Oscillating device and method for controlling oscillating device

Abstract

To provide an oscillating device and a method for controlling an oscillating device for preventing increase in size and cost and improving safety.SOLUTION: An oscillating device has a plurality of expansion devices arranged between a first member and a second member arranged opposite to each other, and the expansion devices each comprise a first expansion part that can expand and contract between the first member and the second member, a second expansion part that can expand and contract between the first member and the second member, and a common driving source that supplies power to the first expansion part and the second expansion part.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present disclosure relates to a rocking device such as a Stewart platform applied to a driving simulator, a flight simulator, etc., and a control method for the rocking device.

Background Art

[0002] A Stewart platform applied to a driving simulator or the like is configured by installing six actuators between a lower support plate and an upper support plate. The Stewart platform controls the angle of the upper support plate with respect to the lower support plate by operating the six actuators. As such a technique, for example, there is one described in the following patent document.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0004] The Stewart platform has an upper support plate supported by a lower support plate by six actuators. Therefore, for example, when a malfunction occurs in one of the six actuators, it becomes difficult to control the upper support plate at an appropriate angle. In the above-mentioned patent documents, the number of actuators is increased, or a plurality of drive sources are provided for one actuator. However, such a configuration has a problem that increasing the number of drive sources leads to an increase in the size and cost of the device.

[0005] This disclosure aims to solve the aforementioned problems and provide an oscillating device and a control method for the oscillating device that suppresses increases in size and cost while improving safety. [Means for solving the problem]

[0006] To achieve the above objective, the rocking device of the present disclosure is a rocking device in which a plurality of telescopic devices are arranged between a first member and a second member that are arranged opposite each other, wherein the telescopic devices include a first telescopic section that is extendable and retractable between the first member and the second member, a second telescopic section that is extendable and retractable between the first member and the second member, and a common drive source that supplies power to the first telescopic section and the second telescopic section.

[0007] Furthermore, the control method for a rocking device according to the present disclosure is a control method for a rocking device in which a plurality of telescopic devices are arranged between a first member and a second member that are arranged opposite each other, wherein the telescopic device comprises a first telescopic part that can be extended and retracted between the first member and the second member, a second telescopic part that can be extended and retracted between the first member and the second member, and a common drive source that supplies power to the first telescopic part and the second telescopic part, and when a malfunction occurs in either the first telescopic part or the second telescopic part, the amount of extension or retraction of the other is controlled by the drive source. [Effects of the Invention]

[0008] The rocking device and control method for the rocking device described herein can suppress increases in size and cost, while also improving safety. [Brief explanation of the drawing]

[0009] [Figure 1] Figure 1 is a perspective view showing the overall configuration of the rocking device of the first embodiment. [Figure 2] Figure 2 is a schematic diagram representing the extension / retraction mechanism in the rocking device. [Figure 3] Figure 3 is a cross-sectional view showing a modified example of an expandable / contractable device. [Figure 4]Figure 4 is a schematic diagram showing the extension / retraction mechanism in the rocking device of the second embodiment. [Figure 5] Figure 5 is a schematic diagram showing the extension / retraction mechanism in the rocking device of the third embodiment. [Figure 6] Figure 6 is a front view showing the main parts of the extension / retraction mechanism in the oscillating device of the fourth embodiment. [Figure 7] Figure 7 is a plan view showing the main parts of the expansion joint. [Modes for carrying out the invention]

[0010] Preferred embodiments of the present disclosure will be described in detail below with reference to the drawings. However, these embodiments do not limit the present disclosure, and where there are multiple embodiments, they may be combinations of these embodiments. Furthermore, the components in the embodiments include those readily conceivable by those skilled in the art, those that are substantially identical, and those that are equivalent.

[0011] [First Embodiment] <Oscillating device> Figure 1 is a perspective view showing the overall configuration of the rocking device of the first embodiment.

[0012] In the first embodiment, as shown in Figure 1, the rocking device 10 is configured by arranging a plurality of telescopic devices 13 between a first member 11 and a second member 12 that are positioned opposite each other. The rocking device 10 is, for example, a Stewart platform and has six telescopic devices 13. However, the rocking device 10 is not limited to a Stewart platform, and the number of telescopic devices 13 may be five or fewer, or seven or more. The rocking device 10 is applied to simulator devices such as driving simulators and flight simulators, robot hands, etc., but is not limited to these.

[0013] Six telescopic devices 13 are configured, for example, as three sets of two telescopic devices 13 each. Two telescopic devices 13 in one set are arranged in a V-shape. In one set of two telescopic devices 13, each base end is connected to different connecting parts 21, 22 of the first member 11 via universal joints (cardan joints) 23, 24. Also, in one set of telescopic devices 13, each tip end is connected to a common connecting part 25 of the second member 12 via universal joints (cardan joints) 26, 27. The base end of one set of telescopic devices 13 is connected near the base ends of another two telescopic devices 13 adjacent to it. Note that the six telescopic devices 13 have the same configuration. Also, the base ends of one set of telescopic devices 13 may be connected to a common connecting part, or the tip ends may be connected to different connecting parts 25.

[0014] The swing device 10 can change and adjust the angle of the second member 12 with respect to the first member 11 by controlling the amount of extension and contraction of the plurality of telescopic devices 13. At this time, at least the amount of extension and contraction of two telescopic devices 13 in one set is controlled synchronously.

[0015] <Configuration of telescopic device> FIG. 2 is a schematic diagram showing a telescopic device in a swing device.

[0016] As shown in FIG. 2, the telescopic device 13 has a first telescopic part 31, a second telescopic part 32, a drive source 33, a first power transmission system 34, and a second power transmission system 35.

[0017] The first telescopic part 31 and the second telescopic part 32 are telescopically extendable between the first member 11 and the second member 12. The first telescopic part 31 and the second telescopic part 32 are arranged in series between the first member 11 and the second member 12. The first telescopic part 31 and the second telescopic part 32 are housed in the first housing 40.

[0018] The first telescopic part 31 has a first screw shaft 41 and a first moving body 42. A screw part 41a is formed at the tip of the first screw shaft 41. A screw hole 42a penetrating the base end part is formed in the first moving body 42. The first telescopic part 31 is configured such that the screw part 41a of the first screw shaft 41 is screwed into the screw hole 42a of the first moving body 42.

[0019] The first screw shaft 41 is supported by a bearing 43 in the first housing 40 so as to be rotatable in the circumferential direction and immovable in the axial direction. The first moving body 42 is supported by a guide member 44 so as to be movable in the axial direction and non-rotatable in the circumferential direction. A part of the tip end side of the first moving body 42 of the first telescopic part 31 protrudes from the first housing 40. A connecting part 45 is provided at the tip end of the first moving body 42, and the connecting part 45 is connected to the first member 11 via universal joints 23, 24 (see FIG. 1).

[0020] The second telescopic part 32 has a second screw shaft 46 and a second moving body 47. A screw part 46a is formed at the tip of the second screw shaft 46. A screw hole 47a penetrating the base end part is formed in the second moving body 47. The second telescopic part 32 is configured such that the screw part 46a of the second screw shaft 46 is screwed into the screw hole 47a of the second moving body 47.

[0021] The second screw shaft 46 is supported by a bearing 48 in the first housing 40 so as to be rotatable in the circumferential direction and immovable in the axial direction. The second moving body 47 is supported by a guide member 49 so as to be movable in the axial direction and non-rotatable in the circumferential direction. A part of the tip end side of the second moving body 47 of the second telescopic part 32 protrudes from the first housing 40. A connecting part 50 is provided at the tip end of the second moving body 47, and the connecting part 50 is connected to the second member 12 via universal joints 26, 27 (see FIG. 1).

[0022] The first telescopic part 31 and the second telescopic part 32 are arranged such that the centers of the first screw shaft 41 and the second screw shaft 46 are along a common center O1.

[0023] Therefore, when the first screw shaft 41 rotates in the forward direction in the first telescopic section 31, power is transmitted to the first movable body 42 via the screwed-together screw portion 41a and screw hole 42a, causing the first movable body 42 to move in one axial direction and move away from the first screw shaft 41. On the other hand, when the first screw shaft 41 rotates in the reverse direction in the first telescopic section 31, power is transmitted to the first movable body 42 via the screwed-together screw portion 41a and screw hole 42a, causing the first movable body 42 to move in the other axial direction and move closer to the first screw shaft 41.

[0024] When the second screw shaft 46 rotates in the forward direction in the second telescopic section 32, power is transmitted to the second moving body 47 via the threaded portions 46a and threaded holes 47a that are threaded together, causing the second moving body 47 to move in one axial direction and move away from the second screw shaft 46. On the other hand, when the second screw shaft 46 rotates in the reverse direction in the second telescopic section 32, power is transmitted to the second moving body 47 via the threaded portions 46a and threaded holes 47a that are threaded together, causing the second moving body 47 to move in the other axial direction and move closer to the second screw shaft 46.

[0025] The drive source 33 is, for example, an electric or hydraulic motor. The drive source 33 has a rotating shaft 51 as an output shaft. The drive source 33 is housed and fixed in a second housing 52. The second housing 52 is fixed to the first housing 40. The rotating shaft 51 is supported in the second housing 52 by bearings 53, 54 so as to be circumferentially rotatable. The drive source 33 can rotate the rotating shaft 51 in both forward and reverse directions. The drive source 33 functions as a common drive source supplying power to the first telescopic section 31 and the second telescopic section 32.

[0026] The first power transmission system 34 includes a drive pulley 61, a driven pulley 62, and a drive belt 63. The drive pulley 61 is fixed to the rotating shaft 51 of the drive source 33. The driven pulley 62 is fixed to the first screw shaft 41 in the first extension portion 31. The drive belt 63 is an endless belt and is wrapped between the drive pulley 61 and the driven pulley 62. The first power transmission system 34 can transmit power from the drive source 33 to the first screw shaft 41, thereby rotating the first screw shaft 41.

[0027] The second power transmission system 35 includes a drive pulley 64, a driven pulley 65, and a drive belt 66. The drive pulley 64 is fixed to the rotating shaft 51 of the drive source 33. The driven pulley 65 is fixed to the second screw shaft 46 in the second extension portion 32. The drive belt 66 is an endless belt and is wrapped between the drive pulley 64 and the driven pulley 65. The second power transmission system 35 can transmit power from the drive source 33 to the second screw shaft 46, thereby rotating the second screw shaft 46.

[0028] Therefore, when the drive source 33 is driven and the rotating shaft 51 rotates in the forward direction, power is transmitted to the first screw shaft 41 via the drive pulley 61, drive belt 63, and driven pulley 62 that constitute the first power transmission system 34, causing the first screw shaft 41 to rotate in the forward direction. In addition, power from the drive source 33 is transmitted to the second screw shaft 46 via the drive pulley 64, drive belt 66, and driven pulley 65 that constitute the second power transmission system 35, causing the second screw shaft 46 to rotate in the forward direction.

[0029] On the other hand, when the drive source 33 is driven and the rotating shaft 51 is rotated in the reverse direction, power is transmitted to the first screw shaft 41 via the drive pulley 61, drive belt 63, and driven pulley 62 that constitute the first power transmission system 34, causing the first screw shaft 41 to rotate in the reverse direction. Also, power from the drive source 33 is transmitted to the second screw shaft 46 via the drive pulley 64, drive belt 66, and driven pulley 65 that constitute the second power transmission system 35, causing the second screw shaft 46 to rotate in the reverse direction.

[0030] Furthermore, the oscillating device 10 (see Figure 1) has a control unit 71. The control unit 71 can control each telescopic device 13 via the drive source 33. That is, the control unit 71 controls the telescopic direction and amount of each telescopic device 13 by adjusting the rotation direction, rotation speed, and rotation amount of the drive source 33. The control unit 71 controls the drive source 33 according to the input command values ​​and various stored programs. The control unit 71 is a controller and is configured, for example, as a CPU (Central Processing Unit) or MPU (Micro Processing Unit), and executes various programs.

[0031] Each telescopic device 13 is provided with a malfunction detection unit 72 that detects malfunctions in the first telescopic section 31, the second telescopic section 32, and other components. The malfunction detection unit 72 detects malfunctions in the first telescopic section 31 and the second telescopic section 32, malfunctions in the first power transmission system 34 and the second power transmission system 35, and malfunctions in the brake devices (not shown) provided in the first telescopic section 31 and the second telescopic section 32. The malfunction detection unit 72 may include, but is not limited to, a rotation sensor that detects the amount of rotation of the first screw shaft 41 and the second screw shaft 46, a stroke sensor that detects the amount of movement of the first moving body 42 and the second moving body 47, a rotation sensor that detects the amount of rotation of the drive pulleys 61, 64 and the driven pulleys 62, 65, and an acceleration sensor that detects the moving speed of the drive belts 63, 66.

[0032] The control unit 71 controls the drive source 33 based on the detection result of the malfunction detection unit 72. When the malfunction detection unit 72 detects a malfunction in either the first telescopic section 31 or the second telescopic section 32, the control unit 71 controls the extension / retraction amount of the other section using the drive source 33.

[0033] <Operation of the telescopic device>

[0034] When changing the angle of the second member 12 relative to the first member 11, the control unit 71 operates each extension device 13. The control unit 71 drives the drive source 33 and rotates the rotating shaft 51 in the forward direction. The power from the drive source 33 is transmitted to the first extension section 31 via the first power transmission system 34, causing the first screw shaft 41 to rotate in the forward direction. When the first screw shaft 41 rotates in the forward direction, the rotational force is transmitted to the first moving body 42 as an axial moving force via the screw portion 41a and screw hole 42a, causing the first moving body 42 to move away from the first screw shaft 41. In addition, the power from the drive source 33 is transmitted to the second screw shaft 46 of the second extension section 32 via the second power transmission system 35, causing the second screw shaft 46 to rotate in the forward direction. When the second screw shaft 46 rotates in the forward direction, the rotational force is transmitted to the second moving body 47 as an axial moving force via the screw portion 46a and the screw hole 47a, causing the second moving body 47 to move away from the second screw shaft 46.

[0035] As a result, the telescopic device 13 allows the first movable body 42 and the second movable body 47 to extend axially outward relative to the first housing 40 and the second housing 52, thereby changing the angle of the second member 12 relative to the first member 11.

[0036] Meanwhile, when the control unit 71 drives the drive source 33 and rotates the rotating shaft 51 in the reverse direction, the power from the drive source 33 is transmitted to the first telescopic section 31 via the first power transmission system 34, causing the first screw shaft 41 to rotate in the reverse direction. When the first screw shaft 41 rotates in the reverse direction, the rotational force is transmitted to the first mobile body 42 as an axial movement force via the screw portion 41a and screw hole 42a, causing the first mobile body 42 to approach the first screw shaft 41. Also, the power from the drive source 33 is transmitted to the second screw shaft 46 of the second telescopic section 32 via the second power transmission system 35, causing the second screw shaft 46 to rotate in the reverse direction. When the second screw shaft 46 rotates in the reverse direction, the rotational force is transmitted to the second mobile body 47 as an axial movement force via the screw portion 46a and screw hole 47a, causing the second mobile body 47 to approach the second screw shaft 46.

[0037] As a result, the telescopic device 13 allows the first movable body 42 and the second movable body 47 to contract axially inward relative to the first housing 40 and the second housing 52, thereby changing the angle of the second member 12 relative to the first member 11.

[0038] Then, in the telescopic device 13, for example, if the malfunction detection unit 72 detects a malfunction in the first telescopic section 31, it outputs to the control unit 71 that the first telescopic section 31 is malfunctioning. The control unit 71 controls the drive source 33 in accordance with the malfunction of the first telescopic section 31 detected by the malfunction detection unit 72, and controls the extension amount of the second telescopic section 32.

[0039] For example, when the telescopic device 13 (first telescopic section 31 and second telescopic section 32) needs to be extended by 10 strokes, the drive source 33 needs to be driven to extend the first telescopic section 31 by 5 strokes and the second telescopic section 32 by 5 strokes. At this time, the drive source 33 is unable to extend the first telescopic section 31 by 5 strokes due to a malfunction. Therefore, the control unit 71 uses the drive source 33 to extend the second telescopic section 32 in the range of 6 to 10 strokes. In this case, the main objective is to prevent the second member 12 from tipping over due to a malfunction of the first telescopic section 31. That is, it is sufficient if the operation of the second telescopic section 32 can compensate for the malfunction of the first telescopic section 31. Therefore, the control unit 71 controls the drive source 33 and increases the extension amount of the second telescopic section 32 within a range that can prevent the second member 12 from tipping over.

[0040] The same applies when the telescopic device 13 (first telescopic section 31 and second telescopic section 32) is retracted by a predetermined stroke.

[0041] Note that the configuration of the expandable device 13 is not limited to the configuration described above. Figure 3 is a cross-sectional view showing a modified example of the expandable device.

[0042] In a modified version of the first embodiment, as shown in Figure 3, the telescopic device 13A includes a first telescopic section 31, a second telescopic section 32, a drive source 33 (see Figure 2), a first power transmission system 34, and a second power transmission system 35. The drive source 33, the first power transmission system 34, and the second power transmission system 35 are the same as in the first embodiment.

[0043] The first telescopic section 31 and the second telescopic section 32 are extendable and retractable between the first member 11 and the second member 12. The first telescopic section 31 and the second telescopic section 32 are arranged in series between the first member 11 and the second member 12.

[0044] The first telescopic section 31 has a first screw shaft 41 and a first movable body 42. The second telescopic section 32 has a second screw shaft 46 and a second movable body 47. The centers of the first and second telescopic sections 31 and 32 are aligned along a common center O1. A common guide shaft 81 is positioned inside the first and second screw shafts 41 and 46.

[0045] The first screw shaft 41 is cylindrical in shape and has a through hole formed inside that runs along the axial direction. The second screw shaft 46 is cylindrical in shape and has a through hole formed inside that runs along the axial direction. The guide shaft 81 is inserted through the through holes of the first screw shaft 41 and the second screw shaft 46. In addition, the axial ends of the guide shaft 81 are also inserted into the first movable body 42 and the second movable body 47, and the connecting portion 82 is connected to the first movable body 42. The connecting portion 82 of the guide shaft 81 may also be connected to the second movable body 47, or the connecting portion 82 may be connected to the first screw shaft 41 or the second screw shaft 46.

[0046] The first telescopic section 31 and the second telescopic section 32 are supported so as to be axially movable by a common guide shaft 81, at least the first screw shaft 41 and the second screw shaft 46. Therefore, even if a malfunction occurs in the first telescopic section 31, for example, the first screw shaft 41 and other parts will not break, and the second telescopic section 32, which is not malfunctioning, will operate smoothly, thereby effectively preventing the second member 12 from tipping over.

[0047] [Second Embodiment] Figure 4 is a schematic diagram showing the extension / retraction device in the oscillating device of the second embodiment. Note that components having the same function as those in the first embodiment described above are denoted by the same reference numerals, and detailed descriptions are omitted.

[0048] In the second embodiment, as shown in Figure 4, the telescopic device 13B includes a first telescopic section 31, a second telescopic section 32, a drive source 33, a first power transmission system 34, and a second power transmission system 35. The drive source 33, the first power transmission system 34, and the second power transmission system 35 are the same as in the first embodiment.

[0049] The first telescopic section 31 and the second telescopic section 32 are extendable and retractable between the first member 11 and the second member 12. The first telescopic section 31 and the second telescopic section 32 are arranged in a parallel row between the first member 11 and the second member 12. The first telescopic section 31 and the second telescopic section 32 are housed in the first housing 40.

[0050] The first telescopic section 31 has a first screw shaft 41 and a first movable body 42. The second telescopic section 32 has a second screw shaft 46 and a second movable body 47. The first telescopic section 31 and the second telescopic section 32 are substantially the same as those in the first embodiment. However, the reduction ratio between the screw portion 41a of the first screw shaft 41 constituting the first telescopic section 31 and the screw hole 42a of the first movable body 42, and the reduction ratio between the screw portion 46a of the second screw shaft 46 constituting the second telescopic section 32 and the screw hole 47a of the second movable body 47 are the same.

[0051] The first telescopic section 31 and the second telescopic section 32 are arranged side by side. The first telescopic section 31 and the second telescopic section 32 have portions of their respective end ends protruding from the first housing 40. The first mobile body 42 and the second mobile body 47 are connected to their respective end ends by a connecting member 91, which has a connecting portion 92, and the connecting portion 92 is connected to the second member 12 via universal joints 26, 27 (see Figure 1). The first telescopic section 31 and the second telescopic section 32 are provided with a connecting portion 93 at the end of the first housing 40, which supports the first screw shaft 41 and the second screw shaft 46, and the connecting portion 93 is connected to the first member 11 via universal joints 23, 24 (see Figure 1).

[0052] Therefore, when changing the angle of the second member 12 relative to the first member 11, each extension device 13B is activated. The drive source 33 is driven, and the rotating shaft 51 rotates in the forward direction. The power from the drive source 33 is transmitted to the first extension section 31 via the first power transmission system 34, causing the first screw shaft 41 to rotate in the forward direction. The power from the drive source 33 is also transmitted to the second screw shaft 46 of the second extension section 32 via the second power transmission system 35, causing the second screw shaft 46 to rotate in the forward direction. When the first screw shaft 41 rotates in the forward direction, the rotational force is transmitted to the first moving body 42 as an axial movement force via the screw portion 41a and screw hole 42a, causing the first moving body 42 to move away from the first screw shaft 41. When the second screw shaft 46 rotates in the forward direction, the rotational force is transmitted to the second moving body 47 as an axial movement force via the screw portion 46a and screw hole 47a, causing the second moving body 47 to move away from the second screw shaft 46.

[0053] The telescopic device 13B has a first telescopic section 31 and a second telescopic section 32 arranged in parallel, which operate synchronously using a common drive source 33. In other words, the extension amount of the first telescopic section 31 and the extension amount of the second telescopic section 32 are the same. As a result, the telescopic device 13B allows the first movable body 42 and the second movable body 47 to extend outward in the axial direction relative to the first housing 40 and the second housing 52, thereby changing the angle of the second member 12 relative to the first member 11.

[0054] Then, in the telescopic device 13B, for example, a malfunction occurs in the first telescopic section 31. The first member 11 and the second member 12 have the first telescopic section 31 and the second telescopic section 32 arranged in parallel between them. Therefore, even if a malfunction occurs in the first telescopic section 31, the second telescopic section 32 operates normally, allowing the angle of the second member 12 to be changed appropriately, thus preventing the second member 12 from tipping over.

[0055] [Third Embodiment] Figure 5 is a schematic diagram showing the extension / retraction device in the third embodiment of the rocking device. Note that components having the same function as those in the first embodiment described above are denoted by the same reference numerals, and detailed descriptions are omitted.

[0056] In the third embodiment, as shown in Figure 5, the telescopic device 13C includes a first telescopic section 101, a second telescopic section 102, a drive source 33, a first power transmission system 34, and a second power transmission system 35. The drive source 33, the first power transmission system 34, and the second power transmission system 35 have the same configuration as in the first embodiment.

[0057] The first telescopic section 101 and the second telescopic section 102 are extendable and retractable between the first member 11 and the second member 12. The first telescopic section 101 and the second telescopic section 102 are arranged in parallel between the first member 11 and the second member 12. The first telescopic section 101 and the second telescopic section 102 are housed in the first housing 40.

[0058] The first telescopic section 101 has a screw shaft 111 and a movable body 112. The screw shaft 111 has a threaded portion 111a at its tip. The movable body 112 has a threaded hole 112a that penetrates through its base end. The first telescopic section 101 is constructed by screwing the threaded portion 111a of the screw shaft 111 into the threaded hole 112a of the movable body 112.

[0059] The screw shaft 111 is supported in the first housing 40 by a bearing 113 so as to be circumferentially rotatable but immovable in the axial direction. The movable body 112 is supported by a guide member 114 so as to be axially movable but immovable in the circumferential direction. A portion of the tip end of the movable body 112 protrudes from the first housing 40. The movable body 112 is provided with a connecting portion 115 at its tip, and the connecting portion 115 is connected to the second member 12 via universal joints 26, 27 (see Figure 1).

[0060] The second telescopic section 102 comprises a movable body 112 and a driven pulley 116 as a cylindrical member. Here, the movable body 112 is used as a component of both the first telescopic section 101 and the second telescopic section 102. The movable body 112 has a threaded portion 112b formed on the outer circumference of its base end. The driven pulley 116 has a threaded hole 116a that penetrates axially. The second telescopic section 102 is constructed by screwing the threaded portion 112b of the movable body 112 into the threaded hole 116a of the driven pulley 116. Here, the reduction ratio between the threaded portion 111a of the screw shaft 111 constituting the first telescopic section 101 and the threaded hole 112a of the movable body 112 is the same as the reduction ratio between the threaded portion 112b of the movable body 112 and the threaded hole 116a of the driven pulley 116 constituting the second telescopic section 102.

[0061] The first telescopic section 101 and the second telescopic section 102 are connected by a connecting section 117 at the end of the first housing 40, which supports the screw shaft 111 and the driven pulley 116, and the connecting section 117 is connected to the first member 11 via universal joints 23, 24 (see Figure 1).

[0062] Therefore, when the screw shaft 111 rotates in the forward direction in the first telescopic section 101, power is transmitted to the movable body 112 via the screwed portions 111a and screw holes 112a that are screwed together, causing the movable body 112 to move in one axial direction and move away from the screw shaft 111. On the other hand, when the screw shaft 111 rotates in the reverse direction in the first telescopic section 101, power is transmitted to the movable body 112 via the screwed portions 111a and screw holes 112a that are screwed together, causing the movable body 112 to move in the other axial direction and move closer to the screw shaft 111.

[0063] When the driven pulley 116 rotates in the forward direction in the second telescopic section 102, power is transmitted to the movable body 112 via the screw holes 116a and threaded portion 112b that are screwed together, causing the movable body 112 to move in one axial direction and move away from the driven pulley 116. On the other hand, when the driven pulley 116 rotates in the reverse direction in the second telescopic section 102, power is transmitted to the movable body 112 via the screw holes 116a and threaded portion 112b that are screwed together, causing the movable body 112 to move in the other axial direction and move closer to the driven pulley 116.

[0064] The drive source 33 has a rotating shaft 51. The drive source 33 is housed and fixed in the second housing 52. The second housing 52 is fixed to the first housing 40. The first power transmission system 34 has a drive pulley 61, a driven pulley 62, and a drive belt 63. The second power transmission system 35 has a drive pulley 64, a driven pulley 116, and a drive belt 66. The drive belt 66 is routed between the drive pulley 64 and the driven pulley 116. The second power transmission system 35 can transmit power from the drive source 33 to the driven pulley 116, thereby rotating the driven pulley 116.

[0065] Therefore, when changing the angle of the second member 12 relative to the first member 11, each extension device 13C is activated. The drive source 33 is driven, and the rotating shaft 51 rotates in the forward direction. The power from the drive source 33 is transmitted to the first extension section 101 via the first power transmission system 34, causing the screw shaft 111 to rotate in the forward direction. The power from the drive source 33 is also transmitted to the driven pulley 116 of the second extension section 32 via the second power transmission system 35, causing the driven pulley 116 to rotate in the forward direction. When the screw shaft 111 rotates in the forward direction, the rotational force is transmitted to the movable body 112 as an axial moving force via the screw portion 111a and the screw hole 12a, causing the movable body 112 to move away from the screw shaft 111. Furthermore, when the driven pulley 116 rotates in the forward direction, the rotational force is transmitted to the moving body 112 as an axial moving force via the screw hole 116a and the screw portion 112b, causing the moving body 112 to move away from the driven pulley 116.

[0066] The telescopic device 13C consists of a first telescopic section 101 and a second telescopic section 102, which are arranged in parallel and operate synchronously with a common drive source 33. As a result, the telescopic device 13C allows the movable body 112 to extend axially outward relative to the first housing 40 and the second housing 52, thereby changing the angle of the second member 12 relative to the first member 11.

[0067] Then, in the telescopic device 13C, for example, a malfunction occurs in the first telescopic section 101. The first member 11 and the second member 12 have the first telescopic section 101 and the second telescopic section 102 arranged in parallel between them. Therefore, even if a malfunction occurs in the first telescopic section 101, the second telescopic section 102 will operate normally, allowing the angle of the second member 12 to be changed appropriately and preventing the second member 12 from tipping over.

[0068] [Fourth Embodiment] Figure 6 is a front view showing the main part of the expandable / contractable device in the fourth embodiment of the rocking device, and Figure 7 is a plan view showing the main part of the expandable / contractable device. Note that components having the same function as those in the first embodiment described above are denoted by the same reference numerals, and detailed descriptions are omitted.

[0069] In the fourth embodiment, as shown in Figures 6 and 7, the first power transmission system 34A is a modified version of the first power transmission system 34 in each of the embodiments described above. The first power transmission system 34A can also be applied as a modified version of the second power transmission system 35 in each of the embodiments described above.

[0070] The first power transmission system 34B has a first power transmission path 141 and a second power transmission path 142. The first power transmission path 141 and the second power transmission path 142 are power transmission paths of different types.

[0071] The first power transmission path 141 includes a drive pulley 61, a driven pulley 62, and a drive belt 63. The drive pulley 61 is fixed to the rotating shaft 121, and the driven pulley 62 is fixed to the rotating shaft 122. The drive belt 63 is wrapped between the drive pulley 61 and the driven pulley 62. The first power transmission path 141 can transmit power from the rotating shaft 121 to rotate the rotating shaft 122.

[0072] The second power transmission path 142 includes a drive gear 131, a driven gear 132, and a plurality (three in this embodiment) of intermediate gears 133, 134, and 135. The drive gear 131 is fixed to the rotating shaft 121, and the driven gear 132 is fixed to the rotating shaft 122. The intermediate gears 133, 134, and 135 are fixed to the rotating shafts 123, 124, and 125. The drive gear 131, the intermediate gears 133, 134, and 135, and the driven gear 132 are meshed together. The second power transmission path 142 can transmit power from the rotating shaft 121 to rotate the rotating shaft 122.

[0073] The first power transmission path 14 and the second power transmission path 142 operate synchronously, and the rotational force of the rotating shaft 121 rotates the rotating shaft 122. Therefore, the diameters and number of teeth of intermediate gears 133, 134, and 135 between the drive gear 131 and the driven gear 132 are set such that the amount of rotation (rotational speed) transmitted from the rotating shaft 121 to the rotating shaft 122 in the first power transmission path 142 and the second power transmission path 142 are the same.

[0074] Therefore, even if a malfunction occurs that causes damage to the drive belt 63 of the first power transmission path 14, the power from the rotating shaft 121 can still be transmitted to the rotating shaft 122 via the second power transmission path 142. Similarly, even if a malfunction occurs that causes damage to the intermediate gears 133, 134, and 135 of the second power transmission path 15, the power from the rotating shaft 121 can still be transmitted to the rotating shaft 122 via the first power transmission path 141.

[0075] [Effects of this embodiment] The first embodiment of the rocking device is a rocking device 10 in which a plurality of telescopic devices 13, 13A, 13B, 13C are arranged between a first member 11 and a second member 12 that are arranged opposite each other, wherein the telescopic devices 13, 13A, 13B, 13C include first telescopic parts 31, 101 that are extendable and retractable between the first member 11 and the second member 12, second telescopic parts 32, 102 that are extendable and retractable between the first member 11 and the second member 12, and a common drive source 33 that supplies power to the first telescopic parts 31, 101 and the second telescopic parts 32, 102.

[0076] According to the first embodiment of the rocking device, since it has first telescopic sections 31, 101 and second telescopic sections 32, 102 driven by a common drive source 33, the telescopic devices 13, 13A, 13B, 13C arranged between the first member 11 and the second member 12 have redundancy. Therefore, even if a malfunction occurs in one of the first telescopic sections 31, 101 or the second telescopic sections 32, 102, the other will operate normally, thereby suppressing tipping and improving safety. In addition, since the first telescopic sections 31, 101 and the second telescopic sections 32, 102 are driven by a common drive source 33, it is possible to suppress increases in size and cost.

[0077] In the second embodiment of the swinging device, the first telescopic section 31 and the second telescopic section 32 are arranged in series between the first member 11 and the second member 12. By arranging the first telescopic section 31 and the second telescopic section 32 in series, a large amount of lateral space can be secured in the first telescopic section 31 and the second telescopic section 32, making the telescopic devices 13, 13A, 13B, and 13C more compact in the lateral direction.

[0078] In the third embodiment of the swinging device, the first telescopic sections 31, 101 and the second telescopic sections 32, 102 are arranged in parallel between the first member 11 and the second member 12. By arranging the first telescopic section 31 and the second telescopic section 32 in parallel, the vertical length of the first telescopic section 31 and the second telescopic section 32 can be shortened, making the telescopic devices 13, 13A, 13B, and 13C more compact in the vertical direction.

[0079] The fourth aspect of the rocking device includes a first telescopic section 31 having a first screw shaft 41 and a first movable body 42 that is screwed onto the screw portion 41a of the first screw shaft 41 and is movable in the axial direction, and a second telescopic section 32 having a second screw shaft 46 and a second movable body 47 that is screwed onto the screw portion 46a of the second screw shaft 46 and is movable in the axial direction, and a first power transmission system 34 is provided between the drive source 33 and the first screw shaft 41 to transmit power from the drive source 33 and rotate the first screw shaft 41, and a second power transmission system 35 is provided between the drive source 33 and the second screw shaft 46 to transmit power from the drive source 33 and rotate the second screw shaft 46. As a result, the power from the drive source 33 can be appropriately transmitted to the first telescopic section 31 and the second telescopic section 32 by the first power transmission system 34 and the second power transmission system 35.

[0080] In the fifth embodiment of the rocking device, the first screw shaft 41 and the second screw shaft 46 are arranged in a straight line, and a common guide shaft 81 is arranged inside. As a result, even if the first screw shaft 41 or the second screw shaft 46 breaks, the series relationship between the first telescopic part 31 and the second telescopic part 32 is maintained by the guide shaft 81, and tipping over can be appropriately suppressed.

[0081] In the sixth embodiment of the swinging device, the base ends of the first screw shaft 41 and the second screw shaft 46 are connected to one of the first member 11 and the second member 12, and the tip portions of the first movable body 42 and the second movable body 47 are connected to a connecting member 91, which in turn connects to the other of the first member 11 and the second member 12. This allows the first telescopic part 31 and the second telescopic part 32 to be arranged in parallel, and even if one of the first screw shaft 41 and the second screw shaft 46 breaks, the other will ensure sufficient extension and contraction, thereby appropriately preventing tipping over.

[0082] The seventh aspect of the rocking device includes a first telescopic section 101 having a screw shaft 111 and a movable body 112 that is screwed onto the screw portion 11a of the screw shaft 111 and is movable in the axial direction, and a second telescopic section 102 having a movable body 112 and a driven pulley (cylindrical member) 116 that is screwed onto the screw portion 112b of the movable body 112 and is movable in the axial direction, and a first power transmission system 34 is provided between the drive source 33 and the screw shaft 111 that transmits power from the drive source 33 to rotate the screw shaft 111, and a second power transmission system 35 is provided between the drive source 33 and the driven pulley 116 that transmits power from the drive source 33 to rotate the driven pulley 116. As a result, by sharing the components of the first telescopic section 101 and the second telescopic section 102 and arranging them in parallel, miniaturization can be achieved. Furthermore, even if one of the screw shaft 111 or the driven pulley 116 breaks, the other can ensure sufficient extension and contraction, thereby appropriately preventing tipping over.

[0083] In the eighth embodiment of the rocking device, the first power transmission systems 34, 34A and the second power transmission system 35 are each provided with different types of power transmission paths. This ensures redundancy in the first power transmission systems 34, 34A and the second power transmission system 35, thereby improving safety.

[0084] The rocking device according to the ninth embodiment includes a malfunction detection unit 72 that detects malfunctions in the first telescopic section 31,101 and the second telescopic section 32,102, and a control unit 71 that controls the drive source 33 based on the detection result of the malfunction detection unit 72. When the malfunction detection unit 72 detects a malfunction in either the first telescopic section 31,101 or the second telescopic section 32,102, the control unit 71 controls the extension / retraction amount of the other using the drive source 33. As a result, even if a malfunction occurs in one of the first telescopic section 31,101 or the second telescopic section 32,102, the other will operate normally, thereby suppressing tipping over and improving safety.

[0085] The control method for a rocking device according to the tenth embodiment is a rocking method in which a plurality of telescopic devices 13, 13A, 13B, 13C are arranged between a first member 11 and a second member 12 that are arranged opposite each other, and the telescopic devices 13, 13A, 13B, 13C each include a first telescopic part 31, 101 that can extend and retract between the first member 11 and the second member 12, a second telescopic part 32, 102 that can extend and retract between the first member 11 and the second member 12, and a common drive source 33 that supplies power to the first telescopic part 31, 101 and the second telescopic part 32, 102, and when a malfunction occurs in either the first telescopic part 31, 101 or the second telescopic part 32, 102, the drive source 33 controls the amount of extension or retraction of the other.

[0086] According to the control method for the swinging device of the tenth embodiment, even if a malfunction occurs in one of the first telescopic sections 31,101 or the second telescopic sections 32,102, the other can operate normally, thereby preventing tipping and improving safety. Furthermore, since the first telescopic sections 31,101 and the second telescopic sections 32,102 are driven by a common drive source 33, it is possible to suppress increases in size and cost.

[0087] In the embodiment described above, the first power transmission system 34 and the second power transmission system 35 were configured with pulleys and a drive belt, but the configuration is not limited to this. The first power transmission system 34 and the second power transmission system 35 may be configured with, for example, a gear mechanism. [Explanation of symbols]

[0088] 10. Oscillating device 11. First Member 12 Second Member 13,13A,13B,13C Expanding device 31,101 1st telescopic section 32,102 2nd telescopic section 33 Power source 34,34A First power transmission system 35. Second power transmission system 40 Housing 1 41 First screw shaft 42 First Mobile Unit 46. ​​Second screw shaft 47. Second Mobile Unit 51 Rotation axis 52 Second Housing 61, 64 Drive pulley 62, 65 Driven pulley 63,66 Drive belt 71 Control Unit 72 Malfunction detection unit 81 Guide axis 91 Connecting member 111 Screw shaft 112 Mobile Unit 116 Driven pulley (cylindrical member) 131 Drive gear 132 Driven gear 133, 134, 135 Intermediate gears 141 First power transmission path 142 Second power transmission path

Claims

1. In a rocking device in which a plurality of extension devices are arranged between a first member and a second member arranged opposite to each other, The telescopic device is A first expansion / contraction portion that is expandable and contractible between the first member and the second member; A second expansion and contraction portion that is expandable and contractible between the first member and the second member; A common driving source that supplies power to the first extension unit and the second extension unit; Equipped with The first expansion and contraction unit has a first threaded shaft and a first moving body that is threadedly engaged with the threaded portion of the first threaded shaft and is movable in the axial direction, and the second expansion and contraction unit has a second threaded shaft and a second moving body that is threadedly engaged with the threaded portion of the second threaded shaft and is movable in the axial direction. A first power transmission system is provided between the driving source and the first threaded shaft to transmit the power of the driving source to rotate the first threaded shaft, and a second power transmission system is provided between the driving source and the second threaded shaft to transmit the power of the driving source to rotate the second threaded shaft. The first screw shaft and the second screw shaft have base end sides connected to one of the first member and the second member, and the first moving body and the second moving body have tip ends connected to a connecting member and are connected to the other of the first member and the second member via the connecting member. Rocking device.

2. In a rocking device in which a plurality of extension devices are arranged between a first member and a second member arranged opposite to each other, The telescopic device is A first expansion / contraction portion that is expandable and contractible between the first member and the second member; A second expansion and contraction portion that is expandable and contractible between the first member and the second member; A common driving source that supplies power to the first extension unit and the second extension unit; Equipped with The first telescopic section has a screw shaft and a movable body that is screwed into the screw portion of the screw shaft and can move axially, and the second telescopic section has the movable body and a cylindrical member that is screwed into the screw portion on the outer periphery of the movable body and can move axially. A first power transmission system is provided between the driving source and the screw shaft to transmit the moving force of the driving source to rotate the screw shaft, and a second power transmission system is provided between the driving source and the cylindrical member to transmit the power of the driving source to rotate the cylindrical member. Rocking device.

3. In a rocking device in which a plurality of extension devices are arranged between a first member and a second member arranged opposite to each other, The telescopic device is A first expansion / contraction portion that is expandable and contractible between the first member and the second member; A second expansion and contraction portion that is expandable and contractible between the first member and the second member; A common driving source that supplies power to the first extension unit and the second extension unit; Equipped with The first expansion and contraction unit has a first threaded shaft and a first moving body that is threadedly engaged with the threaded portion of the first threaded shaft and is movable in the axial direction, and the second expansion and contraction unit has a second threaded shaft and a second moving body that is threadedly engaged with the threaded portion of the second threaded shaft and is movable in the axial direction. A first power transmission system is provided between the driving source and the first threaded shaft to transmit the power of the driving source to rotate the first threaded shaft, and a second power transmission system is provided between the driving source and the second threaded shaft to transmit the power of the driving source to rotate the second threaded shaft. The first power transmission system and the second power transmission system are provided with power transmission paths of different types, Rocking device.

4. In a rocking device in which a plurality of extension devices are arranged between a first member and a second member arranged opposite to each other, The telescopic device is A first expansion / contraction portion that is expandable and contractible between the first member and the second member; A second expansion and contraction portion that is expandable and contractible between the first member and the second member; A common driving source that supplies power to the first extension unit and the second extension unit; Equipped with The device includes a malfunction detection unit that detects malfunctions of the first and second extension / contraction units, and a control unit that controls the drive source based on a detection result of the malfunction detection unit, and when the malfunction detection unit detects malfunction of either the first or second extension / contraction unit, the control unit controls the amount of extension / contraction of the other unit by the drive source. Rocking device.

5. The first elastic portion and the second elastic portion are disposed in series between the first member and the second member. The rocking device according to any one of claims 2 to 4.

6. The first and second elastic parts are arranged in parallel between the first member and the second member. The rocking device according to any one of claims 1 to 4.

7. The first screw shaft and the second screw shaft are arranged in a straight line, and a common guide shaft is arranged therein.

4. The rocking device according to claim 3.

8. A method for controlling a rocking device in which a plurality of extension devices are disposed between a first member and a second member disposed opposite to each other, comprising: The telescopic device is A first expansion / contraction portion that is expandable and contractible between the first member and the second member; A second expansion and contraction portion that is expandable and contractible between the first member and the second member; A common driving source that supplies power to the first extension unit and the second extension unit; Equipped with When an operation malfunction occurs in either the first extension / contraction unit or the second extension / contraction unit, the drive source controls the extension / contraction amount of the other one of the first extension / contraction unit and the second extension / contraction unit. A method for controlling a rocking device.

Images