Retractable device

Abstract

To prevent disorder in winding a tape.SOLUTION: An expansion device 100 includes: elastic tape 1; a reel 5 around which the tape 1 is wound into a roll shape; a tape drive device 30 for winding the tape 1 around the reel 5 and unwind the tape 1 from the reel 5; and tension imparting means for imparting tensile force to the tape 1 in a winding direction.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to an expansion device. [Background technology]

[0002] As an extension device having a high extension ratio and sufficient strength, Patent Document 1 discloses a manipulator mechanism including a tape made of a spring steel plate and a payout device that winds and pays out the tape. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2009-196026 A Summary of the Invention [Problem to be solved by the invention]

[0004] In the telescopic device described in Patent Document 1, the tape is wound around a reel in a roll shape. The tape is made of spring steel and has a large elastic force. Therefore, when the tape is unwound from the reel and when the tape is wound onto the reel, the elastic force of the tape causes the tape to not adhere closely to the reel, which is a problem that the winding is easily disturbed.

[0005] The present invention has been made in consideration of the above problems, and has an object to provide an expansion device that can prevent the winding of a tape from becoming erroneous. [Means for solving the problem]

[0006] The expansion device according to the present invention comprises an elastic tape, a reel on which the tape is wound in a roll, a tape drive unit for winding the tape onto the reel and unwinding the tape from the reel, and a tension unit for applying a rotational torque to the rotating shaft of the reel to apply tension to the tape in the winding direction. The tension in the winding direction is equal to or slightly larger than the tension in the unwinding direction caused by the elastic force of the tape wound around the reel. and a tension applying means.

[0007] In this invention, the telescopic device Applying rotational torque to the reel's rotating shaft Since the device is provided with a tension applying means for applying tension to the tape in the winding direction, the tape can be stably unwound and wound while maintaining a state in which the tape is in close contact with the reel, thereby preventing the tape from becoming distorted.

[0008] In the present invention, the tension applying means is a power spring which is wound up as the reel rotates in the tape unwinding direction.

[0009] In this invention, the power spring can constantly apply a rotational torque in the direction of winding the tape to the reel by means of its elastic force.

[0010] In the present invention, the central axis of the power spring and the rotation axis of the reel are connected in a straight line.

[0011] In this invention, since the main spring is provided separately from the reel, it can be easily replaced with an optimum main spring depending on the length of tape wound onto the reel.

[0012] The tape drive device of the present invention is characterized in that it comprises a roller which rotates in contact with the tape wound around the reel, a motor which rotates the roller forward and reverse, and an axis distance changing means which changes the axis distance between the axis of rotation of the reel and the axis of rotation of the roller as the tape is wound on and unwound by the reel. The present invention also provides a method for producing a semiconductor device comprising the steps of: a tape drive device for winding the tape onto the reel and unwinding the tape from the reel; and tension applying means for applying a rotational torque to a rotational shaft of the reel to apply tension to the tape in the winding direction, the tape drive device having a roller that rotates in contact with the tape wound around the reel, a motor that rotates the roller forward and reverse, and axis distance changing means for changing the axis distance between the rotational shaft of the reel and the rotational shaft of the roller as the tape is wound onto and unwinded by the reel, The inter-axis distance changing means is characterized by having a swing member that supports the reel and is arranged to be freely swingable about a swing axis, and a biasing means that biases the swing member in a direction in which the reel and the roller approach each other.

[0013] In these inventions, even if the diameter of the tape wound around the reel changes, the rotation of the roller can be stably transmitted to the tape.

[0014] In the present invention, the reel is supported between the pivot shaft of the swing member and the mounting position of the biasing means, adjacent to the mounting position of the biasing means.

[0015] In this invention, the tape wound around the reel is pressed strongly against the roller, so that the rotation of the roller can be stably transmitted to the tape.

[0016] In addition, the present invention is characterized in that the tape has an elastic section that expands and contracts as the tape drive device is driven, and a non-elastic section from the reel to the elastic section, and the tape in the non-elastic section is deformed flat by only the roller.

[0017] This invention can increase the rigidity of the tape in the non-elastic portion. Also, because the roller has two functions, that of feeding and winding the tape and that of deforming the tape flat, the number of parts is reduced and the structure is simplified. Effect of the Invention

[0018] According to the present invention, it is possible to prevent the tape from becoming distorted. [Brief description of the drawings]

[0019] [Figure 1] FIG. 1 is a schematic diagram showing an extension device according to an embodiment of the present invention, with the extension section in an extended state. [Diagram 2] FIG. 1 is a schematic diagram showing an extension device according to an embodiment of the present invention, in which the extension section is in a contracted state. [Diagram 3] FIG. 2 is a cross-sectional view of the tape, showing a cross section perpendicular to the longitudinal direction of the tape. [Figure 4] FIG. [Diagram 5] FIG. 2 is a bottom schematic diagram of a tape drive device in the extension device according to the embodiment of the present invention. [Figure 6] FIG. 4 is a diagram showing tension acting on a tape. [Figure 7]FIG. 13 is a schematic diagram showing a modified example of an extension device according to an embodiment of the present invention. [Figure 8] 1A and 1B are schematic diagrams showing a modified example of an extension device according to an embodiment of the present invention, in which (a) is a diagram of a tape drive device in a state where the extension section is extended, and (b) is a diagram of a tape drive device in a state where the extension section is contracted. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0020] Hereinafter, an extension device 100 according to an embodiment of the present invention will be described with reference to the drawings.

[0021] As shown in FIG. 1, the expansion device 100 comprises an elastic tape 1, a reel 5 around which the tape 1 is wound in a roll, a tape drive device 30 that winds the tape 1 onto the reel 5 and unwinds the tape 1 from the reel 5, and a power spring 40 as a tension applying means that applies tension to the tape 1 in the winding direction.

[0022] The expansion and contraction device 100 expands and contracts the tape 1 to move an object to be driven 101, and is used as a manipulator by attaching an attachment such as a hand 102 (see FIG. 7) to the tape 1.

[0023] The tape 1 is made of an elastic material, and in this embodiment, is made of stainless spring steel. The tape 1 is not limited to stainless spring steel, and may be made of any material having appropriate spring properties and rigidity, such as synthetic resin or a composite material made by combining synthetic resin with fibers (carbon fiber, glass fiber) or metal.

[0024] As shown in Figure 3, tape 1 has an arc-shaped cross section perpendicular to the longitudinal direction, and has a convex surface 1a and a concave surface 1b. When no external force is applied, tape 1 is formed in a straight line in the longitudinal direction. Because tape 1 has an arc-shaped cross section, it exhibits high rigidity against an external force in the longitudinal direction and does not easily bend. On the other hand, it bends when an external force is applied perpendicular to the longitudinal direction, and elastically returns to its original straight line when the external force is removed.

[0025] As shown in FIG. 1, the tape drive 30 has a case 35, a roller 31 that rotates in contact with the tape 1 wound around the reel 5, a motor 32 that rotates the roller 31 forward and backward, and a coil spring 33 as a biasing means that biases the roller 31 and the reel 5 in a direction toward each other. The roller 31 is rotated by the drive of the motor 32, whereby the tape 1 is wound onto the reel 5 and the tape 1 is unwound from the reel 5. Specifically, the tape 1 is unwound from the reel 5 by driving the motor 32 forward, and the tape 1 is wound onto the reel 5 by driving the motor 32 reverse. The case 35 is provided with a guide portion 35a that guides the tape 1 into and out of the case 35. The guide portion 35a has an arc-shaped guide slit through which the tape 1 is slidably inserted and which guides the tape 1.

[0026] The expansion and contraction device 100 further includes a turn-back device 50 that turns the tape 1 180 degrees. The tape 1 is made up of a single continuous piece of tape, and after being unwound from the tape drive device 30, it is turned back 180 degrees by the turn-back device 50 and the end is fixed to the case 35 of the tape drive device 30. Thus, the tape 1 has a turn-back portion 2 and a fixed end 3.

[0027] In the turn-back device 50, the turn-back portion 2 is bent in a direction such that the convex surface 1a of the tape 1 faces outward. This is because the tape 1, which has an arc-shaped cross section, bends relatively easily in a direction such that the convex surface 1a faces outward, but a large force is required to bend it in a direction such that the concave surface 1b faces outward. Because the turn-back portion 2 is bent in a direction such that the convex surface 1a of the tape 1 faces outward, the tape 1 is fed smoothly in the turn-back device 50. The tape 1 wound around the reel 5 is also bent in a direction such that the convex surface 1a faces outward.

[0028] When the tape 1 is unwound from the tape drive 30, the turn-back portion 2 of the tape 1 moves in a direction away from the fixed end 3 (upward in FIG. 1) depending on the amount of tape 1 unwound. On the other hand, when the tape drive 30 winds up the tape 1, the turn-back portion 2 of the tape 1 moves in a direction approaching the fixed end 3 (downward in FIG. 1) depending on the amount of tape 1 wound up. In this way, the turn-back portion 2 of the tape 1 functions as a free end, and the length between the turn-back portion 2 and the fixed end 3 changes as the tape drive 30 is driven. On the other hand, the length of the tape 1 between the reel 5 and the guide portion 35a of the case 35 does not change. That is, the portion of the tape 1 extending from the guide portion 35a through the turn-back portion 2 to the fixed end 3 functions as an expansion / contraction portion 10 that expands and contracts as the tape drive device 30 is driven, and the portion of the tape 1 extending from the reel 5 to the guide portion 35a, i.e., the portion of the tape 1 extending from the reel 5 to the expansion / contraction portion 10, functions as a non-expandable portion 20 that does not expand or contract even when the tape drive device 30 is driven. Since the driven object 101 is attached to the case 51 of the turn-back device 50, the driven object 101 can be moved by expanding and contracting the expansion / contraction portion 10.

[0029] The expandable section 10 has a folded section 2 formed at the tip where the tape 1 is folded back 180 degrees, and a fixed end 3 where the end of the tape 1 is fixed, so that the expandable section 10 is formed with two overlapping tapes 1. Therefore, for example, when the tape drive 30 pays out 1 m of the tape 1, the driven object 101 moves 0.5 m upward in Fig. 1, and when the tape drive 30 takes up 1 m of the tape 1, the driven object 101 moves 0.5 m downward in Fig. 1. Since the tape 1 is formed double in the expandable section 10, the rigidity in the longitudinal direction is increased, and it becomes possible to support and drive the heavy driven object 101.

[0030] The stretchable section 10 is provided with a plurality of bundling plates 11 that are spaced apart in the longitudinal direction and bundle the two tapes 1. The two tapes 1 are bundled by the bundling plates 11 so that their concave surfaces 1b face each other, as shown in Fig. 4. The bundling plates 11 are formed with two arc-shaped guide slits 11a that are similar in shape to the outer shape of the tape 1 and slightly larger than the outer shape of the tape 1. The tape 1 is slidably inserted through the guide slits 11a, and is guided and fed by the guide slits 11a when the stretchable section 10 stretches or contracts.

[0031] As shown in FIG. 1, adjacent binding plates 11 are connected to each other by strings 12, and the interval between adjacent binding plates 11 is set by the length of the strings 12 connecting the adjacent binding plates 11. The binding plate 11 closest to the turn-back device 50 (the uppermost binding plate 11 in FIG. 1) is attached to the case 51 of the turn-back device 50 by the strings 12. In this manner, each binding plate 11 is suspended from the turn-back device 50 via the strings 12. The binding plate 11 closest to the tape drive device 30 (the lowermost binding plate 11 in FIG. 1) is attached to the case 35 of the tape drive device 30 by the strings 12. The state in which the strings 12 are stretched over the entire length is the maximum extension state of the stretchable portion 10 (the state shown in FIG. 1). A rope or wire may be used instead of the strings 12.

[0032] Even if an excessive external force acts on the stretchable portion 10 of the tape 1 and the stretchable portion 10 is bent at a certain portion, the tape 1 of the stretchable portion 10 is bound and supported by a plurality of binding plates 11, so that the tape 1 of the stretchable portion 10 elastically returns to its original straight shape when the external force is removed. In other words, the tape 1 of the stretchable portion 10 is prevented from bending due to an external force by being supported by a plurality of binding plates 11. The intervals between adjacent binding plates 11 are arranged so as to gradually increase from the fixed end 3, which is the base end of the stretchable portion 10, to the folded-back portion 2, which is the tip end. This is because a larger load acts on the stretchable portion 10 closer to the base end. The number of binding plates 11 and the intervals between adjacent binding plates 11 are set in consideration of the length of the stretchable portion 10, the weight of the driven object 101, the use of the stretching device 100, the rigidity of the tape 1, and the like.

[0033] A pressure sensor 60 is provided between the fixed end 3 of the tape 1 and the case 35 of the tape drive device 30 as a pressure detector. The case 35 also has a function of supporting the load acting on the stretching section 10 through the fixed end 3, so the load acting on the stretching section 10 can be calculated based on the detection result of the pressure sensor 60. Based on the detection result of the pressure sensor 60, it is possible to determine an overload acting on the stretching section 10 or to determine bending of the stretching section 10. In addition, a stroke sensor that detects the amount of tape 1 that is paid out and the amount of tape 1 that is taken up to detect the stroke of the stretching section 10 may be provided on the guide section 35a of the case 35. The stroke of the stretching section 10 can be controlled by controlling the drive of the motor 32 based on the detection result of the stroke sensor. The stroke sensor may be provided on the guide section 54 of the case 51 in the turn-back device 50 described later.

[0034] The turn-back device 50 has a case 51, a direction-changing roller 52 that is rotatably provided in the case 51 and changes the running direction of the tape 1 by 180 degrees, a plurality of guide rollers 53 that press the tape 1 against the direction-changing roller 52, and a guide section 54 that is provided in the case 51 and guides the tape 1 as it enters and leaves the case 51. In this embodiment, four guide rollers 53 are provided.

[0035] The guide portion 54 is formed with two arc-shaped guide slits through which the tape 1 is slidably inserted and which guide the tape 1. The shape of the two guide slits is the same as the shape of the two guide slits 11a formed in the binding plate 11 shown in FIG.

[0036] The tape 1 that has entered the case 51 from the guide section 54 gradually changes from a circular arc shape to a rectangular shape in cross section from the guide section 54 to the direction changing roller 52, and is fed along the outer circumferential surface of the direction changing roller 52 in a substantially flat state. Then, the tape 1 gradually changes from a rectangular shape to a circular arc shape in cross section from the direction changing roller 52 to the guide section 54. In this way, the running direction of the tape 1 is smoothly changed by the direction changing roller 52. The portion of the tape 1 between the guide section 54 and the direction changing roller 52 is a shape transition section in which the cross-sectional shape gradually changes. The tape 1 in this shape transition section is less rigid than other portions, and is therefore easily bent. Therefore, in order to prevent the tape 1 from bending in the shape transition section, it is preferable to provide a guide roller 55 that guides the running of the tape 1 in the shape transition section.

[0037] Next, the reel 5, the tape drive 30, and the power spring 40 will be described in detail, mainly with reference to FIG.

[0038] Roller 31 is rotatably supported by case 35. The outer periphery of roller 31 that comes into contact with tape 1 is formed of urethane rubber as an elastic member. This prevents slippage between tape 1 and roller 31, and ensures that the rotation of roller 31 is stably transmitted to tape 1.

[0039] The motor 32 is fixed to the case 35, and the rotating shaft of the motor 32 is connected to the rotating shaft 31a of the roller 31. The rotating shaft of the motor 32 and the rotating shaft 31a of the roller 31 may be connected via a reducer.

[0040] When roller 31 is rotated by driving motor 32 and tape 1 is wound onto and unwound from reel 5, the diameter of tape 1 wound around reel 5 increases and decreases. Tape drive device 30 has swing member 34 (see FIGS. 1 and 2) that supports reel 5 and is provided in case 35 so as to be swingable about swing shaft 34a so that the rotation of roller 31 is stably transmitted to tape 1 wound around reel 5 even if the diameter of tape 1 wound around reel 5 increases or decreases.

[0041] The swing members 34 are plate-shaped and a pair are provided along both side plates 35b of the case 35. Both ends of the rotation shaft 5a of the reel 5 are rotatably supported by the pair of swing members 34. In this manner, the reel 5 is supported by being sandwiched between the pair of swing members 34.

[0042] The reel 5 is supported on the opposite side of the swing member 34 to the swing shaft 34a (see FIG. 1). Therefore, when the swing member 34 swings around the swing shaft 34a, the reel 5 moves relative to the roller 31.

[0043] The coil spring 33 is provided between a pin 36 provided across a pair of swing members 34 and a pin 37 provided across both side plates 35b of the case 35. The reel 5 supported by the swing member 34 is constantly biased toward the roller 31 by the biasing force of the coil spring 33. In this way, the coil spring 33 biases the swing member 34 in a direction in which the reel 5 and the roller 31 approach each other. As a result, the tape 1 wound around the reel 5 is pressed against the roller 31 and comes into close contact with each other, preventing slippage between the tape 1 and the roller 31. In addition, the tape 1 is pressed against the roller 31 by the biasing force of the coil spring 33, so that the tape 1 is wound around the reel 5 in a substantially flat state with a rectangular cross section. In this way, like the shape transition section of the turn-back device 50, the portion of the tape 1 between the guide portion 35a and the reel 5 becomes a shape transition section in which the cross-sectional shape gradually changes. In other words, the non-stretchable portion 20 becomes a shape transition section. As described above, the tape 1 in the shape transition section has a lower rigidity than other portions. Furthermore, unlike the elastic section 10 in which the tape 1 is doubled, the non-elastic section 20, which is a shape transition section, is formed from a single piece of tape 1, and therefore has lower rigidity than the elastic section 10. Therefore, in order to prevent bending of the tape 1 in the non-elastic section 20, which is a shape transition section, a guide for guiding the running of the tape 1 may be provided between the guide portion 35a and the reel 5. This guide is, for example, a sliding member made of Teflon (registered trademark) provided on both the convex surface 1a side and the concave surface 1b side of the tape 1.

[0044] In this embodiment, a pair of coil springs 33 are provided at positions symmetrical about the reel 5, so that the tape 1 is pressed evenly against the roller 31. The reel 5 is supported between the swing shaft 34a of the swing member 34 and the pin 36 (the mounting position of the coil spring 33) and adjacent to the pin 36 (see FIG. 1). Specifically, the reel 5 is supported closer to the pin 36 than the center between the swing shaft 34a of the swing member 34 and the pin 36. Therefore, the tape 1 is pressed strongly against the roller 31, so that the rotation of the roller 31 is stably transmitted to the tape 1. The spring constant of the coil spring 33 and the number of the coil springs 33 are appropriately adjusted according to the material, rigidity, etc. of the tape 1 so that the rotation of the roller 31 is stably transmitted to the tape 1.

[0045] In this embodiment, in the non-stretchable section 20 from the reel 5 to the stretchable section 10 of the tape 1, the only thing that deforms the tape 1 to be approximately flat is the roller 31 for unwinding and winding the tape 1. The rigidity of the tape 1 is reduced in the area where it is deformed to be approximately flat, but in the non-stretchable section 20, the tape 1 is deformed to be approximately flat only in the area of ​​contact with the roller 31, so the reduction in rigidity of the tape 1 in the non-stretchable section 20 is kept to a minimum. In addition, the roller 31 has two functions, that is, the function of unwinding and winding the tape 1 and the function of deforming the tape 1 to be approximately flat, so that the number of parts is reduced and the structure is simplified.

[0046] When the tape 1 is wound around the reel 5 and the diameter of the tape 1 wound around the reel 5 increases, the swing member 34 swings against the biasing force of the coil spring 33, and the reel 5 moves in a direction away from the roller 31 (the state shown in FIG. 2). On the other hand, when the tape 1 is unwound from the reel 5 and the diameter of the tape 1 wound around the reel 5 decreases, the swing member 34 swings due to the biasing force of the coil spring 33, and the reel 5 moves in a direction toward the roller 31 (the state shown in FIG. 1). In this way, the swing member 34 changes the axis distance between the rotation shaft 5a of the reel and the rotation shaft 31a of the roller 31 as the tape 1 is wound around and unwound by the reel 5, so that the rotation of the roller 31 is stably transmitted to the tape 1. The swing member 34 and the coil spring 33 correspond to an axis distance changing means.

[0047] Here, the tape 1 is wound in a roll around the reel 5. The tape 1 is made of spring steel and has a large elastic force, so that the tape 1 wound around the reel 5 is subjected to a force that causes it to expand in the radial direction and return to its original linear shape, as shown by the white arrows in FIG. 6. In this way, tension acts in the unwinding direction on the tape 1 wound around the reel 5 due to the elastic force of the tape 1. Therefore, when the tape 1 is wound around the reel 5, the elastic force of the tape 1 tends to cause irregular winding, where the tape 1 does not come into close contact with the reel 5 and does not wind correctly around the reel 5.

[0048] In this embodiment, the reel 5 is constantly biased toward the roller 31 by the biasing force of the coil spring 33, but if one were to try to prevent irregular winding of the tape 1 using only the coil spring 33, it would be necessary to increase the spring force of the coil spring 33 by using a coil spring 33 with a large spring constant or by increasing the number of coil springs 33, which would be difficult to adjust. Furthermore, if the spring force of the coil spring 33 is increased in order to prevent irregular winding of the tape 1, the adhesion force between the tape 1 and the roller 31 would become too large, and a high-output motor 32 would be required.

[0049] Therefore, as a measure against irregular winding of the tape 1, the expansion device 100 is provided with a power spring 40 that applies a rotational torque to the rotating shaft 5a of the reel 5 to apply tension in the winding direction to the tape 1. As shown in Fig. 1, the power spring 40 has a case 41, a spring portion 42 that is contained in a spiral shape within the case 41 and has one end connected to the inner wall of the case 41, and a central shaft 43 to which the other end of the spring portion 42 is connected. The case 41 is fixed to the case 35 of the tape drive device 30.

[0050] Central axis 43 of power spring 40 is connected to rotation axis 5a of reel 5. As reel 5 rotates in the direction in which tape 1 is unwound, spring portion 42 is wound up around central axis 43. Therefore, as shown by the black arrow in Figure 6, spring portion 42 applies a rotational torque to reel 5 in the direction in which tape 1 is wound up, by its elastic force. In this way, power spring 40 constantly applies tension to tape 1 in the winding direction.

[0051] As described above, as shown in Fig. 6, tape 1 wound around reel 5 is subjected to tension in the payout direction due to the elastic force of tape 1 (white arrow in Fig. 6) and tension in the winding direction due to power spring 40 (black arrow in Fig. 6). These two tensions are roughly balanced, or the tension in the winding direction due to power spring 40 is slightly greater. Therefore, tape 1 wound around reel 5 is kept in close contact with reel 5 without becoming distorted.

[0052] When the motor stops with the tape 1 being unwound (as shown in FIG. 1), the frictional force between the roller 31 and the tape 1 keeps the reel 5 stationary.

[0053] When the motor 32 is driven in the forward direction to unwind the tape 1 from the reel 5, the tape 1 wound around the reel 5 is kept in close contact with the reel 5 by the tension in the winding direction of the power spring 40 and is unwound stably from the reel 5.

[0054] When the motor 32 is driven in the reverse direction to wind the tape 1 onto the reel 5, the tension in the winding direction of the power spring 40 causes the reel 5 to rotate in synchronization with the winding of the tape 1, so that the tape 1 is wound stably while remaining in close contact with the reel 5.

[0055] In this way, the tape 1 is kept in close contact with the reel 5, and is stably unwound from and wound onto the reel 5. Therefore, there is no need to provide the reel 5 with a guide, flange, or the like to prevent the tape 1 from becoming distorted, and the structure of the reel 5 can be simplified.

[0056] 5, the central axis 43 of the power spring 40 and the rotation axis 5a of the reel 5 are linearly connected. Although the power spring 40 can be housed inside the reel 5, by linearly connecting the central axis 43 to the rotation axis 5a of the reel 5, the power spring 40 is provided outside the reel 5, more specifically, outside the case 35 of the tape drive device 30. In other words, the power spring 40 is provided separately from the reel 5.

[0057] When the length of expansion / contraction section 10 is long and the length of tape 1 wound around reel 5 is long, the tension in the unwinding direction due to the elastic force of tape 1 (white arrow in FIG. 6) becomes large. In this case, in order to prevent irregular winding of tape 1, it is necessary to increase the spring force of spring section 42 and increase the tension in the winding direction due to spiral spring 40. In this manner, the size of spiral spring 40 needs to be adjusted according to the specifications of the winding length of tape 1. In this embodiment, spiral spring 40 is provided separately from reel 5, so that it can be easily replaced with an optimal spiral spring 40 according to the specifications of the winding length of tape 1.

[0058] Furthermore, there is an optimum range for the diameter of the reel 5 for stably winding the tape 1. In other words, if the diameter of the reel 5 is too large or too small, it becomes difficult to stably wind the tape 1. The optimum diameter of the reel 5 for stably winding the tape 1 varies depending on the material, rigidity, etc. of the tape 1. In this embodiment, the power spring 40 is not housed inside the reel 5 but is provided separately from the reel 5, so that the reel 5 can be easily replaced with one having an optimum diameter according to the specifications of the tape 1, such as the material and rigidity. Furthermore, the diameter of the reel 5 can be made smaller than the outer diameter of the power spring 40, so that the tape drive device 30 can be configured compactly.

[0059] The operation of the extension device 100 configured as above will be described with reference to FIGS.

[0060] When the motor 32 is driven in the forward direction to rotate the roller 31, the tape 1 is unwound from the reel 5, and the unwound tape 1 is sent from the non-extensible portion 20 to the extensible portion 10. As a result, the extensible portion 10 is expanded (expanded upward in FIG. 1), and the driven object 101 attached to the turning device 50 moves upward in FIG. 1. In association with this, the spring portion 42 of the power spring 40 is wound and tightened around the central axis 43, so that the tape 1 wound around the reel 5 is stably unwound from the reel 5 while being kept in close contact with the reel 5 by the tension in the winding direction of the power spring 40. When the tape 1 is unwound from the reel 5 and the diameter of the tape 1 wound around the reel 5 becomes smaller, the swing member 34 is swung by the biasing force of the coil spring 33, and the reel 5 moves in a direction approaching the roller 31, so that the rotation of the roller 31 is stably transmitted to the tape 1.

[0061] When the expandable section 10 is in the maximum expanded state (the state shown in FIG. 1), the string 12 is in a taut state over the entire length, and each binding plate 11 is in a state of being suspended from the folding device 50 via the string 12 .

[0062] On the other hand, when the motor 32 is driven in the reverse direction to rotate the roller 31, the tape 1 is wound onto the reel 5, and the tape 1 in the expansion / contraction section 10 is sent to the non-expansion section 20. This causes the expansion / contraction section 10 to contract (contract downward in FIG. 1), and the driven object 101 attached to the turn-back device 50 moves downward in FIG. 1. In association with this, the spring section 42 of the power spring 40 is released, and the reel 5 rotates in synchronization with the winding of the tape 1 due to the tension in the winding direction of the power spring 40, so that the tape 1 is wound stably while remaining in close contact with the reel 5. In addition, the tape 1 being wound is pressed against the roller 31 by the biasing force of the coil spring 33, and is wound onto the reel 5 in a substantially flat state, deforming from an arc-shaped cross section to a rectangular cross section. Furthermore, when the tape 1 is wound around the reel 5 and the diameter of the tape 1 wound around the reel 5 increases, the swing member 34 swings against the biasing force of the coil spring 33, and the reel 5 moves in a direction away from the roller 31, so that the rotation of the roller 31 is stably transmitted to the tape 1.

[0063] When the expandable section 10 is in the most contracted state (the state shown in FIG. 2), the string 12 is in a loose state (illustration of the string 12 is omitted in FIG. 2), and the case 51 of the folding device 50 contacts the binding plate 11 at one end, and the case 35 of the tape drive device 30 contacts the binding plate 11 at the other end, so that adjacent binding plates 11 are in contact with each other. In this way, the expandable section 10 contracts until adjacent binding plates 11 come into contact with each other between the case 51 of the folding device 50 and the case 35 of the tape drive device 30.

[0064] When the motor 32 stops while the tape 1 is being unwound from the reel 5 or while the tape 1 is being wound onto the reel 5, the frictional force between the roller 31 and the tape 1 keeps the reel 5 stopped, and the driven object 101 is held by the expansion / contraction section 10.

[0065] The telescopic device 100 can be used for various purposes such as a rooflight opening and closing device, a door opening and closing device, a stay for opening and closing the rear hatch of a vehicle, etc. Also, as shown in Fig. 7, the telescopic device 100 can be used as a manipulator by attaching an attachment such as a hand 102 capable of opening and closing operations to the folding device 50 instead of the driven object 101.

[0066] Modifications of the above embodiment will be described below. The following modifications are also within the scope of the present invention, and it is possible to combine the following modifications with the configuration of the above embodiment, or to combine the following modifications with each other.

[0067] (1) In the above embodiment, the tape 1 has an arc-shaped cross section. However, the cross-sectional shape of the tape 1 is not limited to an arc-shaped cross section, and may be rectangular, circular, or the like.

[0068] (2) In the above embodiment, a configuration has been described in which the tape 1 has a folded portion 2 and a fixed end 3. Alternatively, the tape 1 may not be folded, and the driven object 101 may be attached to the tip of the tape 1. In this configuration, the expansion / contraction portion 10 may be composed of multiple tapes 1. Specifically, multiple overlapping tapes 1 may be simultaneously paid out from one tape drive 30. Also, the tapes 1 paid out from multiple tape drives 30 may be bundled together.

[0069] (3) In the above embodiment, the tension applying means for applying tension to the tape 1 in the winding direction is the power spring 40. However, the tension applying means is not limited to the power spring 40 as long as it applies tension to the tape 1 in the winding direction. For example, an electric motor may be used as the tension applying means instead of the power spring 40. In this case, the output shaft of the electric motor is connected to the rotating shaft 5a of the reel 5. Tension in the winding direction is applied to the tape 1 by differentially controlling the rotation of the electric motor with respect to the rotation of the tape 1 wound around the reel 5. Specifically, when the tape 1 wound around the reel 5 makes one rotation in the unwinding direction, the electric motor is controlled to make less than one rotation, for example 0.9 rotations, in the unwinding direction of the tape 1, and when the tape 1 wound around the reel 5 makes one rotation in the winding direction, the electric motor is controlled to make one or more rotations, for example 1.1 rotations, in the winding direction of the tape 1. Also, a torsion bar may be used as the tension applying means. Furthermore, as a tension applying means, air may be compressed as the reel 5 rotates in the direction in which the tape 1 is unwound, and this compressed air may be used to apply tension to the tape 1 in the winding direction.

[0070] (4) In the above embodiment, the central axis 43 of the spiral spring 40 and the rotating shaft 5a of the reel 5 are linearly connected to each other. However, as long as the rotational torque of the spiral spring 40 is applied to the rotating shaft 5a of the reel 5, the configuration is not limited to the configuration in which the central axis 43 of the spiral spring 40 and the rotating shaft 5a of the reel 5 are linearly connected to each other. For example, the central axis 43 of the spiral spring 40 and the rotating shaft 5a of the reel 5 may be connected to each other via gears, a chain, a belt, or the like. If the rotation ratio between the central axis 43 of the spiral spring 40 and the rotating shaft 5a of the reel 5 is changed by using gears or the like, the rigidity and number of turns of the spring portion 42 of the spiral spring 40 can be adjusted to make the spiral spring 40 compact.

[0071] (5) In the above embodiment, the inter-axis distance changing means for changing the inter-axis distance between the rotation shaft 5a of the reel 5 and the rotation shaft 31a of the roller 31 as the reel 5 winds and unwinds the tape 1 is described as being of a swing type having a swing member 34 that supports the reel 5 and is provided so as to be swingable about a swing shaft 34a, and a coil spring 33 that biases the swing member 34 in a direction in which the reel 5 and the roller 31 approach each other. Alternatively, the inter-axis distance changing means may be of a modified form shown in FIG. 8. FIG. 8(a) is a schematic diagram of the tape drive 30 in a state in which the expansion / contraction section 10 is expanded, and FIG. 8(b) is a schematic diagram of the tape drive 30 in a state in which the expansion / contraction section 10 is contracted. Note that the illustration of the power spring 40 is omitted in FIGS. 8(a) and 8(b). In the modification shown in FIG. 8, the inter-axis distance changing means includes a pair of rails 70 fixed to the case 35, a slider 71 slidably provided along the pair of rails 70 and supporting the rotating shaft 5a of the reel 5, and a coil spring 72 as a biasing means for biasing the slider 71 in a direction in which the reel 5 and the roller 31 approach each other. When the tape 1 is wound onto the reel 5 and the diameter of the tape 1 wound around the reel 5 increases, the slider 71 moves along the rails 70 against the biasing force of the coil spring 72, and the reel 5 moves in a direction away from the roller 31 (the state shown in FIG. 8(b)). On the other hand, when the tape 1 is unwound from the reel 5 and the diameter of the tape 1 wound around the reel 5 decreases, the slider 71 moves along the rails 70 by the biasing force of the coil spring 72, and the reel 5 moves in a direction in which it approaches the roller 31 (the state shown in FIG. 8(a)). Thus, the modification shown in FIG. 8 is a linear motion type inter-axis distance changing means. 1 and 2, in the swing-type inter-axis distance changing means described in the above embodiment, as the reel 5 winds and unwinds the tape 1, the rotation axis 5a of the reel 5 moves in an arcuate orbit, so that the contact position between the tape 1 wound around the reel 5 and the outer circumferential surface of the roller 31 changes slightly. This may cause a subtle change in the tension acting on the tape 1 sandwiched between the reel 5 and the roller 31.8, in contrast, as the reel 5 winds and unwinds the tape 1, the rotation shaft 5a of the reel 5 moves linearly, so there is no change in the contact position between the tape 1 wound around the reel 5 and the outer circumferential surface of the roller 31. This has the advantage that the tension acting on the tape 1 is stable.

[0072] The configuration, operation, and effects of the embodiment of the present invention will be described below.

[0073] The expansion device 100 comprises an elastic tape 1, a reel 5 around which the tape 1 is wound in a roll, a tape drive unit 30 that winds the tape 1 onto the reel 5 and unwinds the tape 1 from the reel 5, and a tension applying means that applies tension to the tape 1 in the winding direction.

[0074] In this configuration, the expansion device 100 includes the power spring 40 that applies tension to the tape 1 in the winding direction, so that the tape 1 can be stably unwound and wound while maintaining a state in which the tape 1 is in close contact with the reel 5. This makes it possible to prevent the tape from becoming distorted.

[0075] The tension applying means is a power spring 40 which is wound up as the reel 5 rotates in the direction in which the tape 1 is unwound.

[0076] In this configuration, the power spring 40 can constantly apply a rotational torque to the reel 5 in the direction in which the tape 1 is wound up, by means of its elastic force.

[0077] Furthermore, the central shaft 43 of the power spring 40 and the rotating shaft 5a of the reel 5 are connected in a straight line.

[0078] In this configuration, since the main spring 40 is provided separately from the reel 5, it is possible to easily replace the main spring 40 with an optimum one according to the specifications of the winding length of the tape 1 onto the reel 5.

[0079] The tape drive device 30 also has a roller 31 that rotates in contact with the tape 1 wound around the reel 5, a motor 32 that rotates the roller 31 forward and backward, and an axis distance changing means (swing member 34, coil spring 33) that changes the axis distance between the rotation axis 5a of the reel 5 and the rotation axis 31a of the roller 31 as the tape 1 is wound and unwound by the reel 5. The inter-axis distance changing means also includes a swing member 34 that supports the reel 5 and is arranged to be freely swingable around a swing axis 34a, and a coil spring 33 as a biasing means that biases the swing member 34 in a direction in which the reel 5 and the roller 31 approach each other.

[0080] In these configurations, the rotation of roller 31 can be transmitted to tape 1 in a stable manner even if the diameter of tape 1 wound around reel 5 changes.

[0081] Further, the reel 5 is supported between the swing shaft 34a of the swing member 34 and the mounting position of the coil spring 33, adjacent to the mounting position of the coil spring 33.

[0082] In this configuration, the tape 1 wound around the reel 5 is pressed strongly against the roller 31, so that the rotation of the roller 31 can be transmitted to the tape 1 in a stable manner.

[0083] The tape 1 has an expansion / contraction section 10 that expands and contracts as the tape drive 30 is driven, and a non-extensible section 20 from the reel 5 to the expansion / contraction section 10, and the tape 1 in the non-extensible section 20 is deformed flat by the roller 31 only.

[0084] This configuration can increase the rigidity of tape 1 in non-extensible portion 20. Also, roller 31 has two functions, that is, the function of paying out and winding tape 1 and the function of deforming tape 1 flat, so that the number of parts is reduced and the structure is simplified.

[0085] Although the embodiments of the present invention have been described above, the above-mentioned embodiments merely show some of the application examples of the present invention, and it is not intended that the technical scope of the present invention be limited to the specific configurations of the above-mentioned embodiments. [Explanation of symbols]

[0086] 100...expansion device, 1...tape, 1a...convex surface of tape, 1b...concave surface of tape 1, 2...fold-back portion, 3...fixed end, 5...reel, 5a...rotation shaft of reel, 10...expansion portion, 20...non-expansion portion, 30...tape drive device, 31...roller, 31a...rotation shaft of roller, 32...motor, 33...coil spring (axis distance change means, biasing means), 34...swing member (axis distance change means), 34a...oscillating shaft, 35...case, 40...power spring (tension applying means), 42...spring portion, 50...fold-back device, 101...driven object

Claims

1. An elastic tape; a reel on which the tape is wound in a roll; a tape drive that winds the tape onto the reel and unwinds the tape from the reel; a tension applying means for applying a rotational torque to a rotation shaft of the reel to apply tension in a winding direction to the tape, the tension being equal to or slightly greater than a tension in the winding direction caused by an elastic force of the tape wound around the reel; An extension device comprising:

2. The telescopic device according to claim 1, An extension device characterized in that the tension applying means is a power spring that is wound up as the reel rotates in the direction in which the tape is unwound.

3. The telescopic device according to claim 2, A telescopic device characterized in that the central axis of the power spring and the rotation axis of the reel are linearly connected.

4. The telescopic device according to any one of claims 1 to 3, The tape drive device a roller that rotates in contact with the tape wound around the reel; A motor for rotating the roller forward and backward; an axis distance changing means for changing an axis distance between a rotation axis of the reel and a rotation axis of the roller in association with winding and unwinding of the tape by the reel; An extension device comprising:

5. An elastic tape; a reel on which the tape is wound in a roll; a tape drive that winds the tape onto the reel and unwinds the tape from the reel; a tension applying means for applying a rotational torque to a rotation shaft of the reel to apply tension to the tape in a winding direction, The tape drive device a roller that rotates in contact with the tape wound around the reel; A motor for rotating the roller forward and backward; an axis distance changing means for changing an axis distance between a rotation axis of the reel and a rotation axis of the roller in association with winding and unwinding of the tape by the reel; having The axis distance changing means is a swing member supporting the reel and swinging about a swing shaft; a biasing means for biasing the swing member in a direction in which the reel and the roller approach each other; An extension device comprising:

6. The telescopic device according to claim 5, The reel is supported between the pivot shaft of the swing member and a mounting position of the biasing means adjacent to the mounting position of the biasing means.

7. The telescopic device according to any one of claims 4 to 6, The tape is an expansion / contraction section that expands and contracts in association with the operation of the tape drive device; a non-stretchable portion from the reel to the stretchable portion, An expansion device, characterized in that the tape in the non-expandable portion is deformed flat only by the roller.

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