support device

Abstract

To provide a support device having a lightweight and high-strength extension mechanism. [Solution] A support device comprising a base, a platform that can move with 6 degrees of freedom relative to the base, and 6 extendable legs connecting the base and the platform, each of the 6 legs having a bistability boom, a frame having a housing for housing the retracted portion of the bistability boom, a first joint portion connecting the frame to the base, and a second joint portion for connecting the tip of the extended portion of the bistability boom to the platform, wherein the first joint portions of two legs are fixed adjacent to each other in each of the three regions of the base, and the second joint portions of two legs are fixed adjacent to each other in each of the three regions of the platform, and the combination of two legs where the first joint portions are fixed adjacent to each other is different from the combination of two legs where the second joint portions are fixed adjacent to each other.

Description

Technical Field

[0001] The present invention relates to a support device having an extension mechanism.

Background Art

[0002] As an extension mechanism capable of transitioning from a storage form to an extended form, one using a bistable boom has been developed (see, for example, Patent Document 1). The bistable boom can stably hold either of the two states of the wound state and the extended state, and by partially extending, the remaining wound part self-extends. Also, since the bistable boom is lightweight and compact in the wound state, for example, applying an extension mechanism using a bistable boom to a support device for an antenna or a solar panel mounted on a satellite has been considered.

[0003] Also, as a support device for supporting a solar panel or a communication device at a high position far from the ground surface on the lunar surface, one provided with an extension mechanism capable of transitioning from a compact storage form to a tower-like extended form has been considered. Since the cross-sectional shape of the bistable boom in the direction orthogonal to the longitudinal direction is curved into an open cross-sectional shape in the extended state, it is likely to curve or bend in the opening direction of the open cross-sectional shape. Therefore, using a bistable boom for the extension mechanism of a support device installed in an environment where gravity acts, such as on the lunar surface, there is a possibility that the strength may be insufficient.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] An object of the present invention is to provide a support device having a lightweight and high-strength extension mechanism.

Means for Solving the Problems

[0006] The present invention The base and, A base that can move in 6 degrees of freedom relative to the aforementioned base, Six extendable legs connecting the base and the platform, It has, Each of the six legs is A bistability boom capable of stably maintaining either an extended state or a retracted state, wherein in the extended state, it extends linearly in the extension direction and is held in an open cross-sectional shape with a cross-section perpendicular to the extension direction curved in an arc shape, and in the retracted state, it is retracted while curving in the extension direction and is held in a shape with a cross-section perpendicular to the extension direction being linear, A frame having a housing portion that accommodates the portion of the bistability boom that is in the retracted state at one end in the extension direction, A first joint portion for connecting the frame to the first surface of the base facing the base, A second joint portion for connecting the tip of the extended portion of the bi-stability boom at the other end in the extension direction to a second surface facing the base of the stand, It has, In each of the three separate regions of the base, the first joint portions of the two legs are fixed adjacent to each other. In each of the three separate regions of the base, the second joint portions of the two legs are fixed adjacent to each other. The support device is characterized in that the combination of two legs in which the first joint portion is fixed adjacent to each other at the base is different from the combination of two legs in which the second joint portion is fixed adjacent to each other at the base.

[0007] Specifically, in the present invention, the first surface of the base has a first region, a second region and a third region which are spaced apart from each other, and of the six legs, the first joint portions of the first and second legs are fixed adjacent to each other in the first region, the first joint portions of the third and fourth legs are fixed adjacent to each other in the second region, and the first joint portions of the fifth and sixth legs are fixed adjacent to each other in the third region. The second surface of the base has a fourth region, a fifth region, and a sixth region which are spaced apart from each other, the second joint portions of the second leg and the third leg are fixed adjacent to each other in the fourth region, the second joint portions of the fourth leg and the fifth leg are fixed adjacent to each other in the fifth region, and the second joint portions of the sixth leg and the first leg are fixed adjacent to each other in the sixth region.

[0008] In the present invention, with the lengths of the six legs being equal to each other, the first surface of the base and the second surface of the stand are parallel, and when viewed in a direction perpendicular to the first and second surfaces, the fourth region is located between the first and second regions, the fifth region is located between the second and third regions, and the sixth region is located between the third and first regions.

[0009] The support device of the present invention, configured in this manner, has the structure of a so-called Stewart platform, but is characterized in that the six legs that function as actuators for the Stewart platform are composed of bi-stabilizing booms.

[0010] This offers the following advantages:

[0011] Firstly, because the bi-stability boom is lightweight, the weight of the legs can be reduced, and therefore the overall weight of the support device can be reduced.

[0012] Secondly, because a bistability boom has an open cross-sectional shape, it has the characteristic of being prone to bending in the direction in which the cross-section is open when used individually. However, the support device of the present invention has six bistability booms, which can increase its strength. In particular, by ensuring that the direction in which the cross-section is open differs for each of the six bistability booms, their weaknesses can be reinforced. Furthermore, having six bistability booms increases rigidity not only against bending but also against torsion.

[0013] Thirdly, a bi-stability boom allows for a longer overall length in the extended state compared to its dimensions in the retracted state. Therefore, by configuring the leg extension mechanism with a bi-stability boom, the variable range of the leg's extension length can be increased, and the range of movement of the platform relative to the base can be increased.

[0014] By fully retracting the bi-stability boom of the legs and minimizing the length along the extension / retraction direction of the legs, the platform can be moved to a position close to the base. This reduces the overall size of the support device, allowing it to take on a form suitable for transport and storage (referred to as the storage form).

[0015] By fully extending the bi-stability boom of the legs and maximizing the length along the extension direction of the legs, the platform can be moved to a position far away from the base. The entire support device takes on a tower-like shape, allowing it to take on a form (called an extended form) suitable for supporting, for example, solar panels or communication equipment at a high position away from the ground.

[0016] For example, when the base is installed on the ground, the Stewart platform can function as a height-extending mechanism because of its large range of movement in the height direction. Stewart platforms using actuators such as typical linear cylinders have a small variable range of length in the extension direction of the actuator. Therefore, while they can function as a rocking mechanism, their extension range is too small to be practical as an extension mechanism.

[0017] Thus, according to the present invention, it is possible to provide a support device having an extension mechanism capable of shifting between a housed form and an extended form, and being lightweight and having sufficient strength even when used in an environment where gravity such as on the lunar surface acts.

[0018] In the present invention, the first joint portion can be configured to allow the frame to rotate with three degrees of freedom with respect to the base portion.

[0019] Since the frame has a housing portion capable of housing the bistable boom in a wound state, in the width direction orthogonal to the extension direction of the bistable boom, the frame has dimensions similar to those of the bistable boom. If the width of the bistable boom is increased to ensure its strength, the width of the frame also increases, and the frames of the two leg portions fixed adjacent to each other on the first surface of the base portion may come into contact. By fixing the frame to the first surface of the base portion by the first joint portion that allows the frame to rotate with three degrees of freedom, even if the frames of the two leg portions come into contact, the rotation of the frame can suppress the restriction of the direction and length of the extension of the leg portions. Thereby, it is possible to suppress the restriction of the movable range of the stage.

[0020] In the present invention, the second joint portion can be configured to allow the tip portion of the bistable boom to rotate with three degrees of freedom with respect to the stage.

[0021] Thereby, it is possible to suppress the restriction of the adjustable range of the position and orientation of the stage.

[0022] In the present invention, each of the six leg portions can be configured to have a drive portion that generates a driving force for extending the bistable boom in a wound state and winding up the bistable boom in an extended state.

[0023] For example, the bistable boom has a plurality of through holes provided at intervals along the extension direction. Each of the six legs has a sprocket having a projection that engages with the through hole, The drive unit can be configured as a motor that rotates the sprocket.

[0024] This allows the bi-stability boom to be extended by rotating the motor forward to rotate the sprocket forward, and the bi-stability boom to be retracted by rotating the motor in reverse to reverse the sprocket.

[0025] In the present invention, the stand has a sensor for detecting the tilt of the stand, The system can be configured to include a control unit that controls the extension and retraction of each of the six legs based on the output of the sensor.

[0026] In particular, the control unit can control the extension and retraction of each of the six legs so that the tilt of the stand approaches horizontal based on the output of the sensor.

[0027] When the support device of the present invention is installed on the lunar surface, the base may not be horizontal depending on the lunar terrain. With the above configuration, it is possible to adjust the base to be horizontal in such cases. Therefore, the support device of the present invention can be suitably used as a support device for devices where the orientation of the installation is important, such as solar panels and communication devices.

[0028] Furthermore, the above configurations can be combined and adopted as much as possible. [Effects of the Invention]

[0029] According to the present invention, it is possible to provide a support device having a lightweight and high-strength extension mechanism. [Brief explanation of the drawing]

[0030] [Figure 1] This is a perspective view showing the housing configuration of the support device of the embodiment. [Figure 2] This is a perspective view showing the extended form of the support device of the embodiment. [Figure 3] This is a perspective view showing the bistability boom of the embodiment. [Figure 4] This is a cross-sectional view showing the bistability boom of the embodiment. [Figure 5] This diagram schematically shows the configuration of the leg portion of the embodiment. [Figure 6] This is a top view of the support device of the embodiment. [Figure 7] This is a top view of the support device of the embodiment. [Figure 8] This is a side view showing the support device in the storage configuration of the embodiment installed on an inclined ground. [Figure 9] This is a side view showing the state after adjusting the inclination of the table to a horizontal position from the state shown in Figure 8. [Figure 10] This is a side view showing the state after the support device has been extended from the state shown in Figure 9. [Modes for carrying out the invention]

[0031] The embodiments for carrying out this invention will be described in detail below with reference to the drawings, based on examples. However, unless otherwise specified, the dimensions, materials, shapes, relative arrangements, etc., of the components described in these embodiments are not intended to limit the scope of this invention to those specific components.

[0032] Figure 1 is a perspective view showing the retracted form of the support device of the embodiment. Figure 2 is a perspective view showing the extended form of the support device of the embodiment. Figure 3 is a perspective view showing the bistability boom of the embodiment. Figure 4 is a cross-sectional view of the bistability boom of the embodiment. Figure 5 is a schematic diagram showing the configuration of the legs of the embodiment. Figure 6 is a top view of the support device of the embodiment. Figure 7 is a top view of the support device of the embodiment. Figure 8 is a side view showing the retracted form of the support device of the embodiment installed on an inclined ground. Figure 9 is a side view showing the state after the inclination of the base has been adjusted to horizontal from the state in Figure 8. Figure 10 is a side view showing the state after the support device has been moved from the state in Figure 9 to the extended form.

[0033] As shown in Figures 1 and 2, the support device 1 has a base 2, a platform 3 that can move with 6 degrees of freedom relative to the base 2, and six extendable legs, from the first leg 41 to the sixth leg 46, that connect the base 2 and the platform 3. All six legs have the same configuration.

[0034] (leg) The first leg section 41 will be described below as a representative example. The first leg section 41 includes a bi-stability boom 51, a frame 61, a first joint section 71, a second joint section 81, a motor 91, and a sprocket 101.

[0035] (Bistability boom) Figure 4 shows a bistability bridge in a state where the retracted portion 51a and the extended portion 51c coexist. This is a perspective view of boom 51. Figure 4(A) is a cross-sectional view of the retracted portion 51a of the bistability boom 51 according to cross-section A in Figure 4. Figure 4(B) is a cross-sectional view of the transition portion 51e of the bistability boom 51 according to cross-section B in Figure 4. Figure 4(C) is a cross-sectional view of the extended portion 51c of the bistability boom 51 according to cross-section C in Figure 4. In Figures 3 and 4, the extension direction of the bistability boom 51 is defined as the X direction, the width direction perpendicular to the extension direction is defined as the Y direction, and the direction perpendicular to both the X and Y directions is defined as the Z direction.

[0036] The bi-stability boom 51 is composed of a long elastic member capable of stably maintaining either an extended state or a retracted state. In the extended state, the bi-stability boom 51 extends linearly in the extension direction X, and in the retracted state, it is retracted into a cylindrical shape around a central axis L parallel to the width direction Y, which is perpendicular to the extension direction X. The portion between the retracted portion 51a and the extended portion 51c is called the transition portion 51e.

[0037] As shown in Figure 4(A), the cross-section of the retracted portion 51a perpendicular to the extension direction X has a shape that extends linearly parallel to the central axis L.

[0038] As shown in Figure 4(B), in the transition portion 51e, the cross section perpendicular to the extension direction X is curved to have a smaller radius of curvature compared to the retracted portion 51a and a larger radius of curvature compared to the extended portion 51c. The state in which the transition portion 51e exists is mechanically unstable, and the bistability boom 51 self-extends to the extended state due to the elastic force of the elastic members constituting the bistability boom 51.

[0039] As shown in Figure 4(C), the cross-section of the extended portion 51c perpendicular to the extension direction X is an open cross-sectional shape that is curved in an arc and has a portion that opens in the Z direction. The shape of the extended portion 51c can also be described as a shape in which a part of a hollow cylindrical shape is cut out parallel to the generatrix. In the cross-section perpendicular to the extension direction X, the central angle corresponding to the cut-out arc can be a shape smaller than 180 degrees. In this case, the extended portion 51c becomes a shape close to a hollow cylindrical shape.

[0040] Carbon fiber reinforced plastic (CFRP) can be suitably used as the material for the bistability boom 51. CFRP has high specific rigidity and high specific strength, enabling lightweight construction while maintaining high strength. The bistability boom 51, constructed from CFRP fiber composite material, can suitably exhibit bistability, maintaining stable conditions in both the extended and retracted states.

[0041] The bistability boom 51 has a plurality of through holes 51d that are spaced apart along the extension direction X. In the bistability boom 51 of this embodiment, the through holes 51d are spaced equally apart along the extension direction X.

[0042] (frame) As shown in Figure 5, the frame 61 has a housing portion 61a that accommodates the retracted portion 51a of the bi-stability boom 51, which is in a retracted state at one end in the extension direction X. The frame 61 includes guide rollers 61b and 61d that guide the transition portion 51e of the bi-stability boom 51, a guide roller 61c that guides the extended portion 51c of the bi-stability boom 51, a sprocket 101 having a plurality of protrusions 101a that can engage with the through hole 51d of the bi-stability boom 51, and a motor 91 that generates a driving force to rotate the sprocket 101.

[0043] When the motor 91 rotates the sprocket 101, the projection 101a engages with the through hole 51d of the bi-stability boom 51 as the sprocket 101 rotates. When motor 91 is rotated forward and sprocket 101 is rotated forward (counterclockwise in Figure 5), the bi-stability boom 51 moves in the extension direction X and is pulled out from the retracted portion 51a housed in the housing 61a and extends. Conversely, when motor 91 is reversed and sprocket 101 is reversed (clockwise in Figure 5), the bi-stability boom 51 moves in the opposite direction to the extension direction X (-X direction) and is wound into the retracted portion 51a housed in the housing 61a. Therefore, the first leg portion 41 has motor 91 as a drive unit that generates driving force to extend the bi-stability boom 51 in the retracted state and to wind up the bi-stability boom 51 in the extended state. By driving motor 91 to extend or wind up the bi-stability boom 51, the first leg portion 41 expands and contracts along the extension direction X of the bi-stability boom 51.

[0044] (Joint section) The first joint portion 71 connects the frame 61 to the first surface 2a of the base portion 2 that faces the base 3. The first joint portion 71 is constructed by a combination of a universal joint that allows rotation of two degrees of freedom and a thrust bearing that allows rotation of one degree of freedom, so that the frame 61 can rotate three degrees of freedom relative to the base portion 2.

[0045] The second joint portion 81 connects the tip portion 51b of the extended portion 51c, which is in an extended state at the other end of the bi-stability boom 51 in the extension direction X, to the second surface 3a of the base 3 facing the base 2. The second joint portion 81 is made of a ball joint that allows the tip portion 51b of the bi-stability boom 51 to rotate in three degrees of freedom relative to the base 3. The second joint portion 81 is provided on a cap 81a which has a hollow cylindrical portion into which the tip portion 51b of the bi-stability boom 51 is inserted. The tip portion 51b of the bi-stability boom 51 is fixed to the cap 81a.

[0046] Note that the above examples are not the only joints that allow rotation with three degrees of freedom.

[0047] (base) The first surface 2a of the base 2, facing the base 3, has a first region 21, a second region 22, and a third region 23 that are spaced apart from each other. As shown in Figure 6, the first region 21, the second region 22, and the third region 23 lie on the circumference of a first virtual circle 2b defined on the first surface 2a of the base 2.

[0048] Of the six legs, the first joint portions 71 and 72 of the first leg portion 41 and the second leg portion 42 are fixed to the first surface 2a of the base portion 2 adjacent to each other in the first region 21. The first joint portions 73 and 74 of the third leg portion 43 and the fourth leg portion 44 are fixed to the first surface 2a of the base portion 2 adjacent to each other in the second region 22. The first joint portions 75 and 76 of the fifth leg portion 45 and the sixth leg portion 46 are fixed to the first surface 2a of the base portion 2 adjacent to each other in the third region 23.

[0049] (unit) The second surface 3a of the base 3, facing the base 2, has a fourth region 34, a fifth region 35, and a sixth region 36 that are spaced apart from each other. As shown in Figure 6, the fourth region 34, the fifth region 35, and the sixth region 36 lie on the circumference of a second virtual circle 3b defined on the second surface 3a of the base 3.

[0050] Of the six legs, the second joints 82 and 83 of the second leg 42 and the third leg 43 are fixed to the second surface 3a of the base 3 adjacent to each other in the fourth region 34. The second joints 84 and 85 of the fourth leg 44 and the fifth leg 45 are fixed to the second surface 3a of the base 3 adjacent to each other in the fifth region 35. The second joints 86 and 81 of the sixth leg 46 and the first leg 41 are fixed to the second surface 3a of the base 3 adjacent to each other in the sixth region 36.

[0051] Figure 6 is a top view of the support device 1 in a state where the lengths of the six legs are equal. In this state, the first surface 2a of the base 2 and the second surface 3a of the base 3 are parallel. This is a top view of the support device 1 as seen in a direction perpendicular to surface 3a (referred to as the first direction). In this state, when viewed in the first direction, the center of the first virtual circle 2b and the center of the second virtual circle 3b are in the same position. Furthermore, in the circumferential direction around the first direction, the fourth region 34 is located between the first region 21 and the second region 22, the fifth region 35 is located between the second region 22 and the third region 23, and the sixth region 36 is located between the third region 23 and the first region 21.

[0052] Figure 7 shows the support device 1 in a state where, in the circumferential direction around the first direction, the fourth region 34 is near the first region 21, the fifth region 35 is near the second region 22, and the sixth region 36 is near the third region 23. In this state, the lengths of the six legs are not equal. Also, the first surface 2a of the base 2 and the second surface 3a of the base 3 may or may not be parallel.

[0053] (Tilt control) As shown in Figures 1 and 2, the base 3 is equipped with a sensor 110 that detects the tilt of the base 3. The base 2 is equipped with a control unit 120 that controls the extension and retraction of each of the six legs based on the output of the sensor 110. The control unit 120 controls the extension and retraction of the six legs by controlling the motors of the six legs to bring the tilt of the base 3 closer to horizontal, based on the output of the sensor 110.

[0054] (Advantages of the support device in the example) The support device 1 of the embodiment configured as described above has the structure of a so-called Stewart platform. The six legs (first leg 41 to sixth leg 46) function as actuators of the Stewart platform.

[0055] Because the six leg extension mechanisms are composed of a bi-stability boom, and the bi-stability boom is lightweight, the weight of the legs can be reduced. Therefore, the overall weight of the support device 1 can be reduced.

[0056] Furthermore, as shown in Figure 4(C), the bistability boom 51 has an open cross-sectional shape in the extended state portion 51c, and therefore, on its own, it has the characteristic of being easily bent in the direction in which the cross-section is open (the Z direction in Figure 4(C)). However, since the support device 1 has six legs and therefore six bistability booms, its strength can be increased. In addition, since the first joint portion 71 and the second joint portion 81 allow rotation of three degrees of freedom, the bistability boom 51 can rotate around the extension direction X. Therefore, since the direction in which the cross-sectional shape of the open cross-section of the six bistability booms is open can change for each, the direction in which the cross-section is open is unlikely to be the same among the six bistability booms, and they can reinforce each other's weaknesses. In addition, by having six bistability booms, the rigidity of the support device 1 as a whole can be increased against torsion.

[0057] Furthermore, in the bi-stability boom 51, the length of the extended portion 51c in the extension direction X is longer than the length of the retracted portion 51a. By using such a bi-stability boom 51 in the extension mechanism of the first leg portion 41, the variable range of the length of the first leg portion 41 in the extension direction can be increased. As a result, the movable range of the base 3 relative to the base portion 2 can be increased.

[0058] By fully retracting the six-legged bi-stability boom and minimizing the length along the extension / retraction direction of the legs, the base 3 can be moved to a position close to the base 2, as shown in Figure 1. This reduces the overall size of the support device 1, allowing it to take on a form suitable for transport and storage. This form shown in Figure 1 is called the storage form.

[0059] With the six-legged bi-stability boom fully extended, the length along the extension direction of the legs is By maximizing its extension, the base 3 can be moved to a position significantly separated from the base 2, as shown in Figure 2. This results in the entire support device 1 becoming tower-shaped, making it suitable for supporting, for example, solar panels or communication equipment at a high position away from the ground where the base 2 is installed. This configuration shown in Figure 2 is called the extended configuration.

[0060] For example, when the base 2 is installed on the ground, the range of motion of the platform 3 in the height direction is large, allowing the Stewart platform to function as a height extension mechanism.

[0061] Furthermore, since the frame 61 has a housing portion 61a capable of accommodating the retracted portion 51a of the bistability boom 51, it has dimensions in the width direction Y, which is perpendicular to the extension direction X of the bistability boom 51, that are approximately the same as those of the retracted portion 51a. Therefore, if the width of the bistability boom 51 is increased to increase its strength, the width of the frame 61 in the Y direction will also increase, and the frames of the two legs (for example, the first leg 41 and the second leg 42) fixed adjacent to each other on the first surface 2a of the base 2 may come into contact depending on the direction in which the legs extend. This is because, as shown in Figures 6 and 7, in a support device 1 in which the base 3 can change its posture and position with 6 degrees of freedom relative to the base 2, the direction in which the legs extend can change significantly depending on the posture and position of the base 3.

[0062] In the support device 1 of this embodiment, the frame 61 is fixed to the first surface 2a of the base 2 by a first joint portion 71 that allows rotation in three degrees of freedom. As a result, even if the frames of two adjacent fixed legs come into contact with each other, the rotation of the frames prevents the extension direction and length of the legs from being restricted. This prevents the range of motion (the range of positions and orientations that the base 3 can take) from being restricted.

[0063] The support device 1 of this embodiment can transition from a compact storage configuration as shown in Figure 1 to a tower-like extended configuration as shown in Figure 2. Therefore, when using the support device 1 as a device to support solar panels or communication equipment on the lunar surface, for example, it can be transported to the lunar surface in its compact storage configuration, installed on the lunar surface, and then transitioned to the extended configuration. This reduces the space required for transport.

[0064] When installing the support device 1 on the lunar surface, the base 2 may not be horizontal depending on the terrain. For example, as shown in Figure 8, the base 2 of the support device 1 in its retracted configuration may be installed on a sloping ground 130. In this case, the control unit 120 can acquire information on the tilt of the base 3 from the sensor 110 provided on the base 3 and control the extension and retraction of each of the six legs to bring the tilt of the base 3 closer to horizontal.

[0065] One possible control method is to repeatedly perform feedback control, for example, by adjusting the length of each of the six legs by a predetermined amount based on the tilt information of the base 3 obtained from the sensor 110. For example, in the case of Figure 8, the first leg 41 and the second leg 42 are extended by 2 units (2 × ΔX), the third leg 43 and the fourth leg 44 are extended by 1 unit (1 × ΔX), and the lengths of the fifth leg 45 and the sixth leg 46 are kept unchanged. After adjusting the lengths of each leg, the tilt of the base 3 is then obtained again from the sensor 110. By repeating trial adjustments in small units while feeding back the output of the sensor 110 in this way, the tilt of the base 3 can be adjusted without requiring calculations using complex algorithms. Note that the method of controlling the length of the legs is not limited to this. The target lengths of the six legs can be calculated from the target posture and position of the base 3, and the motor 91 can be driven and controlled, for example, by referring to the output of the encoder that detects the rotation amount of the motor 91, so that the length of each leg becomes the target length.

[0066] By controlling the extension and retraction of the legs in this way, first, the tilt of the base 3 is made horizontal as shown in Figure 9, and then, while maintaining the posture of the base 3, the support device 1 is moved to the extended position as shown in Figure 10. In this case, the extension and retraction of each leg can also be adjusted by a predetermined amount while feeding back the output of the sensor 110, allowing the structure to gradually transition to an extended state. At this time, for example, optical sensors or the like may be attached to the center of the first virtual circle 2b of the base 2 and the center of the second virtual circle 3b of the stand 3, and the extension and retraction of each of the six legs may be controlled so that the virtual line connecting the center of the first virtual circle 2b and the center of the second virtual circle 3b is vertical.

[0067] As shown in Figures 8 to 10, according to the support device 1 of the embodiment, even when the base 2 is installed on an inclined ground 130, the support device 1 can be moved from the retracted form to the extended form while maintaining the base 3 horizontally.

[0068] In the above embodiment, an example was described in which the first joint portion 71 and the second joint portion 81 have joints that allow rotation of 3 degrees of freedom. This widens the range of movement and posture adjustment of the base 3 relative to the base 2, so that the support device 1 can be moved from the retracted form to the extended form while keeping the posture of the base 3 horizontal, regardless of the terrain where the base 2 is installed. However, if it is known in advance that the terrain where the base 2 is installed is horizontal or not significantly sloped from horizontal, and a narrow range of posture adjustment of the base 3 is not a problem, then joints that allow rotation of 2 degrees of freedom or joints that allow rotation of 1 degree of freedom can also be used in the first joint portion 71 and the second joint portion 81. [Explanation of symbols]

[0069] 1: Support device 2: Base 2a: 1st page 2b: First virtual circle 3: stand 3a: 2nd side 3b: Second virtual circle 21:First area 22:Second area 23:Third area 34: 4th area 35: 5th area 36: 6th area 41:1st leg 42:Second leg 43:Third leg 44: 4th leg 45: 5th leg 46: 6th leg 51: Bi-stability boom 51a: Winding state section 51b:Tip 51c: Extended portion 51d: Through hole 51e: Transition section 61: Frame 61a: Containment section 61b, 61c, 61d: Guide rollers 71, 72, 73, 74, 75, 76: First joint section 81, 82, 83, 84, 85, 86: Second joint section 81a: Cap 91: Motor 101: Sprocket 101a: Protrusion 110: Sensor 120: Control Unit 130: Sloping ground

Claims

1. The base and, A base that can move in six degrees of freedom relative to the aforementioned base, Six extendable legs connecting the base and the platform, It has, Each of the six legs is A bistability boom capable of stably maintaining either an extended state or a retracted state, wherein in the extended state, it extends linearly in the extension direction and is held with an open cross-sectional shape in which the cross-section perpendicular to the extension direction is curved in an arc shape, and in the retracted state, it is retracted while curving in the extension direction and is held with a shape in which the cross-section perpendicular to the extension direction is linear, A frame having a housing portion that accommodates the portion of the bistability boom that is in the retracted state at one end in the extension direction, A first joint portion for connecting the frame to the first surface of the base facing the base, A second joint portion for connecting the tip of the extended portion of the bi-stability boom at the other end in the extension direction to a second surface facing the base of the stand, It has, In each of the three separate regions of the base, the first joint portions of the two legs are fixed adjacent to each other. In each of the three separate regions of the base, the second joint portions of the two legs are fixed adjacent to each other. A support device characterized in that the combination of two legs in which the first joint portion is fixed adjacent to each other at the base is different from the combination of two legs in which the second joint portion is fixed adjacent to each other at the base.

2. The first surface of the base has a first region, a second region, and a third region that are spaced apart from each other, and of the six legs, the first joint portions of the first and second legs are fixed adjacent to each other in the first region, the first joint portions of the third and fourth legs are fixed adjacent to each other in the second region, and the first joint portions of the fifth and sixth legs are fixed adjacent to each other in the third region. The support device according to claim 1, wherein the second surface of the base has a fourth region, a fifth region and a sixth region which are spaced apart from each other, the second joint portion of the second leg and the third leg are fixed adjacent to each other in the fourth region, the second joint portion of the fourth leg and the fifth leg are fixed adjacent to each other in the fifth region, and the second joint portion of the sixth leg and the first leg are fixed adjacent to each other in the sixth region.

3. The support device according to claim 2, wherein, in a state in which the lengths of the six legs are equal to each other, the first surface of the base and the second surface of the stand are parallel, and when viewed in a direction perpendicular to the first and second surfaces, the fourth region is between the first and second regions, the fifth region is between the second and third regions, and the sixth region is between the third and first regions.

4. The support device according to any one of claims 1 to 3, wherein the first joint portion allows the frame to rotate in three degrees of freedom relative to the base portion.

5. The support device according to any one of claims 1 to 3, wherein the second joint portion allows the tip portion of the bistability boom to rotate in three degrees of freedom relative to the base.

6. The support device according to any one of claims 1 to 3, wherein each of the six legs has a drive unit that generates a driving force for extending the bistability boom in the retracted state and for retracting the bistability boom in the extended state.

7. The bi-stability boom has a plurality of through holes spaced apart along the extension direction, Each of the six legs has a sprocket having a projection that engages with the through hole, The support device according to claim 6, wherein the drive unit is a motor that rotates the sprocket.

8. The stand has a sensor that detects the tilt of the stand, The support device according to any one of claims 1 to 3, further comprising a control unit that controls the extension and retraction of each of the six legs based on the output of the sensor.

9. The support device according to claim 8, wherein the control unit controls the extension and retraction of each of the six legs so that the tilt of the base approaches horizontal based on the output of the sensor.

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