Unit drive unit

Abstract

Miniaturize the mobile unit. [Solution] The unit drive device 10 comprises a guide rail 11 having guide grooves 15a, 15b, a movable unit 20 that can be displaced along the guide rail 11, and first and second drive units 16a, 16b arranged inside the guide grooves 15a, 15b. The movable unit 20 comprises first and second connecting parts 30, 40 connected to the first and second drive units 16a, 16b, respectively, a displacement part 50, and a mechanism part 60 connected to the first and second connecting parts 30, 40. The mechanism part 60 displaces the displacement part 50 so as the second connecting part 40 is displaced relative to the first connecting part 30, so as as the second connecting part 40 is displaced relative to the first connecting part 30, the mechanism part 60 moves the displacement part 50 closer to and further away from the guide rail 11.

Description

Technical Field

[0001] The present disclosure relates to a unit driving device configured to drive a moving unit.

Background Art

[0002] For example, Patent Document 1 discloses a technique in which a moving unit continuously moves along a guide rail and performs massage by pressing a desired body part of a user.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, in the above technique, it is preferable that the moving unit is miniaturized. This is because it is not possible to arrange the pad member within the movable range of the moving unit, and thus the user is likely to feel discomfort in a part where the pad member does not exist.

[0005] On the other hand, when it is desired to make a part of the moving unit move up and down with respect to the guide rail, it is necessary to incorporate a power source such as a motor into the moving unit. As a result, there is a risk that the moving unit will be enlarged.

[0006] In one aspect of the present disclosure, it is desirable to miniaturize the moving unit.

Means for Solving the Problems

[0007] One aspect of the present disclosure is a unit drive device (10) configured to drive a mobile unit (20), comprising a guide rail (11), a mobile unit (20), and first and second drive units (16a, 16b). The guide rail (11) extends longitudinally and has at least one guide groove (15a, 15b) extending along the longitudinal direction. The mobile unit (20) is configured to be displaceable along the guide rail (11). The first and second drive units (16a, 16b) are arranged to extend longitudinally within the guide groove (15a, 15b) and are configured to be displaceable independently along the longitudinal direction. The mobile unit (20) comprises a first connecting part (30), a second connecting part (40), a mechanism part (60), and a displacement part (50). The first connecting part (30) is connected to the first drive unit (16a). The second connecting section (40) is connected to the second drive section (16b) and is configured to be displaceable relative to the first connecting section (30) in the longitudinal direction. The mechanism section (60) is connected to the first and second connecting sections (30, 40). The displacement section (50) is configured to be displaceable to move closer to and further away from the guide rail (11). The mechanism section (60) is configured to displace the displacement section (50) to move closer to and further away from the guide rail (11) as the second connecting section (40) is displaced relative to the first connecting section (30) in the longitudinal direction.

[0008] According to the above configuration, the driving force for the mobile unit is transmitted from the power source to the mobile unit via the first and second drive units. Therefore, the mobile unit can be displaced along the guide rail, and the displaced part can be moved closer to and further away from the guide rail, without incorporating a power source such as a motor into the mobile unit. As a result, the mobile unit can be made smaller.

[0009] In one aspect of the present disclosure, the guide rail (11) may have a plurality of connecting members (12, 13, 14) arranged longitudinally and rotatably connected to one another. According to the above configuration, the guide rail can be deformed in response to external forces. Therefore, the moving unit can be displaced along the deformed guide rail.

[0010] In one aspect of the present disclosure, the mechanism (60) may include first and second links (61, 62). The first end of the first link (61) may be rotatably connected to a first connecting portion (30), and the second end may be rotatably connected to a displacement portion (50). The first end of the second link (62) may be rotatably connected to a second connecting portion (40), and the second end may be rotatably connected to a displacement portion (50).

[0011] With the above configuration, the displacement part can be moved to and from the guide rail in an appropriate manner. In one aspect of this disclosure, the first and second links (61, 62) may intersect each other and be rotatably connected to each other at the intersection.

[0012] With the above configuration, the displacement part can be moved to and from the guide rail in an appropriate manner. In one aspect of this disclosure, the second connecting portion (40) may include a guide portion (45) that inclins and extends longitudinally so as to move away from the guide rail (11) from the side where the portion where the first link (61) and the first connecting portion (30) is located to the side where the portion where the second link (62) and the second connecting portion (40) is located. The second link (62) may include a pin (P6). The pin (P6) may be positioned on the guide portion (45) in a manner that allows it to be displaced along the extending direction of the guide portion (45).

[0013] With the above configuration, the displacement part can be moved to and from the guide rail in an appropriate manner. In one aspect of the present disclosure, the mechanism (60A) may include a curved plate-like portion (63) extending along the longitudinal direction. The displacement portion (50A) may be a part of the plate-like portion (63). Furthermore, the mechanism (60A) may be configured to change the curvature of the curved plate-like portion (63) as the second connecting portion (40A) is displaced longitudinally relative to the first connecting portion (30A).

[0014] With the above configuration, the displacement part can be moved to and from the guide rail in an appropriate manner. In one aspect of the present disclosure, the mechanism (60A) may comprise a first piece and a second piece. The first piece may be rotatably connected to a first connecting portion. The second piece may be rotatably connected to a second connecting portion. The displacement portion may be a portion that rotatably connects the first and second pieces to each other. Furthermore, the mechanism (60A) may be configured such that the angle between the first and second pieces at the displacement portion changes as the second connecting portion (40A) is displaced longitudinally relative to the first connecting portion (30A).

[0015] With the above configuration, the displacement part can be moved to and from the guide rail in an appropriate manner. [Brief explanation of the drawing]

[0016] [Figure 1] This is a diagram showing the unit drive device of the first embodiment. [Figure 2] This is a perspective view showing the mobile unit of the first embodiment. [Figure 3] Figure 3A is a perspective view from the left of the moving unit of the first embodiment with the displacement section lowered. Figure 3B is a perspective view from the left of the moving unit of the first embodiment with the displacement section raised. [Figure 4] Figure 4A is a perspective view showing a part of the movable unit in the first embodiment with the displacement section lowered. Figure 4B is a perspective view showing a part of the movable unit in the first embodiment with the displacement section raised. [Figure 5]It is a view from above, transparently showing a part of the moving unit in which the displacement part has descended, according to the first embodiment. [Figure 6] FIG. 6A is a perspective view showing a moving unit in which the displacement part has descended, according to the second embodiment. FIG. 6B is a perspective view showing a moving unit in which the displacement part has ascended, according to the second embodiment. [Figure 7] FIG. 7A is a view showing a moving unit in which the displacement part has descended, according to another embodiment. FIG. 7B is a view showing a moving unit in which the displacement part has ascended, according to another embodiment. [Embodiments for Carrying out the Invention]

[0017] Hereinafter, exemplary embodiments of the present disclosure will be described with reference to the drawings. [1. First Embodiment] [1-1. Overall Configuration] The unit driving device 10 of the present embodiment is configured to drive a moving unit 20 installed on a guide rail 11 (see FIG. 1). As an example, the unit driving device 10 is mounted on a chair having a massage function and is used to press a body part of a seated person. However, it is not limited thereto, and the unit driving device 10 may be used for other purposes, for example, it may be used in a conveying device for conveying an object.

[0018] The unit driving device 10 includes a guide rail 11, first and second belts 16a and 16b, motors M1 and M2, and a moving unit 20. [1-2. Guide Rail] The guide rail 11 is an elongated flat member and forms an annular shape having an outer peripheral surface and an inner peripheral surface. The guide rail 11 includes a plurality of plates 12, a plurality of connecting members 13, and a motor mounting portion 14 (see FIG. 1). The plurality of plates 12, the plurality of connecting members 13, and the motor mounting portion 14 are arranged side by side in the circumferential direction and are connected in a rotatable state with each other to form an annular shape. Further, the guide rail 11 has two guide grooves 15a and 15b extending along the circumferential direction on the outer peripheral surface.

[0019] The multiple plates 12 are flat members that extend in the circumferential direction. Each face of each plate 12 facing each other in the thickness direction is included in the inner and outer circumferential surfaces of the guide rail 11, and the surface included in the outer circumferential surface has two grooves 121a and 121b that extend from the first end to the second end along the circumferential direction.

[0020] Furthermore, each plate 12 has connecting portions 122a and 122b at its first and second ends in the circumferential direction. The connecting portion 122a of each plate 12 is rotatably connected to the connecting portion 122b of another plate 12. When each plate 12 is connected to another plate 12, their respective grooves 121a and 121b connect.

[0021] The multiple connecting members 13 are members that are connected to the plate 12. The surface of each connecting member 13 that is included in the outer circumferential surface of the guide rail 11 is bent so as to protrude toward the outer circumferential side of the guide rail 11. Two grooves 131a and 131b are formed on this surface, extending from the first end to the second end in the circumferential direction. Each connecting member 13 has connecting portions 132a and 132b at both ends in the circumferential direction on this surface.

[0022] The connecting portions 132a and 132b of each connecting member 13 are rotatably connected to the connecting portions 122b and 122a of the plate 12, respectively. When each connecting member 13 is connected to the plate 12, the grooves 131a and 131b connect to the grooves 121a and 121b of the plate 12, respectively. At this time, the grooves 121a of the multiple plates 12 and the grooves 131a of the multiple connecting members 13 form a guide groove 15a. In addition, the grooves 121b of the multiple plates 12 and the grooves 131b of the multiple connecting members 13 form a guide groove 15b.

[0023] The motor mounting section 14 is the part to which motors M1 and M2 for driving the first and second belts 16a and 16b are attached. The motor mounting section 14 comprises motor mounts 141a and 231b, and connecting sections 142a and 142b located at both ends in the circumferential direction. Motor M1 for driving the first belt 16a is attached to motor mount 141a. Motor M2 for driving the second belt 16b is attached to motor mount 141b. At the connecting sections 142a and 142b, the motor mounting section 14 is rotatably connected to the connecting sections 122b and 122a of the plate 12, respectively.

[0024] [1-3. First and Second Belts] The first and second belts 16a and 16b are, for example, annular toothed belts. However, they are not limited to this; the first and second belts 16a and 16b may also be belts without teeth, or they may be chains or wires.

[0025] The first belt 16a is positioned in the guide groove 15a and is driven by motor M1 to rotate around the guide rail 11. The second belt 16b is positioned in the guide groove 15b and is driven by motor M2 to rotate around the guide rail 11. In other words, the first and second belts 16a and 16b are displaceable independently along the guide rail 11.

[0026] [1-4. Motors] Motors M1 and M2 output driving force to drive the moving unit 20. Motor M1 is located on motor mount 141a and outputs driving force to displace the first belt 16a along the guide rail 11. Motor M2 is located on motor mount 141b and outputs driving force to displace the second belt 16b along the guide rail 11.

[0027] [1-5. Mobile Units] The movable unit 20 is positioned on the outer surface of the guide rail 11 and is displaceable along the guide rail 11 (see Figures 1 and 2). When the movable unit 20 is positioned on the guide rail 11, the front-to-back direction of the movable unit 20 is parallel to the extension direction of the guide rail 11. Also, when the movable unit 20 is positioned on the guide rail 11, the left-to-right direction of the movable unit 20 is parallel to the width direction of the guide rail 11, and the up-to-down direction of the movable unit 20 is perpendicular to the outer surface of the guide rail 11. Furthermore, from now on, the direction toward the outer surface of the guide rail 11 along the up-to-down direction, in other words, the direction away from the guide rail 11, will be defined as upward, and the opposite direction will be defined as downward.

[0028] The movable unit 20, for example, has a symmetrical shape and comprises first and second connecting parts 30, 40, a displacement part 50, and at least one (for example, two) mechanism parts 60 (see Figure 2). Hereafter, with respect to the left-right central part of the movable unit 20, the side where the left-right ends are located will be considered the outside, and the side opposite the outside will be considered the inside.

[0029] <1st connection part> The first connecting section 30 is a member connected to the first belt 16a. The first connecting section 30 comprises a bridge section 31 and two rail sections 32 (see Figures 2, 3, and 5).

[0030] The bridge section 31 is a plate-shaped portion that extends in the left-right direction, with the vertical direction being the plate thickness direction. The two rail sections 32 are positioned at both ends in the left-right direction on the underside of the bridge section 31, and extend forward and backward relative to the bridge section 31. Each rail section 32 is located above the guide grooves 15a and 15b, and for example, the right rail section 32 is connected to the first belt 16a located in the guide groove 15a. Each rail section 32 has a slider groove 33 extending in the front-rear direction on its outer surface. In addition, a pin P1 is provided at the front end of the inner surface of each rail section 32.

[0031] <Second connection part> The second connecting section 40 is a member connected to the second belt 16b. The second connecting section 40 comprises a beam section 41, two inner slider sections 42, and two outer slider sections 44 (see Figures 2 to 5).

[0032] The beam section 41 is a columnar part that extends in the left-right direction and has a roughly triangular cross-sectional shape in a cross section perpendicular to the left-right direction. The beam section 41 is positioned behind the bridge section 31 and above the rail section 32.

[0033] The two internal slider sections 42 are plate-shaped portions located at both ends of the beam section 41 in the left-right direction, with the left-right direction being the thickness direction of the plate. Each internal slider section 42 is approximately triangular in shape. Each internal slider section 42 is positioned outward relative to the rail section 32.

[0034] Each internal slider section 42 is provided with an elongated hole 43 extending along the front-to-back direction. The elongated hole 43 is positioned to overlap with the slider groove 33. The two outer slider sections 44 are plate-shaped portions with the left-right direction as the thickness direction, positioned at both ends of the beam section 41 in the left-right direction and spaced apart outward from the inner slider section 42. Each outer slider section 44 is substantially triangular in shape, substantially the same as the inner slider section 42. The inner slider section 42 is connected to the outer slider section 44 at a connection section 46 below the elongated hole 43. Each outer slider section 44 is provided with an elongated hole 45 that extends inclined upward as it goes from front to rear.

[0035] The inner slider section 42 and outer slider section 44 on the right side, and the inner slider section 42 and outer slider section 44 on the left side, are located above the guide grooves 15a and 15b, respectively. As an example, the connecting section 46 of the inner slider section 42 and outer slider section 44 located on the left side is connected to the second belt 16b.

[0036] A pin P2 is provided at the front end of the inner surface of each inner slider portion 42. The pin P2 is positioned in the slider groove 33 and is displaceable along the slider groove 33. <Displacement section> The displacement section 50 is a plate-shaped part comprising a top plate section 51 and two edge sections 52 (see Figures 2 and 3).

[0037] The top plate portion 51 is a plate-shaped part with the vertical direction being the thickness direction. The two edges 52 are plate-like portions that protrude downward from both the left-right ends of the top plate portion 51. Each edge 52 is located on the outermost side of the movable unit 20. An elongated hole 53 extending along the front-rear direction is provided at the rear end of each edge 52.

[0038] <Mechanism> The two mechanism units 60 are mechanisms for displacing the displacement unit 50 in the vertical direction (see Figures 2 to 5). In this embodiment, each mechanism unit 60 is a link mechanism that utilizes a pantograph-type X-link mechanism as an example. Each mechanism unit 60 is arranged on both sides in the left-right direction of the moving unit 20 and is connected to the first and second connecting units 30 and 40.

[0039] Each mechanism 60 includes first and second links 61 and 62. The first link 61 is an elongated, plate-shaped member that extends while bending at multiple points. The first end 61a of the first link 61 is positioned inward from the front end of the rail section 32. The pin P1 of the rail section 32 is rotatably connected to the first end 61a of the first link 61.

[0040] The second end 61b of the first link 61 is positioned inside the edge portion 52 and outside the outer slider portion 44. A pin P3 is provided on the outer surface of the second end 61b of the first link 61. The pin P3 is positioned in the elongated hole 53 and is displaceable along the elongated hole 53.

[0041] The second link 62 is an elongated, plate-shaped member that extends while bending at multiple points. The first end 62a of the second link 62 is positioned inside the edge portion 52, and the second end 62b of the second link 62 is positioned in the gap between the inner slider portion 42 and the outer slider portion 44 (see Figures 3 to 5).

[0042] A pin P4 is provided on the outer surface of the first end 62a of the second link 62, and a pin P5 is provided on the inner surface of the second end 62b. In addition, a pin P6 is provided on the outer surface near the second end 62b of the second link 62.

[0043] The pin P4 rotatably connects the front end of the edge 52 of the displacement section 50 to the second link 62. Pin P5 is positioned in the slider groove 33 and is displaceable along the slider groove 33, and is also positioned in the elongated hole 43 and is displaceable along the elongated hole 43. In other words, pin P5 is displaceable in the front-rear direction relative to the first connecting portion 30, and is also displaceable in the front-rear direction relative to the second connecting portion 40. Pin P5 is positioned behind pin P2 in the slider groove 33.

[0044] The pin P6 is positioned in the elongated hole 45 and is displaceable along the elongated hole 45. The shape of the elongated hole 45 (in other words, the shape of the path through which the pin P6 is displaced) and the position of the pin P6 in the second link 62 can be determined as appropriate. Specifically, these can be determined as appropriate so that the ratio of the displacement of the displacement part 50 in the vertical direction to the displacement of the second connecting part 40 in the front-rear direction relative to the first connecting part 30 is an appropriate ratio. In this embodiment, the elongated hole 45 extends in a gently curved shape, but it is not limited to this, and the elongated hole 45 may extend in a straight line, for example.

[0045] Furthermore, the first and second links 61 and 62 intersect near the center. When the point where the first and second links 61 and 62 intersect is called the intersection, a pin P7 is provided on the inner surface of the first link 61 at the intersection. The pin P7 connects the first and second links 61 and 62 so that they can rotate relative to each other.

[0046] [1-6. Operation of the Mobile Unit] The operation of the mobile unit 20 in this embodiment will be described (see Figures 2 to 5). When pin P4 is furthest from pin P3, the first and second links 61 and 62 are approximately parallel to the front-rear direction (see Figures 3A and 4A). At this time, the displacement section 50 is located at its lowest position.

[0047] Here, when the second connecting portion 40 is displaced forward (in other words, towards pin P4), pin P6 of the second link 62 is displaced along the elongated hole 45 and as a result, it is displaced upward (see Figures 3B and 4B). As a result, the second link 62 rotates clockwise when viewed from the left side. Also, as pin P6 is displaced upward, pin P4 is displaced upward and pin P5 is displaced forward.

[0048] Furthermore, as the second link 62 rotates clockwise when viewed from the left, pin P7 is displaced upward. As a result, the first link 61 rotates counterclockwise, and pin P3 is displaced upward and forward along the elongated hole 53. Due to the upward displacement of pins P4 and P3, the displacement part 50 is displaced upward.

[0049] When the moving unit 20 of this embodiment is positioned on the guide rail 11, the first and second connecting parts 30 and 40 are connected to the first and second belts 16a and 16b, respectively. Therefore, when the first and second belts 16a and 16b are displaced at a constant velocity, the relative positions of the first and second connecting parts 30 and 40 do not change. In this case, the vertical position of the displacement part 50 does not change, and the moving unit 20 is displaced along the guide rail 11.

[0050] On the other hand, if the displacement speeds of the first and second belts 16a and 16b are different, or if one is stationary while the other is displaced, the relative positions of the first and second connecting parts 30 and 40 will change. In this case, as the second connecting part 40 is displaced forward relative to the first connecting part 30, the displacement part 50 will be displaced upward relative to the guide rail 11. Also, as the second connecting part 40 is displaced backward relative to the first connecting part 30, the displacement part 50 will be displaced downward relative to the guide rail 11.

[0051] According to the embodiment described in detail above, the following effects can be obtained. [1-7. Effects] (1a) The driving force for the moving unit 20 is transmitted from motors M1 and M2 to the moving unit 20 via first and second belts 16a and 16b. Therefore, the moving unit 20 can be displaced along the guide rail 11 and the displacement part 50 can be displaced vertically relative to the guide rail 11 without incorporating a power source such as a motor into the moving unit 20. As a result, the moving unit 20 can be made smaller.

[0052] (1b) When the second connecting portion 40 is positioned furthest rearward from the first connecting portion 30, the first and second links 61 and 62 are approximately parallel to the front-rear direction. At this time, since the vertical heights of the pins P1 to P7 are approximately the same, it is difficult to rotate the first and second links 61 and 62 even if a force is applied to them in the front-rear direction.

[0053] On the other hand, in this embodiment, the pin P6 of the second link 62 is displaced along the elongated hole 45, so when the second connecting portion 40 is displaced forward relative to the first connecting portion 30, an upward force is applied to the pin P6. Therefore, the first and second links 61 and 62 can be rotated smoothly.

[0054] (1c) Furthermore, the multiple plates 12, multiple connecting members 13, and motor mounting portion 14 that constitute the guide rail 11 are rotatably connected to each other. Therefore, when the unit drive device 10 is mounted on a chair with a massage function, the guide rail 11 can deform to conform to the body shape of the person sitting in it in response to the external force received from the person sitting in it. In addition, the movable unit 20 can be displaced along the body shape of the person sitting in it, and a predetermined body part can be pressed by the displacement portion 50. Furthermore, by displacing the movable unit 20 along the body shape while maintaining the state of pressing a body part by the displacement portion 50, a predetermined body part can be targeted.

[0055] [2. Second Embodiment] [2-1. Overall Structure] Next, the unit drive device 10 of the second embodiment will be described. The unit drive device 10 of the second embodiment differs from the first embodiment in the configuration of the mobile unit 20. In the following, the unit drive device 10 of the second embodiment will be described, focusing on the differences from the first embodiment.

[0056] The movable unit 20A of the second embodiment comprises first and second connecting parts 30A and 40A, a displacement part 50A, and a mechanism part 60A (see Figure 6). When the movable unit 20A is positioned on the outer circumferential surface of the guide rail 11, the front-rear direction of the movable unit 20 is parallel to the extension direction of the guide rail 11, similar to the first embodiment. The left-right direction of the movable unit 20A is parallel to the width direction of the guide rail 11, and the up-down direction of the movable unit 20 is perpendicular to the outer circumferential surface of the guide rail 11.

[0057] <1st connection part> The first connecting portion 30A is a plate-shaped portion comprising a flat plate portion 34 and two side plate portions 35. The flat plate portion 34 is a plate-shaped portion with its thickness in the vertical direction. The two side plate portions 35 are plate-shaped portions that protrude downward from both ends of the flat plate portion 34 in the left-right direction. The flat plate portion 34 is located above the guide grooves 15a and 15b and is connected to the first belt 16a positioned in the guide groove 15a. The two side plate portions 35 are located outside the guide rail 11.

[0058] <Second connection part> The second connecting portion 40A is a plate-shaped portion located behind the first connecting portion 30A, and comprises a flat plate portion 47 and two side plate portions 48. The flat plate portion 47 is a plate-shaped portion with its thickness in the vertical direction. The two side plate portions 48 are plate-shaped portions that protrude downward from both ends of the flat plate portion 47 in the left-right direction. The flat plate portion 47 is located above the guide grooves 15a and 15b and is connected to the second belt 16b located in the guide groove 15b. The two side plate portions 48 are located outside the guide rail 11.

[0059] <Mechanism> The mechanism 60A comprises a plate-shaped portion 63, two first arm portions 64, and two second arm portions 65. The plate-shaped portion 63 is a curved plate-shaped part with its thickness in the vertical direction and extending in the front-rear direction.

[0060] The two first arm portions 64 are elongated plate-like parts that protrude downward from the front ends at both ends in the left-right direction of the plate-like portion 63 and curve forward. The tip of each first arm portion 64 is rotatably connected to the side plate portion 35.

[0061] The two second arm portions 65 are elongated plate-like parts that protrude downward from the rear ends at both ends in the left-right direction of the plate-like portion 63 and curve backward. The tip of each second arm portion 65 is rotatably connected to the side plate portion 48.

[0062] <Displacement section> The displacement portion 50A is a part of the plate-like portion 63 (for example, the central part of the plate-like portion 63). [2-2. Operation of the mobile unit] The operation of the mobile unit 20A in this embodiment will now be described.

[0063] When the first connecting portion 30A is furthest from the second connecting portion 40A, the plate-like portion 63 is flat (see Figure 6A). In other words, the curvature of the plate-like portion 63 is zero. Now, when the second connecting portion 40A is displaced relative to the first connecting portion 30A, the first arm portion 64 rotates counterclockwise and the second arm portion 65 rotates clockwise when viewed from the left (see Figure 6B). As a result, the plate-like portion 63 curves so as to protrude upward (in other words, the curvature of the plate-like portion 63 increases). And as the curvature of the plate-like portion 63 increases, the displacement portion 50A is displaced upward. Therefore, as the second connecting portion 40A is displaced forward and backward relative to the first connecting portion 30A, the curvature of the plate-like portion 63 changes, and the displacement portion 50A is displaced vertically relative to the guide rail 11.

[0064] [2-3. Variations] The mechanism 60A may be divided in the center of the plate-shaped portion 63 so that two dividing members are aligned in the front-to-back direction. Hereafter, the front dividing member of the mechanism 60A will be referred to as the first piece, and the rear dividing member as the second piece. In this case, the displacement part may be a member (for example, a hinge) that rotatably connects the first and second pieces to each other.

[0065] With this configuration, when the second connecting portion 40A is displaced relative to the first connecting portion 30A, the first piece rotates counterclockwise and the second piece rotates clockwise when viewed from the left. As a result, the plate-like portion 63 bends at the displaced portion so as to protrude upward (in other words, the angle between the first and second pieces at the displaced portion decreases). As the angle between the first and second pieces at the displaced portion decreases, the displaced portion is displaced upward. Therefore, as the second connecting portion 40A is displaced forward and backward relative to the first connecting portion 30A, the angle between the first and second pieces at the displaced portion changes, and the displaced portion is displaced vertically relative to the guide rail 11.

[0066] [2-4. Effects] According to the second embodiment described in detail above, the same effects as those of the first embodiment (1a) and (1c) can be obtained.

[0067] [3. Other Embodiments] While embodiments of this disclosure have been described above, it goes without saying that this disclosure is not limited to the embodiments described above and can take various forms.

[0068] (3a) In the first and second embodiments, the configuration of the movable units 20 and 20A of the unit drive device 10 has been illustrated, but the invention is not limited thereto. Specifically, for example, the mechanism 60B of the movable unit 20B may be a cylindrical member having a mesh-like peripheral wall 66 (see Figure 7). In this case, the first and second connecting parts 30B and 40B may be members connected to both ends of the mechanism 60B, respectively. The displacement part 50B may be a part of the peripheral wall 66 (for example, a portion located on the upper side of the peripheral wall 66).

[0069] With this configuration, when the second connecting portion 40B is displaced relative to the first connecting portion 30B, the peripheral wall 66 contracts axially and expands circumferentially. As a result, the mechanism portion 60B contracts axially and expands radially (see Figures 7A and 7B). Therefore, when the moving unit 20B is positioned on the guide rail 11, as the second connecting portion 40B is displaced relative to the first connecting portion 30B along the guide rail 11, the displacement portion 50B is displaced vertically relative to the guide rail 11.

[0070] (3b) For example, the mechanism of the moving unit may include a bag that can be filled with fluid and a pump unit connected to the first and second connecting parts. The displacement part may be a member connected to the bag. The pump unit may be configured to supply fluid into the bag and to suck the fluid into the bag. The mechanism may be configured such that as the second connecting part is displaced relative to the first connecting part, the amount of fluid filled into the bag is changed by the pump unit. With such a configuration, as the second connecting part is displaced relative to the first connecting part, the amount of fluid filled into the bag increases and decreases, and the bag expands and contracts, causing the displacement part to move closer to and further away from the guide rail 11.

[0071] (3c) In the above embodiment, the guide rail 11 was a member having a plurality of plates 12, a plurality of connecting members 13, and a motor mounting portion 14 that were rotatably connected to each other. However, it is not limited to this, and the guide rail 11 may be a member formed as a single unit.

[0072] (3d) In the above embodiment, the guide rail 11 had an annular shape. However, it is not limited to this, and for example, the guide rail 11 may have a straight shape. (3e) In the above embodiment, the guide rail 11 is provided with two guide grooves 15a and 15b, and the first and second belts 16a and 16b are arranged in the two guide grooves 15a and 15b, respectively. However, it is not limited to this, and for example, the guide rail 11 may be provided with only one guide groove. The first and second belts 16a and 16b may be arranged in the same guide groove in the width direction of the guide rail 11 and be displaceable independently of each other along the guide rail 11.

[0073] (3f) Multiple functions of one component in the above embodiment may be realized by multiple components, or one function of one component may be realized by multiple components. Also, multiple functions of multiple components may be realized by one component, or one function realized by multiple components may be realized by one component. Furthermore, some of the configuration of the above embodiment may be omitted. Also, at least some of the configuration of the above embodiment may be added to or replaced with the configuration of other above embodiments.

[0074] [4. Correspondence between wordings] The first and second belts 16a and 16b in the first and second embodiments correspond to examples of the first and second drive units, respectively. The multiple plates 12, multiple connecting members 13, and motor mounting portion 14 in the first and second embodiments correspond to examples of multiple connecting members. In the first embodiment, the elongated hole 45 corresponds to an example of a guide portion, and the pin P6 corresponds to an example of a pin. [Explanation of Symbols]

[0075] 10...Unit drive device, 11...Guide rail, 12...Plate, 13...Connecting member, 14...Motor mounting part, 15a,15b...Guide groove, 16a...First belt, 16b...Second belt, 20,20A,20B...Movement unit, 30,30A,30B...First connecting part, 40,40A,40B...Second connecting part, 45...Slotted hole, 50,50A,50B...Displacement part, 60,60A,60B...Mechanism part, 61...First link, 62...Second link, P6...Pin.

Claims

1. A unit drive device configured to drive a mobile unit, A guide rail that extends in the longitudinal direction and has at least one guide groove extending along the longitudinal direction, A movable unit configured to be displaceable along the aforementioned guide rail, The first and second drive units are arranged within the guide groove so as to extend along the longitudinal direction and are configured to be displaceable independently along the longitudinal direction, Equipped with, The aforementioned mobile unit is A first connecting portion connected to the first drive unit, A second connecting portion is connected to the second drive portion and configured to be displaceable relative to the first connecting portion in the longitudinal direction, A mechanism connected to the first and second connecting parts, It comprises a displacement part configured to be displaceable so as to move closer to and further away from the guide rail, The mechanism is configured such that, as the second connecting portion is displaced relative to the first connecting portion in the longitudinal direction, the displaced portion moves toward and away from the guide rail. Unit drive mechanism.

2. A unit drive device according to claim 1, The guide rail has a plurality of connecting members arranged in the longitudinal direction, which are rotatably connected to one another. Unit drive mechanism.

3. A unit drive device according to claim 1 or claim 2, The aforementioned mechanism comprises a first and a second link, The first end of the first link is rotatably connected to the first connecting portion, and the second end is rotatably connected to the displacement portion. The first end of the second link is rotatably connected to the second connecting portion, and the second end is rotatably connected to the displacement portion. Unit drive mechanism.

4. A unit drive device according to claim 3, The first and second links intersect each other and are rotatably connected at the intersection. Unit drive mechanism.

5. A unit drive device according to claim 4, The second connecting portion includes a guide portion that extends inclined so as it moves away from the guide rail as it proceeds along the longitudinal direction, from the side where the portion connected to the first link and the first connecting portion is located to the side where the portion connected to the second link and the second connecting portion is located. The second link is equipped with a pin, The pin is positioned in the guide portion in such a manner that it can be displaced along the extension direction of the guide portion. Unit drive mechanism.

6. A unit drive device according to claim 1 or claim 2, The mechanism comprises a curved plate-like portion extending along the longitudinal direction, The displacement portion is a part of the plate-like portion, The mechanism is configured such that the curvature of the plate-like portion changes as the second connecting portion is displaced relative to the first connecting portion in the longitudinal direction. Unit drive mechanism.

7. A unit drive device according to claim 1 or claim 2, The mechanism comprises a first piece rotatably connected to the first connecting portion and a second piece rotatably connected to the second connecting portion. The displacement portion is a part that connects the first and second pieces so that they can rotate relative to each other, The mechanism is configured such that as the second connecting portion is displaced relative to the first connecting portion in the longitudinal direction, the angle between the first and second pieces at the displaced portion changes. Unit drive mechanism.

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