Swing device and control method for swing device

Abstract

In the swing device and control method of the present invention, the swing device includes: a plurality of telescopic devices disposed between opposing first and second components and capable of telescopic movement; a guide device disposed between the first and second components and following the movement of the telescopic devices; and a control unit that controls the movement of the telescopic devices and the guide device. The telescopic device has a telescopic part and a drive source for supplying power to the telescopic part, the guide device has a guide part and a braking device for stopping the movement of the guide part, and the control unit controls the braking device according to the movement state of the telescopic part.

Description

Technical Field

[0001] This invention relates to a swaying device, such as a Stewart platform, used in driving simulators or flight simulators, and a control method for the swaying device. Background Technology

[0002] A Stewart platform suitable for use in driving simulators, etc., is configured such that six actuators are mounted between a lower support plate and an upper support plate. The Stewart platform controls the angle of the upper support plate relative to the lower support plate by actuating the six actuators. Such technology is described, for example, in the following patent documents.

[0003] Previous technical documents

[0004] Patent documents

[0005] Patent Document 1: International Publication No. 2017 / 202920 Summary of the Invention

[0006] The technical problem to be solved by the invention

[0007] In the Stewart platform, the upper support plate is supported by six actuators on the lower support plate. Therefore, for example, if a malfunction occurs in one of the six actuators, it is difficult to control the upper support plate at the appropriate angle. The aforementioned patent literature increases the number of actuators. However, this structure presents the problem that increasing the number of actuators leads to a larger device size and higher cost.

[0008] The present invention was made to solve the above-mentioned problems, and its purpose is to provide a swing device and a control method for the swing device that suppresses large size or high cost and improves safety.

[0009] means for solving technical problems

[0010] To achieve the above-mentioned objective, the swing device of the present invention comprises: a plurality of telescopic devices disposed between opposing first and second components and capable of telescopic movement; a guide device disposed between the first and second components and following the movement of the telescopic devices; and a control unit that controls the movement of the telescopic devices and the guide device, wherein the telescopic device has a telescopic portion and a drive source for supplying power to the telescopic portion, the guide device has a guide portion and a braking device for stopping the movement of the guide portion, and the control unit controls the braking device according to the movement state of the telescopic portion.

[0011] Furthermore, in the control method of the swing device of the present invention, the swing device includes: a plurality of telescopic devices disposed between opposing first and second components and capable of telescopic movement; and a guide device disposed between the first and second components and following the movement of the telescopic devices, the telescopic devices having a telescopic portion and a drive source for supplying power to the telescopic portion, the guide device having a guide portion and a braking device for stopping the movement of the guide portion, and the braking device being activated when malfunction of the telescopic portion is detected.

[0012] Invention Effects

[0013] The swing device and its control method according to the present invention can suppress large-scale or high-cost operation and improve safety. Attached Figure Description

[0014] Figure 1 This is a perspective view showing the overall structure of the swing device according to the first embodiment.

[0015] Figure 2 This is a schematic diagram showing the telescopic device and guide device in the swing device.

[0016] Figure 3 This is a schematic diagram showing the braking device in the guiding device.

[0017] Figure 4 This is a schematic diagram showing a modified example of the braking device in the guiding device.

[0018] Figure 5 This is a schematic diagram showing the telescopic device and the guide device in the swing device of the second embodiment. Detailed Implementation

[0019] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, the present invention is not limited to these embodiments, and in the case of multiple embodiments, it also includes configurations by combining various embodiments. Furthermore, the constituent elements in the embodiments include elements readily conceived by those skilled in the art, substantially identical elements, and elements within a so-called equivalent range.

[0020] [First Implementation]

[0021] <Oscillating Device>

[0022] Figure 1 This is a perspective view showing the overall structure of the swing device according to the first embodiment.

[0023] In the first embodiment, such as Figure 1As shown, the swing device 10 is configured such that a plurality of telescopic devices 13 and a plurality of guide devices 14 are arranged between the opposing first component 11 and second component 12. The swing device 10 is, for example, a Stuart platform and has six telescopic devices 13. However, the swing device 10 is not limited to a Stuart platform; the number of telescopic devices 13 can be five or fewer, or seven or more. The swing device 10 is applicable, for example, to simulator devices such as driving simulators or flight simulators, robotic arms, etc., but is not limited to these.

[0024] Furthermore, the telescopic device 13 comprises two telescopic units per group, and multiple groups (three groups in this embodiment) of telescopic units are provided. One guide device 14 is provided relative to each of the two telescopic units per group. That is, the swing device 10 of this embodiment is provided with three groups of telescopic units composed of two telescopic devices 13, and three guide devices 14 are provided relative to the three groups of telescopic units. However, the number of guide devices 14 relative to the telescopic devices 13 is not limited to these.

[0025] The six telescopic devices 13 are configured, for example, as three groups of two telescopic devices 13 each. The two telescopic devices 13 in one group are arranged in a figure-eight shape. In one group of telescopic devices 13, each base end is connected to different connecting portions 21 and 22 of the first component 11 via universal joints 23 and 24. Furthermore, in one group of telescopic devices 13, each front end is connected to a common connecting portion 25 of the second component 12 via universal joints 26 and 27. Another group of telescopic devices 13 is connected to the base ends of two telescopic devices 13 in a separate group, with adjacent base ends. Additionally, all six telescopic devices 13 have the same structure. Furthermore, one group of telescopic devices 13 can be connected to a common connecting portion of each base end, or it can be connected to different connecting portions 25 of each front end.

[0026] The three guide devices 14 are configured to be approximately orthogonal to the first component 11 and the second component 12. Each base end of the guide device 14 is connected to the connecting portion 31 of the first component 11 via a universal joint 32. Furthermore, each front end of the guide device 14 is connected to the connecting portion 33 of the second component 12 via a universal joint 34. The three guide devices 14 have identical structures. Additionally, the guide devices 14 can also utilize the connecting portions 21, 22, and 25 of the telescopic device 13.

[0027] The swinging device 10 can change and adjust the angle of the second component 12 relative to the first component 11 by controlling the extension and retraction of the plurality of telescopic devices 13. At this time, the extension and retraction of at least two telescopic devices 13 are controlled synchronously in at least one group. Furthermore, if the swinging device 10 changes the angle of the second component 12 relative to the first component 11 by controlling the extension and retraction of the plurality of telescopic devices 13, the guide device 14 can follow the movement of the telescopic devices 13, thereby supporting the second component 12 relative to the first component 11. Additionally, while the guide device 14 supports the second component 12 relative to the first component 11, some resistance is generated, but it can essentially extend and retract without applying force between the first component 11 and the second component 12.

[0028] <Structure of the Oscillating Device>

[0029] Figure 2 This is a schematic diagram showing the telescopic device and guide device in the swing device.

[0030] like Figure 2 As shown, the swing device 10, in addition to the telescopic device 13 and the guide device 14, also includes a control unit 15. The control unit 15 controls the operation of the telescopic device 13 and the guide device 14.

[0031] <Structure of the telescopic device>

[0032] The telescopic device 13 has a telescopic part 41, a drive source 42, and a power transmission system 43.

[0033] The telescopic part 41 extends and retracts freely between the first component 11 and the second component 12. The drive source 42 supplies power to the telescopic part 41 via the power transmission system 43. The telescopic part 41, the drive source 42, and the power transmission system 43 are housed in the housing 40.

[0034] The telescopic part 41 has a telescopic main body 51 and a telescopic rod 52. The telescopic main body 51 has a guide hole 51a extending through one end. The telescopic rod 52 has a threaded portion 52a in the middle part along the axial direction. The telescopic part 41 is configured such that one end of the telescopic rod 52 can be freely engaged with the guide hole 51a of the telescopic main body 51 along the axial direction.

[0035] The telescopic main body 51 is fixed to the housing 40. A portion of the other end of the telescopic main body 51 protrudes from the housing 40. A connecting portion 53 is provided at the other end of the telescopic main body 51, and the connecting portion 53 is connected to the first component 11 via universal connectors 23 and 24. Furthermore, a portion of the other end of the telescopic rod 52 protrudes from the housing 40. A connecting portion 54 is provided at the other end of the telescopic rod 52, and the connecting portion 54 is connected to the second component 12 via universal connectors 26 and 27.

[0036] The drive source 42 is, for example, an electric or hydraulic motor. The drive source 42 has a rotating shaft 61 as its output shaft. The drive source 42 is housed and fixed to the housing 40. The rotating shaft 61 is rotatably supported in the housing 50 in the circumferential direction by bearings 62. The drive source 42 is capable of rotating the rotating shaft 61 in both the forward and reverse directions. The drive source 42 supplies power to the telescopic section 41.

[0037] The power transmission system 43 includes a drive pulley 71, a driven pulley 72, and a drive belt 73. The drive pulley 71 is fixed to the rotating shaft 61 of the drive source 42, rotatably mounted on the second housing, and supported in a manner that prevents axial movement. The driven pulley 72 is screwed into the telescopic rod portion 52 in the telescopic section 41. The driven pulley 72 is cylindrical and has a threaded hole 72a formed on its inner circumference. The driven pulley 72 is supported on the second housing in a manner that prevents axial movement, and the threaded hole 72a is screwed into the threaded portion 52a of the telescopic rod portion 52. The drive belt 73 is an annular belt and is wound between the drive pulley 71 and the driven pulley 72. The power transmission system 43 transmits power from the drive source 42 between the drive source 42 and the telescopic rod portion 52, enabling the telescopic rod portion 52 to rotate.

[0038] Therefore, if the drive source 42 is driven and the rotating shaft 61 is rotated in the forward direction, the power is transmitted to the driven pulley 72 via the drive pulley 71 and drive belt 73 constituting the power transmission system 43, thereby causing the driven pulley 72 to rotate in the forward direction. Then, the forward rotation of the driven pulley 72 is transmitted to the telescopic rod portion 52 via the threaded hole 72a and threaded portion 52a, and the telescopic portion 41 causes the telescopic rod portion 52 to move in one direction in the axial direction and separate from the telescopic main body portion 51.

[0039] On the other hand, if the drive source 42 is driven and the rotating shaft 61 is rotated in the reverse direction, the power is transmitted to the driven pulley 72 via the drive pulley 71 and drive belt 73 constituting the power transmission system 43, thereby causing the driven pulley 72 to rotate in the reverse direction. Then, the reverse rotation of the driven pulley 72 is transmitted to the telescopic rod portion 52 via the threaded hole 72a and threaded portion 52a, and the telescopic rod portion 52 in the telescopic portion 41 moves in the opposite axial direction and approaches the telescopic main body portion 51.

[0040] <Structure of the Guiding Device>

[0041] The guiding device 14 has a guiding part 81 and a braking device 82.

[0042] The guide section 81 can extend and retract freely between the first component 11 and the second component 12. The braking device 82 stops the movement of the guide section 81. The guide section 81 and the braking device 82 are housed in the housing 40.

[0043] The guide portion 81 has a guide body portion 91 and a guide rod portion 92. The guide body portion 91 has a guide hole 91a extending through one end. The guide portion 81 is configured such that one end of the guide rod portion 92 can be movably engaged with the guide hole 91a of the guide body portion 91 along the axial direction.

[0044] In the guide section 81, a connecting section 93 is provided at the other end of the guide body section 91, and the connecting section 93 is connected to the first component 11 via a universal connector 32. Furthermore, in the guide section 81, a connecting section 94 is provided at the other end of the guide rod section 92, and the connecting section 94 is connected to the second component 12 via a universal connector 34.

[0045] <Brake Device>

[0046] Figure 3 This is a schematic diagram showing the braking device in the guiding device.

[0047] like Figure 2 and Figure 3 As shown, the braking device 82 can stop the operation of the guide portion 81 in the guide device 14. The guide portion 81 has a guide body portion 91 and a guide rod portion 92. Stopping the operation of the guide portion 81 means preventing the movement of the guide rod portion 92 relative to the guide body portion 91 and limiting the relative movement between the guide body portion 91 and the guide rod portion 92.

[0048] The guide body 91 is a cylinder, and a guide hole 91a is formed inside it. A piston 92a, which engages with and moves freely within the guide hole 91a, is connected to one axial end of the guide rod 92. The guide hole 91a of the guide body 91 is divided into two chambers 101 and 102 by the piston 92a, and fluid (e.g., oil) is filled into the chambers 101 and 102. The chambers 101 and 102 are provided with ports 103 and 104, which are externally connected via a connecting passage 105. An on / off valve 106 is provided in the connecting passage 105, and the on / off valve 106 is opened or closed via an on / off part 107. The braking device 82 is composed of chambers 101 and 102, ports 103 and 104, the connecting passage 105, the on / off valve 106, and the on / off part 107.

[0049] Therefore, if the opening / closing valve 106 is opened via the opening / closing part 107, the chambers 101 and 102 of the guide body 91 become connected to each other via the connecting passage 105 through the open opening / closing valve 106. At this time, the guide part 81 allows fluid to flow between the chambers 101 and 102 through the connecting passage 105, and the guide part 81 allows the guide body 91 and the guide rod part 92 to move relative to each other. That is, the guide part 81 becomes a state that can be actuated by the braking device 82.

[0050] On the other hand, if the on / off valve 106 is closed by the on / off section 107, the chambers 101 and 102 of the guide body 91 become disconnected from each other via the connecting passage 105 because the on / off valve 106 is in the closed state. At this time, the guide section 81 cannot allow fluid to flow between the chambers 101 and 102 via the connecting passage 105, and the guide section 81 cannot allow the guide body 91 and the guide rod 92 to move relative to each other. That is, the guide section 81 is stopped by the braking device 82.

[0051] <Example of a modified braking device>

[0052] The braking device 82 is not limited to the structure described above. Figure 4 This is a schematic diagram showing a modified example of the braking device in the guiding device.

[0053] like Figure 2 and Figure 4 As shown, the braking device 82A can stop the operation of the guide portion 81 in the guide device 14. The guide portion 81 has a guide body portion 91 and a guide rod portion 92. The guide body portion 91 is a cylinder and has a guide hole 91a formed inside it. The guide rod portion 92 has a piston 92a connected to one end in the axial direction, which engages with the guide hole 91a and moves freely. The guide body portion 91 is provided with a grip portion 111 that prevents the guide rod portion 92 from moving. The grip portion 111 has a pair of grip pieces 112 and an actuating portion 113 that brings the pair of grip pieces 112 closer together and separates them.

[0054] Therefore, the actuation unit 113 separates the pair of grip pieces 112 in the gripping unit 111. At this time, the pair of grip pieces 112 do not clamp the guide rod 92, and the guide unit 81 can move the guide body 91 and the guide rod 92 relative to each other. That is, the guide unit 81 is in a state that can be operated by the braking device 82A.

[0055] On the other hand, the actuating unit 113 brings the pair of gripping plates 112 in the gripping unit 111 closer together. At this time, the pair of gripping plates 112 clamp the guide rod 92, and the guide unit 81 cannot move the guide body 91 and the guide rod 92 relative to each other. That is, the guide unit 81 is stopped by the braking device 82A.

[0056] <Structure of the Control Unit>

[0057] like Figure 2As shown, the control unit 15 can control each telescopic device 13 via the drive source 42. That is, the control unit 15 adjusts the rotation direction, rotation speed, rotation amount, etc. of the drive source 42, thereby controlling the extension direction or extension amount of each telescopic device 13. The control unit 15 controls the drive source 42 according to the input instruction values ​​or various stored programs. The control unit 15 is a controller, such as a CPU (Central Processing Unit) or MPU (Micro Processing Unit), and executes various programs.

[0058] Furthermore, the control unit 15 can control each guide device 14 via the braking devices 82 and 82A according to the operating state of the telescopic device 13. Each telescopic device 13 is equipped with a failure detection unit 121 for detecting malfunctions in the telescopic part 41, drive source 42, power transmission system 43, etc. The failure detection unit 121 detects malfunctions in the telescopic part 41, drive source 42, power transmission system 43, etc. The failure detection unit 121 may be, for example, a rotation sensor that detects the rotation amount of the drive pulley 71 or driven pulley 72, an acceleration sensor that detects the moving speed of the drive belt 73, a stroke sensor that detects the moving amount of the telescopic rod part 52, a torque sensor that detects the output torque of the drive source 42, a displacement sensor that detects the angle between the first part 11 and the second part 12, etc., but is not limited to these sensors. Furthermore, the malfunction detection unit 121 detects malfunctions in the telescopic part 41, drive source 42, and power transmission system 43 that constitute the telescopic device 13, but it can also detect malfunctions such as damage to universal joints 23, 24, 26, 27 and connecting parts 21, 22, 25.

[0059] The control unit 15 controls the braking devices 82 and 82A based on the detection results of the malfunction detection unit 121. When the malfunction detection unit 121 detects a malfunction in the telescopic device 13, the control unit 15 activates the braking devices 82 and 82A, causing the guide device 14 to stop and become unable to operate.

[0060] <Operation of the telescopic device and guiding device>

[0061] When the angle of the second component 12 relative to the first component 11 is changed, the control unit 15 activates each telescopic device 13. The control unit 15 drives the drive source 42, causing the rotating shaft 61 to rotate in the forward direction. The power from the drive source 42 is transmitted to the telescopic part 41 via the power transmission system 43, thereby causing the driven pulley 72 to rotate in the forward direction. If the driven pulley 72 rotates in the forward direction, the rotational force is transmitted to the telescopic rod part 52 as an axial moving force through the threaded hole 72a and the threaded part 52a, and the telescopic rod part 52 separates from the telescopic main body part 51. As a result, in the telescopic device 13, the telescopic rod part 52 extends axially outward relative to the housing 40, and the angle of the second component 12 relative to the first component 11 can be changed.

[0062] On the other hand, the control unit 15 drives the drive source 42 to rotate the rotating shaft 61 in the reverse direction. The power of the drive source 42 is transmitted to the telescopic part 41 via the power transmission system 43, thereby causing the driven pulley 72 to rotate in the reverse direction. If the driven pulley 72 rotates in the reverse direction, the rotational force is transmitted to the telescopic rod part 52 as an axial moving force through the threaded hole 72a and the threaded part 52a, and the telescopic rod part 52 approaches the telescopic main body part 51. As a result, in the telescopic device 13, the telescopic rod part 52 retracts axially inward relative to the housing 40, and the angle of the second part 12 relative to the first part 11 can be changed.

[0063] <Control Department Operations>

[0064] Then, in the telescopic device 13, for example, when the malfunction detection unit 121 detects a malfunction in the telescopic part 41, it outputs a message to the control unit 15 that the telescopic part 41 is malfunctioning. The control unit 15 controls the braking devices 82 and 82A based on the malfunction detected by the malfunction detection unit 121, and stops the operation of the guide device 14. That is, by activating the braking devices 82 and 82A, relative movement between the guide body 91 and the guide rod 92 in the guide device 14 is prevented.

[0065] As a result, even if some of the multiple telescopic devices 13 of the swing device 10 malfunction, the operation of each guide device 14 is stopped by the braking devices 82, 82A, so that the relative angle of the second component 12 with respect to the first component 11 is maintained, thereby suppressing reverse rotation.

[0066] [Second Implementation]

[0067] Figure 5 This is a schematic diagram showing the telescopic device and the guide device in the swing device of the second embodiment. Furthermore, components having the same functions as those in the first embodiment are labeled with the same symbols, and detailed descriptions are omitted.

[0068] In the second embodiment, such as Figure 5As shown, the swing device 10A includes a telescopic device 13, a guide device 14, and a control unit 15.

[0069] The telescopic device 13 includes a telescopic section 41, a drive source 42, and a power transmission system 43. The basic structure of the telescopic section 41, the drive source 42, and the power transmission system 43 is the same as that in the first embodiment.

[0070] The guiding device 14 has a guiding section 81 and a braking device 82. The basic structure of the guiding section 81 and the braking device 82 is the same as that in the first embodiment.

[0071] The telescopic part 41, the guide part 81, and the braking device 82 are fixed to the first housing 131. The drive source 42 is fixed to the second housing 132. The first housing 131 and the second housing 132 are connected as one unit. Alternatively, the first housing 131 and the second housing 132 can be formed as one unit. The telescopic part 41 and the guide part 81 are arranged side by side with the first housing 131.

[0072] The telescopic part 41 has a telescopic main body 51 and a telescopic rod 52, with the telescopic main body 51 fixed to the first housing 131. The guide part 81 has a guide main body 91 and a guide rod 92, with the guide main body 91 fixed to the first housing 131. The first housing (main body side connecting member) 131 has a connecting part 133 at one end, and the connecting part 133 is connected to the first component 11 via universal connectors 23 and 24.

[0073] In the telescopic section 41, a portion of the other end of the telescopic rod 52 protrudes from the first housing 131. In the guide section 81, a portion of the other end of the guide rod 92 protrudes from the first housing 131. The other ends of the telescopic rod 52 and the guide rod 92 are connected to each other by a connecting member (rod-side connecting member) 134. The connecting member 134 is provided with a connecting portion 135, which is connected to the second component 12 via universal connectors 26 and 27.

[0074] The control unit 15 can control each telescopic device 13 via the drive source 42. That is, the control unit 15 adjusts the rotation direction, rotation speed, rotation amount, etc. of the drive source 42, thereby controlling the telescopic direction or telescopic amount of each telescopic device 13. Furthermore, the control unit 15 can control each guide device 14 via the braking devices 82 and 82A according to the operating state of the telescopic device 13. Each telescopic device 13 is provided with a malfunction detection unit 121 for detecting malfunctions in the telescopic device 41, drive source 42, power transmission system 43, etc. The control unit 15 controls the braking devices 82 and 82A based on the detection results of the malfunction detection unit 121. When the malfunction detection unit 121 detects a malfunction in the telescopic device 13, the control unit 15 activates the braking devices 82 and 82A, causing the guide device 14 to stop and become unable to operate.

[0075] [Effects of this implementation method]

[0076] The swinging device according to the first method includes: a plurality of telescopic devices 13 disposed between opposing first component 11 and second component 12 and capable of telescopic movement; a guide device 14 disposed between first component 11 and second component 12 and following the movement of telescopic devices 13; and a control unit 15 that controls the movement of telescopic devices 13 and guide devices 14. The telescopic device 13 has a telescopic part 41 and a drive source 42 that supplies power to the telescopic part 41. The guide device 14 has a guide part 81 and a braking device 82 that stops the movement of the guide part 81. The control unit 15 controls the braking device 82 according to the movement state of the telescopic part 41.

[0077] According to the swing device of the first embodiment, it is provided with a telescopic device 13 having a telescopic portion 41 driven by a drive source 42, and a guide device 14 having a guide portion 81 that follows the telescopic device 13 and a braking device 82 that stops the guide portion 81. Therefore, if a malfunction occurs in the telescopic device 13, the guide device 14 can maintain the posture of the second component 12 relative to the first component 11 by stopping the movement of the guide portion 81 by the braking device 82, and can suppress reverse rotation, thereby improving safety. Furthermore, the guide device 14 does not have a drive source, thus preventing large size or high cost.

[0078] The second method involves a swing device equipped with a malfunction detection unit 121 for detecting malfunctions in the telescopic section 41. When the malfunction detection unit 121 detects a malfunction in the telescopic section 41, the control unit 15 activates the braking devices 82 and 82A. This allows for proper detection of malfunctions in the telescopic section 41 and enables the braking devices 82 and 82A to activate appropriately.

[0079] In the swing device according to the third method, the telescopic part 41 can be extended and retracted by power supplied from the drive source 42 to change the angle of the second component 12 relative to the first component 11, while the guide part 81 is not powered by the drive source 42. Thus, with a simple structure, the guide part 81 can properly support the second component 12.

[0080] In the swing device according to the fourth method, a telescopic main body 51 and a telescopic rod 52 that can move freely in the axial direction relative to the telescopic main body 51 are provided as the telescopic part 41. A guide main body 91 and a guide rod 92 that can move freely in the axial direction relative to the guide main body 91 are provided as the guide device 14. The drive source 42 supplies power only to the telescopic rod 52 through the power transmission system 43, thereby enabling the telescopic rod 52 to move in the axial direction. Thus, the angle of the second component 12 relative to the first component 11 can be changed by operating the telescopic rod 52, and the second component 12 can be appropriately supported relative to the first component 11 by operating the guide rod 92.

[0081] In the swing device according to the fifth method, the ends of the telescopic main body 51 and the guide main body 91 are connected to one of the first component 11 and the second component 12, and the ends of the telescopic rod 52 and the guide rod 92 are connected to the other of the first component 11 and the second component 12. Therefore, the telescopic device 13 and the guide device 14 can be processed separately, and the guide device 14 can be added to the swing device of the telescopic device 13 from the rear.

[0082] In the sixth embodiment of the swing device, the ends of the telescopic main body 51 and the guide main body 91 are connected to one of the first component 11 and the second component 12 via the first housing (main body side connecting member) 131, and the ends of the telescopic rod 52 and the guide rod 92 are connected to the other of the first component 11 and the second component 12 via the connecting member (rod side connecting member) 134. This allows the telescopic device 13 and the guide device 14 to be integrated, achieving compactness and improving installability.

[0083] In the swing device according to the seventh method, the telescopic device 13 is configured to provide multiple sets of telescopic units of two units each, and a guide device 14 is provided relative to each set of telescopic units. Therefore, an appropriate number of guide devices 14 can be positioned relative to the multiple telescopic devices 13.

[0084] The control method for the swing device according to the eighth method includes: a plurality of telescopic devices 13 disposed between opposing first component 11 and second component 12 and capable of telescopic movement; and a guide device 14 disposed between first component 11 and second component 12 and following the movement of telescopic devices 13. The telescopic device 13 has a telescopic part 41 and a drive source 42 for supplying power to the telescopic part 41. The guide device 14 has a guide part 81 and braking devices 82 and 82A for stopping the movement of the guide part 81. When a malfunction of the telescopic part 41 is detected, the braking devices 82 and 82A are activated.

[0085] According to the control method of the swing device involved in the eighth method, when a malfunction occurs in the telescopic device 13, the guide device 14 can maintain the posture of the second component 12 relative to the first component 11 and suppress reverse rotation by stopping the movement of the guide part 81 by the braking device 82, thereby improving safety. Furthermore, the guide device 14 does not have a drive source, thus preventing large size or high cost.

[0086] Furthermore, in the above embodiment, the power transmission system 43 is composed of pulleys and a drive belt, but it is not limited to this structure. For example, the power transmission system 43 can be composed of a gear mechanism.

[0087] Symbol Explanation

[0088] 10-Swing device, 11-First component, 12-Second component, 13-Telescopic device, 14-Guiding device, 15-Control unit, 41-Telescopic part, 42-Drive source, 43-Power transmission system, 40-Housing, 51-Telescopic main body, 52-Telescopic rod, 61-Rotating shaft, 71-Drive pulley, 72-Driven pulley, 73-Drive belt, 81-Guiding part, 82, 82A-Brake device, 91-Guiding main body, 92-Guiding rod, 121-Action malfunction detection unit, 131-First housing, 132-Second housing, 134-Connecting component (rod-side connecting component).

Claims

1. A swinging device comprising: Multiple telescopic devices are arranged between opposing first and second components and are capable of telescopic movement; A guiding device is disposed between the first component and the second component and follows the movement of the telescopic device; The control unit controls the operation of the telescopic device and the guiding device; and The malfunction detection unit detects malfunctions in the telescopic part. The telescopic device has a telescopic part and a drive source that supplies power to the telescopic part. The guiding device includes a guiding section that can extend and retract without being powered, without applying force between the first component and the second component, and a braking device that stops the movement of the guiding section. When the malfunction detection unit detects a malfunction in the telescopic part, the control unit activates the braking device.

2. The swinging device according to claim 1, wherein, The telescopic part is powered by the drive source to extend and retract, thereby changing the angle of the second component relative to the first component. The guide section does not receive power from the drive source.

3. The swinging device according to claim 1, wherein, The telescopic part has a telescopic main body and a telescopic rod that can move freely in the axial direction relative to the telescopic main body. The guide part has a guide main body and a guide rod that can move freely in the axial direction relative to the guide main body. The drive source supplies power to the telescopic rod only via a power transmission system, thereby enabling the telescopic rod to move in the axial direction.

4. The swinging device according to claim 3, wherein, The ends of the telescopic main body and the guide main body are connected to one of the first component and the second component, and the ends of the telescopic rod and the guide rod are connected to the other of the first component and the second component.

5. The swinging device according to claim 3, wherein, The ends of the telescopic main body and the guide main body are connected to one of the first and second components via a main body side connecting member, and the ends of the telescopic rod and the guide rod are connected to the other of the first and second components via a rod side connecting member.

6. The swinging device according to claim 1, wherein, The telescopic device is provided with multiple sets of two telescopic units per set, and the guide device is provided with one set of telescopic units.

7. A control method for a swinging device, the swinging device comprising: Multiple telescopic devices are arranged between opposing first and second components and are telescopic; and A guiding device, disposed between the first component and the second component and following the movement of the telescopic device; and The malfunction detection unit detects malfunctions in the telescopic part. The telescopic device has a telescopic part and a drive source that supplies power to the telescopic part. The guiding device includes a guiding section that can extend and retract without being powered, without applying force between the first component and the second component, and a braking device that stops the movement of the guiding section. When the malfunction detection unit detects a malfunction in the telescopic part, it activates the braking device.

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