Stretching tube and handling robot

Abstract

The present disclosure relates to an extension tube and a transfer robot. The extension tube of the present invention includes a first band having a plurality of first engagement pins formed on the upper side along the upper edge and a plurality of second engagement pins formed on the lower side along the lower edge, a second band having a plurality of first engagement holes formed on the upper side along the upper edge and a plurality of second engagement holes formed on the lower side along the lower edge, and a first guide portion having a helical groove and helically guiding the first band and the second band. The difference between the length of a first track along which each of the first engagement pins moves in the helical groove and the length of a second track along which each of the second engagement pins moves in the helical groove is less than the amount of a half turn of the helical groove.

Description

Technical Field

[0001] This disclosure relates to extension tubes and handling robots. Background Technology

[0002] Japanese Patent Application Publication No. 2021-173391 discloses a technique for forming an extension tube by spirally guiding a first strip with a locking pin formed along the opposite long side and a second strip with a locking hole formed along the opposite long side.

[0003] In the technology described in Patent Document 1, the length of the trajectory of the locking pin spirally guided on the upper side of the first belt is different from the length of the trajectory of the locking pin spirally guided on the lower side of the first belt. Therefore, according to the technology described in Patent Document 1, there is a problem of self-excited oscillation occurring when the extension tube is extended or retracted. Summary of the Invention

[0004] This disclosure was made to solve such a problem, and its purpose is to provide an extension tube and a handling robot capable of suppressing self-excited oscillations during the extension and retraction of the tube.

[0005] The extension tube in this embodiment includes: a first belt having a plurality of first engaging pins formed along the upper side and a plurality of second engaging pins formed along the lower side; a second belt having a plurality of first engaging holes formed along the upper side and a plurality of second engaging holes formed along the lower side; and a first guide portion having a spiral groove and spirally guiding the first belt and the second belt. The first belt and the second belt are wound into a spiral shape such that corresponding first engaging pins engage with second engaging holes and corresponding second engaging pins engage with first engaging holes. Each first engaging pin and each second engaging pin is configured to be able to be inserted into the spiral groove. The difference between the length of the first trajectory of each first engaging pin moving along the spiral groove and the length of the second trajectory of each second engaging pin moving along the spiral groove is less than half a circumference of the spiral groove.

[0006] The transport robot of this embodiment includes the aforementioned extension tube.

[0007] According to this disclosure, it is possible to provide an extension tube and a handling robot that suppress self-excited oscillations during the extension and retraction of the tube. Attached Figure Description

[0008] The foregoing and other objects, features and advantages of this disclosure will be more fully understood from the following detailed description and accompanying drawings, which are provided by way of example only and should not be considered as limiting the scope of this disclosure.

[0009] Figure 1 It is a diagram used to illustrate the outline of the relevant extension tube.

[0010] Figure 2 This diagram is used to illustrate the structure of the first and second bands.

[0011] Figure 3 This is a longitudinal sectional view of the relevant extension tube.

[0012] Figure 4 It is a three-dimensional diagram of the screw shaft of the related extension tube.

[0013] Figure 5 It is a three-dimensional diagram of the related extension tube with guides.

[0014] Figure 6 This is a diagram used to illustrate the first and second trajectories.

[0015] Figure 7 This is a top-down view of the first and second trajectories.

[0016] Figure 8 This is a perspective view of the threads of the extension tube according to Embodiment 1.

[0017] Figure 9 This is a top view of the first and second trajectories in Implementation Method 1.

[0018] Figure 10 It is a perspective view of the transport robot including the extension tube involved in Embodiment 1.

[0019] Figure 11 It is a side view of the transport robot, including the extension tube involved in Embodiment 1.

[0020] Figure 12 This is a perspective view of the extension tube with guide members according to Embodiment 2.

[0021] Figure 13 This is a top view of the first and second trajectories in Embodiment 2. Detailed Implementation

[0022] The present invention will now be described through embodiments thereof, but the invention as described in the claims is not limited to these embodiments. Furthermore, not all structures described in the embodiments are necessary as means to solve the problem.

[0023] <Details of this disclosure>

[0024] First, refer to Figure 1The general outline of the relevant extension tube is described below. The relevant extension tube 1 includes a belt guide 14, a first belt 2, a second belt 3, and a telescopic section 4. The belt guide 14 has a first opening for the first belt 2 to pass through and a second opening for the second belt 3 to pass through. The first belt 2 and the second belt 3 engage inside the belt guide 14 and are wound into a spiral shape. The telescopic section 4 is formed by the first belt 2 and the second belt 3. The telescopic section 4 is also referred to as a columnar structure. Hereinafter, the structure other than the telescopic section 4 may be referred to as a base section. A screw shaft (not shown) is disposed inside the belt guide 14. The screw shaft has a groove formed in a spiral shape to guide the first belt 2 and the second belt 3 into a spiral shape.

[0025] Next, refer to Figure 2 The structure of the first belt 2 and the second belt 3 will be described below. The first belt 2 is, for example, a steel belt. A plurality of first locking pins 21 are provided on the upper side along the upper edge of the first belt 2. A plurality of second locking pins 22 are provided on the lower side along the lower edge of the first belt 2. The first locking pins 21 and the second locking pins 22 are provided at approximately equal intervals.

[0026] The second belt 3 is, for example, a steel belt of the same thickness as the first belt 2. Multiple first engaging holes 31 are provided along the upper edge of the second belt 3. Multiple second engaging holes 32 are provided along the lower edge of the second belt 3. The spacing between the first engaging holes 31 and the second engaging holes 32 is the same as the spacing between the first engaging pin 21 and the second engaging pin 22.

[0027] For the first belt 2 and the second belt 3, the second belt 3 is pre-positioned inside the first belt 2 and wound into a spiral shape in a staggered state to form the telescopic part 4. At this time, the first engaging pin 21 and the second engaging pin 22 of the first belt 2 protrude toward the inside of the telescopic part 4. The first engaging pin 21 of the first belt 2 engages with the second engaging hole 32 of the second belt 3, which is staggered upward relative to the first belt 2. The second engaging pin 22 of the first belt 2 engages with the first engaging hole 31 of the second belt 3, which is staggered downward relative to the first belt 2.

[0028] Next, refer to Figure 3 , Figure 4 as well as Figure 5 The structure of the relevant extension tube 1 will be described. Figure 3 This is a longitudinal sectional view of extension tube 1. Figure 4 This is a three-dimensional diagram showing the structure of the screw shaft 13. Figure 5 This is a perspective view showing the structure with guide 14. (Refer to...) Figure 3 As can be seen, the extension tube 1 includes a main shaft 11, a holding part 12, a screw shaft 13, a belt guide 14, a first belt bracket 15, a second belt bracket 16, and a drive part 17.

[0029] The main shaft 11 has a cylindrical portion 11a and a flange portion 11b. The flange portion 11b protrudes outward from the lower end of the cylindrical portion 11a.

[0030] The retaining part 12 is fixed to the upper end of the cylindrical part 11a in the main shaft 11. The retaining part 12 is a cylindrical body, and a groove 12a extending in the vertical direction is formed on its outer peripheral surface. The first locking pin 21 and the second locking pin 22 of the first belt 2 are engaged in the groove 12a, thereby restricting the rotation of the telescopic part 4.

[0031] like Figure 4 As shown, the screw shaft 13 includes a cylindrical portion 13a and a flange portion 13b. The screw shaft is also referred to as the first guide portion. A helical groove 13c is formed on the outer peripheral surface of the cylindrical portion 13a. The first engaging pin 21 and the second engaging pin 22 of the first belt 2 are configured to be inserted into the helical groove 13c. The screw shaft 13 has multiple threads (e.g., 2 threads, 4 threads) with at least two helices. The flange portion 13b protrudes outward from the lower end of the cylindrical portion 13a.

[0032] Reference Figure 3 As can be seen, the cylindrical portion 11a of the main shaft 11 passes through the interior of the screw shaft 13. The screw shaft 13 is disposed between the flange portion 11b and the retaining portion 12 of the main shaft 11 in a state that allows it to rotate relative to the main shaft 11.

[0033] like Figure 5 As shown, the belt guide 14 is basically cylindrical. The belt guide 14 is also referred to as the second guide member. The belt guide 14 has a first opening 141 for the passage of the first belt 2 and a second opening 142 for the passage of the second belt 3. The first opening 141 and the second opening 142 are rectangular.

[0034] Reference Figure 3 As can be seen, the cylindrical portion 13a of the screw shaft 13 passes through the interior of the guide member 14. The lower end of the guide member 14 is fixed to the flange portion 13b of the screw shaft 13.

[0035] Therefore, the screw shaft 13 and the belt guide 14 can rotate around the main shaft 11. At this time, a gap is formed between the outer peripheral surface of the cylindrical portion 13a of the screw shaft 13 and the inner peripheral surface of the belt guide 14, allowing the first belt 2 and the second belt 3 to pass through in an overlapping state.

[0036] The first belt support 15 houses the second belt 3 in its belt state before forming the telescopic section 4. The first belt support 15 is basically a bottomed cylindrical body. A through hole is formed at the bottom of the first belt support 15. Furthermore, the belt guide 14 passes through the through hole of the first belt support 15. The first belt support 15 is supported on the flange 13b of the screw shaft 13 in a state that allows it to rotate relative to the belt guide 14.

[0037] The second belt bracket 16 houses the first belt 2 in its belt state before forming the telescopic section 4. The second belt bracket 16 has a shape substantially the same as the first belt bracket 15. A through hole is formed at the bottom of the second belt bracket 16. The second belt bracket 16 is positioned above the first belt bracket 15. Furthermore, the belt guide 14 passes through the through hole of the second belt bracket 16. The second belt bracket 16 is supported on the stepped portion of the belt guide 14 in a state where it can rotate relative to the belt guide 14.

[0038] The drive unit 17 includes a motor 17a and a drive transmission unit 17b. The drive transmission unit 17b includes a belt, pulleys, etc. The drive unit 17 drives the screw shaft 13 and the belt guide 14 to rotate. As the screw shaft 13 rotates, the first belt 2 and the second belt 3 are pulled out and wound into a spiral shape, and the telescopic part 4 extends. In addition, as the screw shaft 13 rotates, the first belt 2 and the second belt 3 unwind from their engaged state, and the telescopic part 4 retracts.

[0039] Figure 6 The diagram shows the trajectory L1 of the first locking pin 21 moving along the helical groove 13c of the screw shaft 13, and the trajectory L2 of the second locking pin 22 moving along the helical groove 13c. When the first belt 2 enters the first opening 141 of the belt guide 14, the first locking pin 21 and the second locking pin 22 are inserted into the helical groove 13c of the screw shaft 13. Furthermore, while inserted into the helical groove 13c, the first locking pin 21 and the second locking pin 22 are guided helically. Moreover, upon reaching the upper end of the belt guide 14, the first locking pin 21 and the second locking pin 22 disengage from the helical groove 13c. The starting points of trajectories L1 and L2 are the locations where the first locking pin 21 and the second locking pin 22 are inserted into the helical groove 13c. The endpoints of trajectories L1 and L2 are the points where the first locking pin 21 and the second locking pin 22 leave the spiral groove 13c.

[0040] Figure 7 This is a top-down view of trajectories L1 and L2. (Refer to...) Figure 7 It can be seen that the length of trajectory L1 is shorter than the length of trajectory L2 by half a circumference of the spiral groove 13c. The starting point S2 of trajectory L2 corresponds to the starting point S1 of trajectory L1. On the other hand, the ending point G2 of trajectory L2 corresponds to the point that has advanced half a circumference along the spiral groove 13c from the ending point G1 of trajectory L1. Furthermore, "corresponding" refers to points that are in the same position in the circumferential direction.

[0041] When the lengths of trajectory L1 and trajectory L2 are different, the forces acting on the upper side of the first band 2 are inconsistent with the forces acting on the lower side of the first band 2, thus generating self-excited oscillations.

[0042] Thus, in the relevant extension tube, since the lengths of trajectory L1 and trajectory L2 are different, there is a problem of self-excited oscillations occurring during extension and contraction. The same applies when the relevant extension tube contracts.

[0043] Therefore, in Embodiment 1 and Embodiment 2, in order to suppress self-excited oscillations, an extension tube with a shorter difference between the length of trajectory L1 and the length of trajectory L2 is achieved.

[0044] <Implementation Method 1>

[0045] The extension tube according to embodiment 1 has Figure 8 The screw shaft 53 shown is used instead Figure 4 The screw shaft 13 is shown. Its other structure is the same as in related technologies. The screw shaft 53 is then passed through a reference... Figure 5 The interior of the guide 14 is described.

[0046] A notch 531 is formed at the front end of the screw shaft 53. The notch 531 is parallel to the axial direction of the screw shaft 53 and also parallel to the radial direction of the screw shaft 53. Furthermore, the structure other than the notch 531 is the same as that of the screw shaft 13. The cylindrical portion 13a of the screw shaft 53 has a helical groove 13c.

[0047] Figure 8 This includes trajectories L1 and L2 from implementation method 1. The end points of trajectory L1 and trajectory L2 are contained within the cut surface 531.

[0048] Figure 9 A top view of trajectories L1 and L2 is shown. The end point G2 of trajectory L2 corresponds to the end point G1 of trajectory L1. This is because, at the cut surface 531, the first locking pin 21 and the second locking pin 22 disengage from the spiral groove 13c.

[0049] Reference Figure 8 As can be seen, the end point of trajectory L1 is located closer to the front end of the screw shaft 53 than the end point of trajectory L2. Therefore, the difference in length between trajectory L1 and trajectory L2 can be reduced compared to related technologies. In related technologies, the end points of trajectory L1 and trajectory L2 are at the same position along the axial direction of the screw shaft 13, thus increasing the difference in length between trajectory L1 and trajectory L2.

[0050] In the extension tube according to Embodiment 1, the length of trajectory L1 is approximately the same as the length of trajectory L2. Therefore, the extension tube according to Embodiment 1 can suppress self-excited oscillations generated during extension and contraction.

[0051] Furthermore, if the difference between the lengths of trajectory L1 and trajectory L2 is less than half the circumference of the spiral groove 13c, then compared with related technologies, the generation of self-excited oscillations in the extension tube can be suppressed. For example, in Figure 8 When the cut surface 531 shown is not parallel to the axial direction of the screw shaft 53, the positions of the end points of trajectory L1 and trajectory L2 are not the same when viewed from above. Even in this case, the difference between the lengths of trajectory L1 and trajectory L2 can be reduced, thus providing a stretching tube with less self-excited oscillation.

[0052] According to Embodiment 1, by suppressing the generation of self-excited oscillations, the swaying during the extension and contraction of the extension tube can be suppressed, thereby eliminating the instability of the extension tube. Furthermore, user anxiety caused by the swaying of the extension tube can be suppressed. Moreover, the stress generated in the extension tube during extension and contraction can be reduced, thereby improving the durability of the extension tube.

[0053] Next, the transport robot 100, including the extension tube 5 involved in Embodiment 1, will be described. Figure 10 This is a schematic 3D view of the handling robot 100. Figure 11 This is a schematic side view of the handling robot 100. (Example) Figure 10 and Figure 11 As shown, the handling robot 100 includes an extension tube 5 and a drive unit 6. The extension tube 5 includes a telescopic part 4 and a base part 7. As described above, the telescopic part 4 is a telescopic, retractable cylindrical body, and a plate 8 is provided at the upper end of the telescopic part 4. The object to be handled is placed on the plate 8.

[0054] The base portion 7 retractably supports the telescopic portion 4. For example, movable casters 7a are provided at the front and rear ends of the lower surface of the base portion 7. The base portion 7 can be covered, for example, by a cover 9. Here, in Figure 10 and Figure 11 In the middle, the structure of the handling robot 100 is clearly represented by double-dotted lines on panel 8 and cover 9.

[0055] The drive unit 6 includes left and right drive wheels 6a and motors (not shown). The left and right drive wheels 6a and motors are supported on the base unit 7. The handling robot 100 moves forward, backward, and rotates by independently driving the left and right drive wheels 6a. Furthermore, the plate 8 is displaced in the vertical direction by extending and retracting the telescopic unit 4. The handling robot 100 can operate autonomously or according to external instructions.

[0056] The transport robot described in Implementation 1 is able to suppress vibrations directed at the transported object.

[0057] <Implementation Method 2>

[0058] The extension tube involved in Embodiment 2 has Figure 12 The guide 54 shown is used instead Figure 5The diagram shows guide 14. The structure other than guide 54 is the same as in related technologies. (Refer to...) Figure 4 The screw shaft 13 described herein passes through the interior of the belt guide 54. The belt guide 54 has a first opening 541 instead of a first opening 141. The structure other than the first opening 541 is the same as that of the belt guide 14.

[0059] Figure 12 The trajectory L1 of the first locking pin 21 moving along the spiral groove 13c of the screw shaft 13, and the trajectory L2 of the second locking pin 22 moving along the spiral groove 13c, are included. The first opening 541 is formed in a trapezoidal shape with the upper side longer than the lower side. The first opening 541 can also be formed in a triangular shape with the base at the top and the apex at the bottom. The first belt 2 enters the belt guide 54 from the top of the first opening 541. The second locking pin 22 is inserted into the spiral groove 13c of the screw shaft 13 after the first locking pin 21.

[0060] The first locking pin 21 and the second locking pin 22 are inserted into the spiral groove 13c by constraining the first belt 2 to the belt guide 54. Therefore, the starting point of the trajectory L1 and the starting point of the trajectory L2 can be changed by the shape of the first opening 541.

[0061] Figure 12 The shape of the first opening 541 shown is one example. For example, the first opening 541 can also be made larger, so that the second locking pin 22 is inserted into the spiral groove 13c after being delayed by half a turn in the spiral direction compared to the first locking pin 21. As a result, the lengths of the trajectory L1 and the trajectory L2 can be made approximately the same.

[0062] Figure 13 A top-view diagram of trajectories L1 and L2 is shown. The end point G2 of trajectory L2 is the same as in related technologies, advancing half a turn in the helical direction compared to the end point G1 of trajectory L1. However, the start point S2 of trajectory L2 differs from related technologies, advancing in the helical direction compared to the start point S1 of trajectory L1. Therefore, the difference in length between trajectory L1 and trajectory L2 is shorter than half a turn of the helical groove 13c.

[0063] Reference Figure 12 As can be seen, the first opening 541 is designed such that the starting points of trajectory L1 and trajectory L2 are at the same position in the axial direction of the screw shaft 13 (the axial direction of the guide 54). This allows the difference between the lengths of trajectory L1 and trajectory L2 to be reduced compared to related technologies. In related technologies, the starting point of trajectory L1 is located closer to the front end of the thread than the starting point of trajectory L2, thus increasing the difference between the lengths of trajectory L1 and trajectory L2.

[0064] The extension tube described in Embodiment 2 reduces the difference in length between trajectory L1 and trajectory L2 compared to related technologies, thus suppressing self-excited oscillations in the same way as in Embodiment 1. The same applies to handling robots, including those using the extension tube described in Embodiment 2.

[0065] Furthermore, the present invention is not limited to the above-described embodiments, and appropriate modifications can be made without departing from the spirit of the invention.

[0066] Based on the foregoing disclosure, the embodiments of this disclosure can obviously be varied in various ways. These variations should not be considered as departing from the spirit and scope of this disclosure, and all such modifications will clearly be included within the scope of the technical solution for those skilled in the art.

Claims

1. A telescopic tube, wherein, The extension tube has: The first belt has a plurality of first locking pins disposed along the upper side and a plurality of second locking pins disposed along the lower side. The second belt has a plurality of first engaging holes disposed along the upper side and a plurality of second engaging holes disposed along the lower side; as well as The first guide portion has a spiral groove and spirally guides the first belt and the second belt. The first strip and the second strip are wound into a spiral shape by means of corresponding first engaging pins engaging second engaging holes and corresponding second engaging pins engaging first engaging holes. Each of the first locking pins and each of the second locking pins is configured to be able to be inserted into the spiral grooves respectively. The difference between the length of the first trajectory along which each of the first engaging pins moves along the spiral groove and the length of the second trajectory along which each of the second engaging pins moves along the spiral groove is less than half a circumference of the spiral groove. The end point of the first trajectory is located closer to the front end of the first guide portion than the end point of the second trajectory. A cut surface along the axial direction of the first guide portion is provided at the front end of the first guide portion. The end points of the first trajectory and the second trajectory are contained within the cut surface. The extension tube further includes a second guide portion, which includes a first opening for the passage of the first belt and a second opening for the passage of the second belt. The first guide portion passes through the interior of the second guide portion. The starting point of the first trajectory and the starting point of the second trajectory are at the same position in the axial direction of the first guide.

2. The extension tube according to claim 1, wherein, The starting point of the second trajectory is a point that moves in a spiral direction compared to the starting point of the first trajectory.

3. The extension tube according to claim 1 or 2, wherein, The length of the first trajectory is approximately the same as the length of the second trajectory.

4. A transport robot, wherein, The transport robot includes the extension tube as described in claim 1.

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