realize a large parallel linkage robot 100 (for example, it can increase the stroke of the movable part 102 or increase the load acting on the movable part 102).

[0101] By miniaturizing each telescopic device 10-1, 10-2, and 10-3, a well-organized parallel linkage robot 100 can be obtained even if the parallel linkage robot 100 is made large.

[0102] It should be noted that the parallel linkage robot 100 can be configured longitudinally, laterally, or suspended from the ceiling. The number of telescopic devices 10-1, 10-2, and 10-3 can also be more than four, for example, six.

[0103] It should be noted that the present invention is not limited to the above-described embodiments, and can be modified into other embodiments without changing the spirit of the present invention.

[0104] In the first to fourth embodiments, the first rod of the telescopic device is positioned at the bottom, and the nth (n≥3) rod is positioned at the top. However, the positions can be reversed to suspend an object using the telescopic device. Alternatively, the telescopic device can be oriented horizontally, allowing it to extend and retract horizontally.

[0105] In the first to fourth embodiments, examples of telescopic devices of three to six levels were described, but telescopic devices of seven levels or more can also be made according to the required telescopic length.

Claims

1. A telescopic device characterized by comprising: first to nth barrel members combined in a nested manner; lead screw shafts rotatably supported to each of the first to (n-1)th barrel members; nuts attached to each of the second to nth barrel members and screwed with the lead screw shafts of the first to (n-1)th barrel members; and a transmission device that transmits rotation of the lead screw shafts of the first to (n-2)th barrel members to the lead screw shafts of the second to (n-1)th barrel members and is axially movable relative to the lead screw shafts of the first to (n-2)th barrel members, the first to nth barrel members are caused to telescope by simultaneous rotation of the lead screw shafts of the first to (n-1)th barrel members, a helical thread groove is formed on the outer surface of each of the lead screw shafts of the first to (n-2)th barrel members, and a circumferential groove that intersects the thread groove is formed on the outer surface of the lead screw shaft, a key, a spline nut, or a ball spline nut that engages with the axial groove is provided to the driving wheel of the transmission device, where n is 3 or more.

2. The telescopic device according to claim 1, characterized in that: the nut is a trapezoidal thread nut or a ball screw nut.

3. The telescopic device according to claim 1 or 2, characterized in that: in a contracted state of the telescopic device, at least a part of the lead screw shaft rotatably supported to the first barrel member and / or at least a part of the lead screw shaft supported to the second barrel member are located inside the nth barrel member.

4. The telescopic device according to claim 1 or 2, characterized in that: in a contracted state of the telescopic device, at least a part of the lead screw shaft rotatably supported to each of the first to (n-1)th barrel members is located inside the nth barrel member.

5. The telescopic device according to claim 1 or 2, characterized in that: the cross-sectional shape of each of the first to nth barrel members is substantially formed as an m-sided polygon, when viewed in the axial direction, two lead screw shafts are disposed at the corner of the innermost nth barrel member, and the remaining lead screw shafts are disposed at positions deviated from the line connecting the two lead screw shafts, where n is 4 or more and m is 4 or more.

6. The telescopic device according to claim 1 or 2, characterized in that: a motor of the telescopic device is located outside the first to nth barrel members.

7. A conveying device characterized by comprising: the first telescopic device according to any one of claims 1 to 6; the second telescopic device according to any one of claims 1 to 6; and a base to which the base end portion of the first telescopic device is rotatably connected as a pivot center and to which the base end portion of the second telescopic device is rotatably connected as a pivot center, the front end portion of the first telescopic device and the front end portion of the second telescopic device are rotatably connected as a pivot center. ​ ​ ​ ​ 8. A parallel link robot characterized by comprising: the parallel link robot has: the first said telescopic device in any one of claims 1 to 6; the second said telescopic device in any one of claims 1 to 6; the third said telescopic device in any one of claims 1 to 6; a base which connects one end of the first to the third said telescopic devices; and a movable part which connects the other end of the first to the third said telescopic devices.

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