Electromagnetic switch, drive device using the same, bending and stretching device, and soccer robot

Abstract

To provide an electromagnetic switch capable of controlling an object by a simple mechanism, a driving device using the same, a flexion device, and a soccer robot.SOLUTION: A driving device 1 comprises: a drive shaft 3 formed into a rod shape to be rotatable about an axis and movable in an axial direction; a driving motor 10 engaged with the drive shaft 3 to rotate the drive shaft 3 in a prescribed direction; first and second rotary shafts 21, 22 arranged in parallel with the drive shaft 3 in the axial direction; a first engaging mechanism 31 for transmitting rotation of the drive shaft 3 in a rotational direction opposite to that of rotation of the drive shaft to the first rotary shaft 21, which is disposed between the drive shaft 3 and the first rotary shaft 21 in a state where the drive shaft 3 is at a prescribed position; a second engaging mechanism 41 for transmitting the rotation of the drive shaft 3 in the same rotational direction as that of the first rotary shaft 21 to the second rotary shaft 22, which is disposed between the drive shaft 3 and the second rotary shaft 22; and an electromagnetic switch 51 for instructing switching of the rotational directions of the first and second rotary shafts 21, 22.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] This invention relates to an electromagnetic switch, a driving device, a bending and stretching device, and a soccer robot using the same, and particularly to an electromagnetic switch used in school teaching materials and the like, a driving device, a bending and stretching device, and a soccer robot using the same.

Background Art

[0002] It is known that when an electric current is passed through a coil body in which an iron core is placed inside a coil body obtained by winding a conducting wire such as an enameled wire around a cylindrical frame made of plastic or the like, it becomes electromagnetized. Conventionally, experiments for learning the mechanism of an electric current and a magnet, such as attracting an iron nail or the like to an electromagnet made in this way, have been widely conducted at school sites. Also, as an application of the experiment, there are motor cars and soccer robots that use an electromagnet as part of a handmade motor and are made to be able to run by attaching wheels.

Summary of the Invention

Problems to be Solved by the Invention

[0003] However, in school sites, in addition to the requirement that teaching material parts can be applied to various uses without waste, the description of handmade motors in textbooks has been disappearing, so new usage methods for each member such as the coil body, iron core, and magnet used in the electromagnet experiment have been demanded.

[0004] This invention has been made to solve the above problems, and an object thereof is to provide an electromagnetic switch capable of controlling an object with a simple mechanism, a driving device, a bending and stretching device, and a soccer robot using the same.

Means for Solving the Problems

[0005] In order to achieve the above object, the invention according to claim 1 is For school textbooksAn electromagnetic switch, comprising a coil body in which at least a coil is wound in a certain direction, and a permanent magnet disposed such that it can slide axially inside the coil body and the magnetic poles are located in the sliding direction. It is sandwiched by a resin frame that surrounds the coil body with the periphery of the coil body exposed When the permanent magnet is energized at a predetermined position separated from the center position by a predetermined distance on one side of the coil body in the axial direction of the coil body, due to the magnetic field generated in the coil body, the permanent magnet attracts or repels the coil body, causing the coil body and the permanent magnet to move relative to each other and function as a switch. The permanent magnet is arranged such that the magnetic poles are in the vertical direction. When energized, the coil body and the permanent magnet move relative to each other in the vertical direction. When the energized state is released, the permanent magnet returns to the predetermined position under its own weight.

[0006] With such a configuration, by changing the direction of the current flow or the winding direction of the coil, the moving direction of the coil body or the permanent magnet can be changed.

[0007] According to the invention described in claim 2, in the configuration of the invention described in claim 1, when the pole generated on one side of the coil body has the same polarity as one of the poles of the permanent magnet in the energized state at the predetermined position, the coil body and the permanent magnet move relative to each other in the direction of mutual repulsion, while when the pole generated on one side of the coil body has the opposite polarity to one of the poles of the permanent magnet, the coil body and the permanent magnet move relative to each other in the direction of mutual attraction.

[0008] With such a configuration, it functions as a switch only by switching the direction of the magnetic field of the coil body.

[0011] Claim 3The described invention is a bending and stretching device, comprising the electromagnetic switch according to claim 1 or claim 2, and an arm mechanism engaged with the electromagnetic switch and performing a bending and stretching movement in the front-rear direction. The electromagnetic switch is arranged such that the magnetic poles of the permanent magnet are in the vertical direction. In the energized state, the coil body of the electromagnetic switch and the permanent magnet move relatively in the vertical direction. The arm mechanism has a first rotating part rotatable around an axis with a first rotating axis whose axial direction is arranged in a direction orthogonal to the moving direction of the coil body and the permanent magnet of the electromagnetic switch, and a second rotating part rotatable around an axis with a second rotating axis whose axial direction is arranged parallel to the first rotating axis. In the energized state, according to the relative movement between the coil body of the electromagnetic switch and the permanent magnet, the first rotating part rotates in one direction around the axis, and at the same time, the second rotating part rotates in the other direction around the axis. When the energized state is released, due to the self-weight of the coil body or the permanent magnet of the electromagnetic switch, the first rotating part rotates in the other direction around the axis, and at the same time, the second rotating part rotates in one direction around the axis.

[0012] With such a configuration, by simply switching between the energized state and the non-energized state, the arm mechanism performs a bending and stretching movement.

[0013] Claim 4 The described invention is a soccer robot, comprising a first drive shaft that is rod-shaped and rotatable around an axis, a second drive shaft that is rod-shaped and rotatable around an axis and is arranged on the extension line in the axial direction of the first drive shaft, a first drive body engaged with the first drive shaft and rotating the first drive shaft in a predetermined direction, a second drive body engaged with the second drive shaft and rotating the second drive shaft in a predetermined direction, a first wheel provided on the first drive shaft, a second wheel provided on the second drive shaft, and the bending and stretching device according to claim 3 arranged between the first drive shaft and the second drive shaft, and the bending and stretching device functions as a kick arm.

[0014] With such a configuration, it becomes possible to move the first wheel, the second wheel, and the bending and stretching device independently. The invention according to claim 5 is an electromagnetic switch, comprising at least a coil body in which a coil is wound in a certain direction, and a permanent magnet that is slidable in the axial direction of the coil body inside the coil body and is arranged such that magnetic poles are located in the sliding direction. When the permanent magnet is energized at a predetermined position that is separated from the center position by a predetermined distance to one side of the coil body in the axial direction of the coil body, due to the magnetic field generated in the coil body, the permanent magnet attracts or repels the coil body, causing the coil body and the permanent magnet to move relative to each other and function as a switch. The permanent magnet is arranged such that the magnetic poles are in the horizontal direction. In the energized state, the coil body and the permanent magnet move relative to each other in the horizontal direction. It further comprises a frame that sandwiches the permanent magnet and surrounds the periphery of the coil body, and a weight that is lifted by the horizontal movement of the frame in the energized state. When the energized state is released, the permanent magnet returns to the predetermined position due to the weight of the weight is a thing. With this configuration, by changing the direction of the current flow or the winding direction of the coil, the moving direction of the coil body or the permanent magnet can be changed The invention according to claim 6 is based on the configuration of the invention according to claim 5. In the energized state at a predetermined position, when the pole generated on one side of the coil body has the same polarity as one pole of the permanent magnet, the coil body and the permanent magnet move relative to each other in the direction of repelling each other. On the other hand, when the pole generated on one side of the coil body has the opposite polarity to one pole of the permanent magnet, the coil body and the permanent magnet move relative to each other in the direction of attracting each other With this configuration, it functions as a switch just by switching the direction of the magnetic field of the coil body The invention according to claim 7 is a drive device, comprising a drive shaft that is rod-shaped, rotatable around an axis, and movable in the axial direction; a drive body that engages with the drive shaft and rotates the drive shaft in a predetermined direction; a first rotating shaft whose axial direction is arranged parallel to the drive shaft; a second rotating shaft whose axial direction is arranged parallel to the drive shaft; a first engagement mechanism that is arranged between the drive shaft and the first rotating shaft and transmits the rotation of the drive shaft to the first rotating shaft in the same or opposite rotation direction as the rotation direction of the drive shaft when the drive shaft is in a predetermined position; a second engagement mechanism that is arranged between the drive shaft and the second rotating shaft and transmits the rotation of the drive shaft to the second rotating shaft in the same rotation direction as the rotation direction of the first rotating shaft when the drive shaft is in a predetermined position; and an electromagnetic switch according to claim 1 or claim 2 that instructs switching of the rotation directions of the first rotating shaft and the second rotating shaft. The electromagnetic switch is arranged such that the magnetic poles of the permanent magnet are in the horizontal direction, and by relatively moving the coil body and the permanent magnet in the horizontal direction, the drive shaft is displaced by a predetermined distance from the predetermined position to either the first engagement mechanism side or the second engagement mechanism side in the axial direction, so that the rotation directions of the first rotating shaft and the second rotating shaft can be switched. When the drive shaft is displaced by a predetermined distance from the predetermined position to the first engagement mechanism side, the first engagement mechanism functions to rotate the rotation of the first rotating shaft in the opposite direction, and while the second engagement mechanism maintains the rotation direction of the second rotating shaft, when the drive shaft is displaced by a predetermined distance from the predetermined position to the second engagement mechanism side, the second engagement mechanism functions to rotate the rotation of the second rotating shaft in the opposite direction, and the first engagement mechanism maintains the rotation direction of the first rotating shaft. With such a configuration, by changing the direction of the electric current flow, the rotation directions of the first rotating shaft and the second rotating shaft can be switched.

Advantages of the Invention

[0023] As described above, in the invention according to claim 1, by changing the direction of the current flow or the winding direction of the coil, the moving direction of the coil body or the permanent magnet can be changed. Therefore, it is possible to control an object by the movement of the permanent magnet or the coil body.

[0024] In addition to the effect of the invention according to claim 1, the invention according to claim 2 functions as a switch only by switching the direction of the magnetic field of the coil body, so it becomes a user-friendly switch.

[0026] Claim 3 The described invention only switches between the energized state and the non-energized state, and the arm mechanism performs a bending and stretching motion, so it becomes easy to control the movement of the bending and stretching device.

[0027] Claim 4 The described invention can independently move the first wheel, the second wheel, and the bending and stretching device, so it becomes a soccer robot with good operability. The invention according to claim 5 can change the moving direction of the coil body or the permanent magnet by changing the direction of the electric current flow or the winding direction of the coil, so that the control of the object by the movement of the permanent magnet or the coil body becomes possible. The invention according to claim 6, in addition to the effect of the invention according to claim 5, functions as a switch only by switching the direction of the magnetic field of the coil body, so that it becomes a user-friendly switch. The invention according to claim 7 can change the rotation directions of the first and second rotating shafts by changing the direction of the electric current flowing therethrough, thereby reducing the number of components and providing a cost-effective drive device.

Brief Description of the Drawings

[0032]

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Mode for Carrying Out the Invention

[0033] FIG. 1 is a perspective view showing the external shape of the drive device according to the first embodiment of the present invention as seen from the front, and FIG. 2 is a perspective view showing the external shape of the drive device shown in FIG. 1 as seen from the rear.

[0034] Referring to these figures, the overall shape of the drive device 1 will be described. The drive device 1 includes a drive shaft 3 that is rod-shaped and rotatable around an axis and movable in the axial direction, and a drive motor 10 that engages with the drive shaft 3 and rotates the drive shaft 3 in a predetermined direction. A drive pinion gear 4 is provided near the center of the drive shaft 3, and a drive crown gear 13 engages orthogonally with the drive pinion gear 4. A drive spur gear 12 attached to the shaft portion of the drive crown gear 13 is connected to a worm gear 11 attached to the lower part of the drive motor 10. Thus, it is possible to transmit the rotation of the drive motor 10 to the drive shaft 3.

[0035] The specific movements of each gear, sprocket, etc. for transmitting the driving force from the driving motor 10 to the drive shaft 3 will be described later.

[0036] Further, the drive device 1 includes a first rotating shaft 21 whose axial direction is arranged parallel to the drive shaft 3, and a second rotating shaft 22 whose axial direction is arranged parallel to the drive shaft 3. The first rotating shaft 21 and the second rotating shaft 22 are arranged at a distance from each other on the axial extension line. Around the axis of the first rotating shaft 21, a first wheel 23 and a spur gear 25 for the first rotating shaft are provided. Further, around the axis of the second rotating shaft 22, a second wheel 24 and a spur gear 26 for the second rotating shaft are provided so as to have a symmetrical structure with respect to the first rotating shaft 21 side.

[0037] Furthermore, the drive device 1 is disposed between the drive shaft 3 and the first rotating shaft 21, and in a state where the drive shaft 3 is in a predetermined position (the position of the drive shaft in FIG. 1 or FIG. 2) in the initial state, the rotation of the drive shaft 3 is transmitted to the first rotating shaft 21 in a rotation direction opposite to the rotation direction of the drive shaft. A first engagement mechanism 31 for transmitting, and a second engagement mechanism 41 disposed between the drive shaft 3 and the second rotating shaft 22, and transmitting the rotation of the drive shaft 3 to the second rotating shaft 22 in the same rotation direction as the rotation direction of the first rotating shaft 21 in a state where the drive shaft 3 is in the predetermined position.

[0038] On both outer sides of the drive pinion gear 4 on the drive shaft 3, a first pinion gear 5 is provided on the first engagement mechanism 31 side. Further, a second pinion gear 6 is provided on the second engagement mechanism 41 side.

[0039] The first engagement mechanism 31 has a first crown gear 32 that is orthogonally connected to the first pinion gear 5 of the drive shaft 3, and a first intermediate crown gear 34 that is orthogonally connected to the first crown gear 32 and is connected in parallel with the spur gear 25 for the first rotating shaft of the first rotating shaft 21. Thereby, it becomes possible to transmit the rotation of the drive shaft 3 to the first rotating shaft 21.

[0040] Similarly, the second engagement mechanism 41 has a second crown gear 42 and a second intermediate crown gear 44, but its structure is symmetric to that of the first engagement mechanism 31 side, so the description here is omitted.

[0041] The specific movements of each gear, gear, etc. for transmitting the driving force from the drive shaft to the first rotating shaft and the second rotating shaft will be described later.

[0042] Furthermore, the drive device 1 includes a drive shaft transfer means 50 capable of transferring the drive shaft 3 from a predetermined position in the initial state to a predetermined distance in any direction in the axial direction of the drive shaft 3. This drive shaft transfer means 50 includes an electromagnetic switch 51 for instructing the transfer of the drive shaft 3 in order to instruct the switching of the rotation directions of the first rotating shaft 21 and the second rotating shaft 22, a transmission mechanism 52 for transmitting the instruction of the electromagnetic switch 51 to the drive shaft 3, and a drive shaft pulling-back mechanism 53 for pulling back the drive shaft transferred from the predetermined position to the predetermined distance to the predetermined position.

[0043] FIG. 3 is a diagram showing the state of the electromagnetic switch when the drive shaft of the drive device shown in FIG. 1 is located at a predetermined position, (A) is a front view of the electromagnetic switch as viewed from the front side of the drive device, and (B) is a cross-sectional view of the S1-S1 line of the electromagnetic switch. Further, FIG. 4 is a diagram showing the relationship of the transmission mechanism, the drive shaft pulling-back mechanism, and the drive shaft as viewed from the front in the state of the electromagnetic switch shown in FIG. 3.

[0044] Referring to FIG. 3 in addition to FIGS. 1 and 2, the electromagnetic switch 51 of the drive shaft relocation means 50 includes a cylindrical coil body 60 in which a conductive wire 62 (coil) such as an enameled wire is wound in a certain direction, for example, the right-handed direction, around a cylindrical body 61 made of plastic or the like arranged in the horizontal direction, and a cylindrical rod-shaped permanent magnet 63 such as a neodymium magnet arranged inside the coil body 60 so as to be slidable in the horizontal direction (axial direction of the coil body 60) and with the magnetic poles positioned in the sliding direction. This permanent magnet 63 is arranged at a predetermined position L1 at a predetermined distance from the center line L of the two-dot chain line indicating the center position of the coil body 60 to the one end portion 78 side (one side of the coil body 60) of the coil body 60 in the axial direction of the coil body 60 so that the center position of the permanent magnet 63 comes to this position. Also, the magnetic poles of the permanent magnet 63 are arranged such that the N pole comes to the center position side of the coil body 60. Further, the N pole side end portion 76 of the permanent magnet 63 is located inside the cylindrical body 61 of the coil body 60, and the S pole side end portion 77 of the permanent magnet 63 is in a state of being exposed outside the coil body 60. Regarding the positional relationship between this coil body 60 and the permanent magnet 63, at least the center position of the permanent magnet 63 is separated from the center position (position of the center line L) of the coil body 60, and the N pole side end portion 76 of the permanent magnet 63 (the end portion arranged on the center position side of the coil body 60 of the permanent magnet 63) is desirably arranged within a range that does not exceed the one end portion 78 of the coil body 60 (the end portion on the side where the center position of the permanent magnet 63 is located).

[0045] Furthermore, in order to prevent the permanent magnet 63 from popping out, the electromagnetic switch 51 is provided with a frame body 64 that sandwiches the permanent magnet 63 and surrounds the periphery of the coil body 60. The coil body 60 of the electromagnetic switch 51 is fixedly attached such that the magnetic poles of the permanent magnet 63 are in the horizontal direction. When energized, the permanent magnet 63 moves inside the coil body 60 and functions as a switch, and the relocation direction of the drive shaft 3 is determined by the positional relationship between the coil body 60 and the moved permanent magnet 63. The specific operation of this electromagnetic switch 51 and the accompanying effects will be described later.

[0046] Also, referring to FIG. 4 together, the transmission mechanism 52 of the drive shaft transfer means 50 has a substantially semi-circular arc-shaped curved surface and a concave groove portion at the upper part, and is connected to a connection portion 65 provided at the front-side central portion of the frame body 64 of the electromagnetic switch 51 via the concave groove portion. A pair of contact portions 71a, 71b that contact the inner ends 7, 8 of the first pinion gear 5 and the second pinion gear 6 of the drive shaft 3 are provided on a part of the curved surface of the transmission mechanism 52. The specific operation of the transmission mechanism 52 and the accompanying effects will be described later.

[0047] Furthermore, the drive shaft retracting mechanism 53 of the drive shaft transfer means 50 is connected to the lower part of the transmission mechanism 52 and has a pair of wing portions 81a, 81b extending in the lateral direction and a pair of rod-shaped weights 82a, 82b arranged at the first positions H1 on the upper surfaces on both sides of the pair of wing portions 81a, 81b. Each of the pair of weights 82a, 82b is supported not only by the pair of wing portions 81a, 81b but also by support portions 84a, 84b (not shown in FIGS. 1 and 2) having a substantially U-shaped configuration when viewed from the front. Also, a rotating shaft 83 is provided at the central portion of the pair of wing portions 81a, 81b, and it is configured to be rotatable clockwise and counterclockwise around the rotating shaft 83. The specific operation of the drive shaft retracting mechanism 53 and the accompanying effects will be described later.

[0048] FIG. 5 is a circuit diagram showing the electrical connection of the internal mechanism of the drive device shown in FIG. 1.

[0049] Referring to this figure, the drive device 1 supplies electricity to each of the drive motor 10 and the electromagnetic switch 51 including the coil body 60 via a conducting wire from a power source 15 such as a dry battery.

[0050] In the circuit on the drive motor 10 side, switch sets 16a, 16b and switch sets 17a, 17b that can switch between an energized on state and an off state are provided. Each of the switch sets 16a, 16b and the switch sets 17a, 17b operates integrally, and the switch sets 16a, 16b and the switch sets 17a, 17b are not energized simultaneously.

[0051] Also, in the circuit on the electromagnetic switch 51 side, switch sets 18a, 18b and switch sets 19a, 19b that can switch between the energized on state and off state are provided. Each of the switch sets 18a, 18b and the switch sets 19a, 19b operates integrally, and the switch sets 18a, 18b and the switch sets 19a, 19b are not energized simultaneously.

[0052] With these, when only the switch sets 16a, 16b are in the on state and the forward rotation direction of the first rotating shaft 21 (first wheel 23) and the second rotating shaft 22 (second wheel 24) is defined as the forward rotation, and the direction in which the drive device 1 advances is defined as the front, the combinations of the on state and off state of each of the switch sets 16a, 16b to 19a, 19b are shown in the following table.

[0053] [Table 1] Next, the operations of the drive device 1 corresponding to the on state and off state of each of the switch sets 16a, 16b to 19a, 19b shown in Table 1 will be described.

[0054] First, the case where the switch sets 16a, 16b on the drive motor 10 side are in the on state and both the switch sets 18a, 18b and the switch sets 19a, 19b on the electromagnetic switch 51 side are in the off state will be described.

[0055] Referring again to FIGS. 3 and 4, the state of the electromagnetic switch 51 remains in the initial state shown in FIG. 3. The transmission mechanism 52 connected to the connection portion 65 of the frame 64 of the electromagnetic switch 51 of the drive shaft transfer means 50 does not move, and the pair of wing portions 81a, 81b of the drive shaft retraction mechanism 53 connected to the transmission mechanism 52 also remain in their original states. The pair of weights 82a, 82b are in a state of remaining at the first position H1. In other words, in this state, the load of the pair of weights 82a, 82b is evenly applied to the pair of wing portions 81a, 81b, so that the pair of wing portions 81a, 81b do not perform a rotational movement. On the extension line of the center of the rotation axis 83 of the pair of wing portions 81a, 81b, the center of the connection portion 65 of the electromagnetic switch 51 to which the transmission mechanism 52 is connected is located. The electromagnetic switch 51 and the transmission mechanism 52 are maintained at the neutral position, and the drive shaft 3 is also located at a predetermined position.

[0056] FIG. 6 is a perspective view seen from the rear showing the relationship between the drive shaft and the first engagement mechanism and the second engagement mechanism in the state of the electromagnetic switch shown in FIG. 3.

[0057] In addition to FIGS. 3 and 4, referring also to FIG. 6, in this state, the drive shaft 3 has the drive pinion gear 4 engaged with the teeth on the first engagement mechanism 31 side of the drive crown gear 13, the first pinion gear 5 engaged with the teeth inside (on the drive crown gear 13 side) of the first crown gear 32 of the first engagement mechanism 31, and the second pinion gear 6 engaged with the teeth inside (on the drive crown gear 13 side) of the second crown gear 42 of the second engagement mechanism 41.

[0058] A first crown gear pinion gear 33 is provided on the shaft portion of the first crown gear 32, and the first crown gear pinion gear 33 is engaged with the teeth on the drive shaft 3 side of the first intermediate crown gear 34. Also, a first intermediate crown gear pinion gear 35 is provided on the shaft portion of the first intermediate crown gear 34, and the first intermediate crown gear pinion gear 35 is engaged with the teeth on the upper part of the first rotating shaft spur gear 25.

[0059] Further, a second crown gear pinion gear 43 is provided on the shaft portion of the second crown gear 42, and the second crown gear pinion gear 43 engages with the teeth on the drive shaft 3 side of the second intermediate crown gear 44. Further, a second intermediate crown gear pinion gear 45 is provided on the shaft portion of the second intermediate crown gear 44, and the second intermediate crown gear pinion gear 45 engages with the teeth on the upper portion of the second rotating shaft spur gear 26.

[0060] In this state, the drive crown gear spur gear 12 rotates in the direction of arrow A1 by a drive motor (not shown). Then, accordingly, the drive crown gear 13 also rotates in the direction of arrow A1. Next, the rotation of the drive crown gear 13 is received via the drive pinion gear 4, and the drive shaft 3 rotates in the direction of arrow A2.

[0061] Then, on the side of the first pinion gear 5, the first pinion gear 5 rotates in the direction of arrow A2, which is the same as the rotation direction of the drive shaft 3, and rotates the first crown gear 32 in the direction of arrow A3. Then, the first crown gear pinion gear 33 also rotates in the direction of arrow A3, and rotates the first intermediate crown gear 34 in the direction of arrow A4. Then, the first intermediate crown gear pinion gear 35 also rotates in the direction of arrow A4, and rotates the first rotating shaft spur gear 25 in the direction of arrow A5. Receiving this, the first rotating shaft 21 and the first wheel 23 rotate in the direction of arrow A5.

[0062] Also, on the side of the second pinion gear 6, the second pinion gear 6 also rotates in the direction of arrow A2, which is the same as the rotation direction of the drive shaft 3, and rotates the second crown gear 42 in the direction of arrow A'3. Then, the second crown gear pinion gear 43 also rotates in the direction of arrow A'3, and rotates the second intermediate crown gear 44 in the direction of arrow A'4. Then, the second intermediate crown gear pinion gear 45 also rotates in the direction of arrow A'4, and rotates the second rotating shaft spur gear 26 in the direction of arrow A'5. Receiving this, the second rotating shaft 22 and the second wheel 24 rotate in the direction of arrow A'5.

[0063] As a result, the drive device 1 will move straight forward.

[0064] Next, in addition to turning on the switch sets 16a and 16b shown in FIG. 5, the case where the switch sets 18a and 18b are turned on will be described.

[0065] FIG. 7 is a schematic diagram showing the relationship between the coil body of the electromagnetic switch and the permanent magnet when the drive shaft of the drive device shown in FIG. 1 is displaced from a predetermined position by a predetermined distance to the first engagement mechanism side. (1) shows the polarity of the coil body and the permanent magnet and the direction of the magnetic field of the coil body in the energized state, and (2) is a diagram showing the direction of the magnetic field of the permanent magnet. Further, FIG. 8 is a diagram showing the state of the electromagnetic switch when the drive shaft of the drive device shown in FIG. 1 is displaced from a predetermined position by a predetermined distance to the first engagement mechanism side, and is a diagram corresponding to FIG. 3. (A) is a front view of the electromagnetic switch as viewed from the front side of the drive device, and (B) is a cross-sectional view taken along the line S2-S2 of the electromagnetic switch.

[0066] Referring to FIG. 7, since the coil of the coil body 60 of the electromagnetic switch 51 is wound in a right-handed manner as described above, when current is passed so that the current flows in a right-handed manner from the right to the left in the figure as shown in FIG. 7(1), a magnetic field 67 is generated in the coil body 60. The direction of this magnetic field 67 is the direction indicated by the magnetic flux lines in FIG. 7(1). Since the magnetic pole of the permanent magnet 63 is the N pole closer to the center position of the coil body 60 and the opposite is the S pole, the magnetic flux lines of the magnetic field 68 of the permanent magnet 63 are in the state shown in FIG. 7(2). Then, the direction of the magnetic field 67 generated in the coil body 60 and the direction of the magnetic field 68 of the permanent magnet 63 are the same, and a force that attracts each other is generated.

[0067] Then, referring also to FIG. 8, at this time, since the coil body 60 is fixed, the permanent magnet 63 and the frame body 64 move in the direction of attracting to the coil body 60 (left direction in the figure) as shown in FIG. 8(A). As a result, as shown in FIG. 8(B), the connection portion 65 of the electromagnetic switch 51 is displaced from the center position L of the coil body 60.

[0068] In other words, when, in the energized state at a predetermined position, the pole generated on one side of the coil body 60 (the side of one end portion 78 of the coil body 60) has a polarity opposite to that of one side (the side of the N-pole end portion 76 of the permanent magnet 63) of the permanent magnet 63, the permanent magnet 63 moves in a direction to attract the coil body 60.

[0069] FIG. 9 is a diagram showing the relationship of the transmission mechanism, the drive shaft retracting mechanism, and the drive shaft as viewed from the front in the state of the electromagnetic switch shown in FIG. 8, and is a diagram corresponding to FIG. 4. FIG. 10 is a perspective view showing the relationship between the drive shaft and the first engagement mechanism and the second engagement mechanism in the state of the electromagnetic switch shown in FIG. 8, and is a diagram corresponding to FIG. 6.

[0070] Referring to FIG. 9 in addition to FIGS. 7 and 8, the frame body 64 of the electromagnetic switch 51 moved as described above has moved leftward as viewed from the front, and the transmission mechanism 52 connected to the connection portion 65 with the frame body 64 also tries to move leftward. Then, since this transmission mechanism 52 is connected to the drive shaft retracting mechanism 53 at its lower part, it rotates counterclockwise about the rotation shaft 83 of the drive shaft retracting mechanism 53 as viewed from the front.

[0071] Due to the counterclockwise rotation, the contact portion 71a of the transmission mechanism 52 pushes the inner end portion 7 of the first pinion gear 5 of the drive shaft 3 leftward as viewed from the front, that is, in the axial direction toward the first engagement mechanism 31 side. As a result, the drive shaft 3 is moved a predetermined distance from the predetermined position shown in FIG. 4 to the position shown in FIG. 9.

[0072] Also, similarly, the pair of wing portions 81a, 81b of the drive shaft retracting mechanism 53 rotate counterclockwise about the rotation shaft 83, and the wing portion 81b on the second engagement mechanism 41 side lifts the weight 82b located on the second engagement mechanism side from the first position H1 to the second position H2 above the first position H1. At this time, the weight 82a located on the first engagement mechanism 31 side remains in the first position H1 by the support portion 84a, and only the wing portion 81a on the first engagement mechanism 31 side moves downward counterclockwise.

[0073] Furthermore, referring also to FIG. 10, in this state, the drive shaft 3 has the drive pinion gear 4 engaged with the teeth on the first engagement mechanism 31 side of the drive crown gear 13, the first pinion gear 5 engaged with the teeth on the outside (opposite side to the drive crown gear 13) of the first crown gear 32 of the first engagement mechanism 31, and the second pinion gear 6 engaged with the teeth on the inside (drive crown gear 13 side) of the second crown gear 42 of the second engagement mechanism 41.

[0074] In this state, a drive crown gear flat gear 12 (not shown) is rotated in the direction of arrow A1 by a drive motor (not shown). Then, accordingly, the drive crown gear 13 is also rotated in the direction of arrow A1. Next, the rotation of the drive crown gear 13 is received via the drive pinion gear 4, and the drive shaft 3 is rotated in the direction of arrow A2.

[0075] Then, on the side of the first pinion gear 5, the first pinion gear 5 is rotated in the direction of arrow A2, which is the same as the rotation direction of the drive shaft 3, and the first crown gear 32 is rotated in the direction of arrow B3. Then, the first crown gear pinion gear 33 is also rotated in the direction of arrow B3, and the first intermediate crown gear 34 is rotated in the direction of arrow B4. Then, the first intermediate crown gear pinion gear 35 is also rotated in the direction of arrow B4, and the first rotary shaft flat gear 25 is rotated in the direction of arrow B5. Receiving this, the first rotary shaft 21 and the first wheel 23 are rotated in the direction of arrow B5.

[0076] Also, on the side of the second pinion gear 6, the second pinion gear 6 is also rotated in the direction of arrow A2, which is the same as the rotation direction of the drive shaft 3, and the second crown gear 42 is rotated in the direction of arrow A'3. Then, the second crown gear pinion gear 43 is also rotated in the direction of arrow A'3, and the second intermediate crown gear 44 is rotated in the direction of arrow A'4. Then, the second intermediate crown gear pinion gear 45 is also rotated in the direction of arrow A'4, and the second rotary shaft flat gear 26 is rotated in the direction of arrow A'5. Receiving this, the second rotary shaft 22 and the second wheel 24 are rotated in the direction of arrow A'5.

[0077] In this way, while maintaining the rotation direction of the second rotating shaft 22 with a single drive shaft 3, the rotation direction of the first rotating shaft 21 can be switched.

[0078] Therefore, the drive device 1 will rotate clockwise.

[0079] Next, a case where the switch sets 18a and 18b shown in FIG. 5 are turned off again from the state shown in FIG. 9 will be described.

[0080] Referring again to FIGS. 3 to 7 and 9, when the switch sets 18a and 18b shown in FIG. 5 are turned off again, no current flows through the coil body 60 of the electromagnetic switch 51. Then, the magnetic field 67 generated in the coil body 60 disappears. As a result, the force that moves the permanent magnet 63 of the electromagnetic switch 51 in the direction of attracting the coil body 60 disappears. Along with this, the weight of the weight 82b lifted to the second position H2 by the wing portion 81b of the drive shaft retracting mechanism 53 causes it to drop to the first position H1. Also, the pair of wing portions 81a and 81b also rotate clockwise about the rotating shaft 83 in accordance with the descent of the weight 82b and return to the initial state position shown in FIG. 5. Further, the transmission mechanism 52 connected to the drive shaft retracting mechanism 53 also moves so as to rotate clockwise and returns to the initial state position shown in FIG. 4. Then, the contact portion 71b of the transmission mechanism 52 pushes back the inner end portion 8 of the second pinion gear 6 to the right as viewed from the front, that is, in the axial direction on the side of the second engagement mechanism 41. As a result, the drive shaft 3 that has been relocated by a predetermined distance from the predetermined position to the side of the first engagement mechanism 31 also returns to the predetermined position shown in FIGS. 4 and 6. Further, since the connection portion 65 of the frame body 64 of the electromagnetic switch 51 is connected to the transmission mechanism 52, the positions of the coil body 60 and the permanent magnet 63 return to the initial state positions shown in FIGS. 3 and 4 while being pulled by the transmission mechanism 52.

[0081] Next, a case where the switch sets 19a and 19b are turned on in addition to the switch sets 16a and 16b shown in FIGS. 5 and 1 will be described.

[0082] FIG. 11 is a schematic diagram showing the relationship between the coil body of the electromagnetic switch and the permanent magnet when the drive shaft of the drive device shown in FIG. 1 is displaced from a predetermined position by a predetermined distance toward the second engagement mechanism side. This is a figure corresponding to FIG. 7. (1) shows the polarities of the coil body and the permanent magnet and the direction of the magnetic field of the coil body in the energized state, and (2) is a diagram showing the direction of the magnetic field of the permanent magnet. Further, FIG. 12 is a diagram showing the state of the electromagnetic switch when the drive shaft of the drive device shown in FIG. 1 is displaced from a predetermined position by a predetermined distance toward the second engagement mechanism side. This is a figure corresponding to FIG. 3. (A) is a front view of the electromagnetic switch as viewed from the front side of the drive device, and (B) is a cross-sectional view taken along line S3 - S3 of the electromagnetic switch.

[0083] Referring to FIG. 11, since the coil of the coil body 60 of the electromagnetic switch 51 is wound in a right-handed manner as described above, when current is supplied so that the current flows in a right-handed direction from left to right in the figure as shown in FIG. 11(1), a magnetic field 67 is generated in the coil body 60. The direction of this magnetic field 67 is the direction indicated by the magnetic flux lines in FIG. 11(1). Since the magnetic pole of the permanent magnet 63 is the N pole closer to the center position of the coil body 60 and the opposite is the S pole, the magnetic flux lines of the magnetic field 68 of the permanent magnet 63 are in the state as shown in FIG. 11(2). Then, the magnetic field 67 generated in the coil body 60 and the magnetic field 68 of the permanent magnet 63 are in opposite directions, and a repulsive force is generated between them.

[0084] Then, referring also to FIG. 12, at this time, since the coil body 60 is fixed, the permanent magnet 63 and the frame body 64 move in the direction of repelling the coil body 60 as shown in FIG. 8(A). As a result, the connection portion 65 of the electromagnetic switch 51 is displaced from the center position L of the coil body 60 as shown in FIG. 12(B).

[0085] In other words, in the energized state at the predetermined position, when the pole generated on one side of the coil body 60 (the side of one end portion 78 of the coil body 60) has the same polarity as the pole on one side of the permanent magnet 63 (the side of the N - pole end portion 76 of the permanent magnet 63), the permanent magnet 63 moves in the direction of repelling the coil body 60.

[0086] FIG. 13 is a view showing the relationship of the transmission mechanism, the drive shaft retracting mechanism, and the drive shaft as seen from the front in the state of the electromagnetic switch shown in FIG. 12, and is a view corresponding to FIG. 4. FIG. 14 is a perspective view showing the relationship between the drive shaft and the first engagement mechanism and the second engagement mechanism in the state of the electromagnetic switch shown in FIG. 12, and is a view corresponding to FIG. 6.

[0087] In addition to FIGS. 11 and 12, referring also to FIG. 13, the frame 64 of the electromagnetic switch 51 that has been moved as described above has moved rightward as seen from the front, and the transmission mechanism 52 connected to the connection portion 65 with the frame 64 also tries to move rightward. Then, since this transmission mechanism 52 is connected to the drive shaft retracting mechanism 53 at its lower part, the drive shaft retracting mechanism 53 rotates clockwise as seen from the front about the rotation shaft 83.

[0088] By this clockwise rotation, the contact portion 71b of the transmission mechanism 52 pushes the inner end portion 8 of the second pinion gear 6 of the drive shaft 3 rightward as seen from the front, that is, in the axial direction toward the second engagement mechanism 41 side. As a result, the drive shaft 3 is moved a predetermined distance from the predetermined position shown in FIG. 4 to the position shown in FIG. 13.

[0089] Also, similarly, in the drive shaft retracting mechanism 53, the pair of wing portions 81a, 81b rotate clockwise about the rotation shaft 83, and the wing portion 81a on the first engagement mechanism 31 side lifts the weight 82a located on the first engagement mechanism 31 side from the first position H1 to the second position H2 above the first position H1. At that time, the weight 82b located on the second engagement mechanism 41 side remains in the first position H1 by the support portion 84b, and only the wing portion 81b on the second engagement mechanism 41 side moves downward counterclockwise.

[0090] Furthermore, referring also to FIG. 14, in this state, the drive shaft 3 has the drive pinion gear 4 engaged with the teeth on the first engagement mechanism 31 side of the drive crown gear 13, the first pinion gear 5 engaged with the teeth inside (on the drive crown gear 13 side) of the first crown gear 32 of the first engagement mechanism 31, and the second pinion gear 6 engaged with the teeth outside (on the opposite side of the drive crown gear 13) of the second crown gear 42 of the second engagement mechanism 41.

[0091] In this state, the spur gear 12 for the driving crown gear is rotated in the direction of arrow A1 by a driving motor (not shown). Then, accordingly, the driving crown gear 13 is also rotated in the direction of arrow A1. Next, the driving shaft 3 is rotated in the direction of arrow A2 by receiving the rotation of the driving crown gear 13 via the driving pinion gear 4.

[0092] Then, on the side of the first pinion gear 5, the first pinion gear 5 is rotated in the direction of arrow A2, which is the same as the rotation direction of the driving shaft 3, and the first crown gear 32 is rotated in the direction of arrow A3. Then, the first pinion gear 33 for the crown gear is also rotated in the direction of arrow A3, and the first intermediate crown gear 34 is rotated in the direction of arrow A4. Then, the first pinion gear 35 for the intermediate crown gear is also rotated in the direction of arrow A4, and the spur gear 25 for the first rotating shaft is rotated in the direction of arrow A5. Receiving this, the first rotating shaft 21 and the first wheel 23 are rotated in the direction of arrow A5.

[0093] Also, on the side of the second pinion gear 6, the second pinion gear 6 is also rotated in the direction of arrow A2, which is the same as the rotation direction of the driving shaft 3, and the second crown gear 42 is rotated in the direction of arrow B'3. Then, the second pinion gear 43 for the crown gear is also rotated in the direction of arrow B'3, and the second intermediate crown gear 44 is rotated in the direction of arrow B'4. Then, the second pinion gear 45 for the intermediate crown gear is also rotated in the direction of arrow B'4, and the spur gear 26 for the second rotating shaft is rotated in the direction of arrow B'5. Receiving this, the second rotating shaft 22 and the second wheel 24 are rotated in the direction of arrow B'5.

[0094] In this way, it is possible to switch the rotation direction of the second rotating shaft 22 while maintaining the rotation direction of the first rotating shaft 21 with a single driving shaft 3.

[0095] Therefore, the drive device 1 will rotate counterclockwise.

[0096] Next, a case will be described where, starting from the state shown in FIG. 13, the switch sets 19a and 19b shown in FIG. 5 are turned off again.

[0097] When the switch sets 19a and 19b shown in FIG. 5 are turned off again, based on the same principle as when the switch sets 18a and 18b are turned off again, the force that moves the permanent magnet 63 of the electromagnetic switch 51 in the direction of repelling the coil body 60 disappears. Along with this, the weight of the weight 82a lifted to the second position H2 by the wing portion 81a of the drive shaft retracting mechanism 53 causes the weight 82a to descend to the first position H1. Also, the pair of wing portions 81a and 81b rotate clockwise about the rotation shaft 83 in accordance with the descent of the weight 82a and return to the initial state position shown in FIG. 4. Further, the transmission mechanism 52 connected to the drive shaft retracting mechanism 53 also moves so as to rotate in the clockwise direction and returns to the initial state position shown in FIG. 4. Then, the contact portion 71a of the transmission mechanism 52 pushes back the inner end portion 7 of the first pinion gear 5 in the left direction when viewed from the front, that is, in the axial direction toward the first engagement mechanism 31 side. As a result, the drive shaft 3 that has been relocated by a predetermined distance from the predetermined position to the second engagement mechanism 41 side also returns to the predetermined position shown in FIGS. 4 and 6. Further, since the connection portion 65 of the frame body 64 of the electromagnetic switch 51 is connected to the transmission mechanism 52, the position of the coil body 60 and the permanent magnet 63 returns to the initial state position shown in FIGS. 3 and 4 while being pulled by the transmission mechanism 52.

[0098] In addition, since the pair of wing portions 81a and 81b lift the pair of weights 82a and 82b in this way, the lateral length of the pair of wing portions 81a and 81b and the weights of the pair of weights 82a and 82b may be set so that the pair of weights 82a and 82b can be reliably lifted from the first position H1 to the second position H2 shown in FIG. 4 in consideration of the size of the drive device 1.

[0099] Next, a case will be described where the switch sets 17a and 17b shown in FIGS. 5 and 1 are in the on state, and the switch sets 18a and 18b and the switch sets 19a and 19b are in the off state.

[0100] Referring back to FIGS. 3 and 4, the positions of the electromagnetic switch 51, the transmission mechanism 52, and the drive shaft retracting mechanism 53 in this state are the same as those when only the switch sets 16a and 16b are in the on state, so the description here is omitted.

[0101] Referring back to FIG. 6, the position of the drive shaft 3 in this state is also the same as that when only the switch sets 16a and 16b are in the on state, so the description here is omitted. When the switch sets 17a and 17b are in the on state, the drive motor rotates in the opposite direction to the case when the switch sets 16a and 16b are in the on state. Then, the series of movements from the drive spur gear 12 to the first rotating shaft 21 and the second rotating shaft 22 are all opposite to those described in the case when the switch sets 16a and 16b are in the on state.

[0102] Therefore, the driving device 1 will move straight backward.

[0103] Next, in addition to turning on the switch sets 17a and 17b shown in FIGS. 5 and 1, the case of turning on the switch sets 18a and 18b will be described.

[0104] Referring back to FIGS. 7 to 9, the positions of the electromagnetic switch 51, the transmission mechanism 52, and the drive shaft retracting mechanism 53 in this state are the same as those when the switch sets 16a, 16b and the switch sets 17a, 17b are in the on state, so the description here is omitted.

[0105] Referring back to FIG. 10, the position of the drive shaft 3 in this state is also the same as that when the switch sets 16a, 16b and the switch sets 17a, 17b are in the on state, so the description here is omitted. When the switch sets 17a and 17b are in the on state, a drive motor (not shown) rotates in the opposite direction to the case when the switch sets 16a, 16b and the switch sets 18a, 18b are in the on state. Then, the series of movements from the drive spur gear 12 to the first rotating shaft 21 and the second rotating shaft 22 are all opposite to those described in the case when the switch sets 16a, 16b and the switch sets 18a, 18b are in the on state.

[0106] Therefore, the drive device 1 will rotate counterclockwise.

[0107] Also, when the switch sets 18a and 18b are turned off again from this state, the movements of the drive shaft retracting mechanism 53, the transmission mechanism 52, and the electromagnetic switch 51 are the same as those described when the switch sets 18a and 18b are turned off again, so the description here is omitted.

[0108] Next, in addition to turning on the switch sets 17a and 17b shown in FIGS. 5 and 1, the case where the switch sets 19a and 19b are turned on will be described.

[0109] Referring again to FIGS. 11 to 13, the positions of the electromagnetic switch 51, the transmission mechanism 52, and the drive shaft retracting mechanism 53 in this state are the same as those when the switch sets 16a and 16b and the switch sets 19a and 19b are on, so the description here is omitted.

[0110] Referring again to FIG. 14, the position of the drive shaft 3 in this state is also the same as that when the switch sets 16a and 16b and the switch sets 19a and 19b are on, so the description here is omitted. When the switch sets 17a and 17b are turned on, the drive motor (not shown) rotates in the opposite direction to the case when the switch sets 16a and 16b and the switch sets 19a and 19b are on. Then, the series of movements from the drive spur gear 12 to the first rotating shaft 21 and the second rotating shaft 22 are all opposite to those described when the switch sets 16a and 16b and the switch sets 19a and 19b are on.

[0111] Therefore, the drive device 1 will rotate clockwise.

[0112] Furthermore, when the switch sets 19a and 19b are turned off from this state, the movements of the drive shaft retracting mechanism 53, the transmission mechanism 52, and the electromagnetic switch 51 are the same as those described when the switch sets 19a and 19b are turned off, so the description here is omitted.

[0113] With these, the drive device 1 can change the direction of rotation of the first rotating shaft 21 while maintaining the direction of rotation of the second rotating shaft 22 with a single drive shaft 3 by changing the direction of the electric current flow, or can change the direction of rotation of the second rotating shaft 22 while maintaining the direction of rotation of the first rotating shaft 21. Thus, the drive device 1 can change the direction of rotation of the first rotating shaft and the second rotating shaft, so that the number of parts can be reduced, and the drive device 1 is cost - advantageous.

[0114] Also, depending on the positional relationship between the first pinion gear 5 and the first crown gear 32 and the positional relationship between the second pinion gear 6 and the second crown gear 42, the drive device 1 moves straight, turns right, and turns left. Therefore, the traveling direction of the drive device 1 can be controlled with a single drive shaft 3.

[0115] Furthermore, the electromagnetic switch 51 configured as described above can change the moving direction of the permanent magnet 63 by changing the direction of the electric current flow. Therefore, the drive device 1 (object) can be controlled by the movement of the permanent magnet 63. Also, since it functions as a switch only by switching the direction of the magnetic field of the coil body 60, it is a user - friendly switch.

[0116] Furthermore, due to the configuration of the electromagnetic switch 51 as described above, the relative moving direction between the coil body 60 and the permanent magnet 63 changes according to the direction of the electric current flow. Therefore, by simply changing the direction of the electric current flow, the drive shaft 3 can be displaced by a predetermined distance in either direction of the axial direction.

[0117] Furthermore, due to the configuration of the transmission mechanism 52 as described above, by directly pressing the first pinion gear 5 and the second pinion gear 6 at the contact portions 71a and 71b of the transmission mechanism 52, the drive shaft 3 can be relocated in the direction of pressing the first pinion gear 5 and the second pinion gear 6. Therefore, the number of parts can be reduced, which is cost-effective.

[0118] Furthermore, due to the configuration of the drive shaft retraction mechanism 53 as described above, before the rotation directions of the first rotating shaft 21 and the second rotating shaft 22 are switched, the drive shaft 3 returns to a predetermined position. Therefore, the switching accuracy of the rotation directions of the first rotating shaft 21 and the second rotating shaft 22 is improved. Also, by adjusting the weights of the pair of weights 82a and 82b and the lengths of the pair of wing portions 81a and 81b, the pair of weights 82a and 82b can be surely lifted. Therefore, the drive shaft 3 can be smoothly returned to the predetermined position.

[0119] Incidentally, the electromagnetic switch 51 applied to the drive device 1 of the above-described first embodiment is as follows from a different perspective. Referring again to FIG. 3, the electromagnetic switch 51 includes a magnetic force drive body 69 including a coil body 60, a permanent magnet 63, and a frame body 64. The coil body 60 has a cylindrical shape and at least a conducting wire 62 (coil) is wound around the outer surface of the side wall in the axial direction. The permanent magnet 63 of the magnetic force drive body 69 has a bar shape with magnetic poles at both ends thereof and is slidably disposed inside the coil body 60 in the axial direction of the coil body 60.

[0120] Regarding the positional relationship between the coil body 60 and the magnetic force drive body 69, in addition to FIG. 3, referring again to FIGS. 7 and 8 together, from the positional relationship (second positional relationship) before energization which is the initial state shown in FIG. 3, when the coil is energized in a right-handed (one-way) direction from the right to the left in the figure with respect to the coil, as shown in FIG. 8, the magnetic force drive body 69 slides so that the coil body 60 and the magnetic force drive body 69 have a positional relationship (first positional relationship). Conversely, based on the first positional state after energization, before energization, the coil body 60 and the magnetic force drive body 69 are arranged at a second position different from the first positional relationship.

[0121] By doing so, when the coil is energized, the coil body 60 and the magnetic force drive body 69 tend to return to the first positional relationship. Therefore, by changing the positional relationship between the coil body 60 and the magnetic force drive body 69, the drive device 1 (object) can be controlled.

[0122] In addition to FIGS. 3 and 8, referring to FIGS. 11 and 12 again, in the state of the second positional relationship, when the coil is energized in the right-handed (the other direction) from left to right in the figure as described with reference to FIG. 11, the magnetic force drive body 69 slides so that the coil body 60 and the magnetic force drive body 69 have a positional relationship (the third positional relationship) different from the first positional relationship shown in FIG. 12 from the second positional relationship.

[0123] By doing so, since the positional relationship between the coil body 60 and the magnetic force drive body 69 can be further changed only by changing the energization direction, it becomes a convenient switch.

[0124] Furthermore, when viewed from a different perspective, the transmission mechanism 52 and the drive shaft retracting mechanism 53 connected to the electromagnetic switch 51 in the first embodiment described above also function as a return means for returning the positional relationship between the coil body 60 and the magnetic force drive body 69 from the first positional relationship or the third positional relationship to the second positional relationship when the energization of the coil is terminated.

[0125] By doing so, since the coil body 60 and the magnetic force drive body 69 can be energized again from the state in the second positional relationship, the operating state of the electromagnetic switch becomes stable.

[0126] FIG. 15 is a perspective view showing the external shape of the soccer robot according to the second embodiment of the present invention as viewed from the front, and FIG. 16 is a perspective view showing the external shape of the soccer robot shown in FIG. 15 as viewed from the rear excluding the main body base. Note that FIG. 16 is shown excluding the main body base for convenience of explanation.

[0127] Referring to these figures, the soccer robot 101 includes a first drive shaft 103 and a second drive shaft 104 that are rod-shaped and rotatable about an axis. The second drive shaft 104 is disposed at a distance from each other on the axial extension line of the first drive shaft 103. Around the axis of the first drive shaft 103, a first wheel 105 and a spur gear 107 for the first drive shaft are provided. Around the axis of the second drive shaft 104, a second wheel 106 and a spur gear 108 for the second drive shaft are provided so as to have a symmetric structure with respect to the first drive shaft 103 side.

[0128] Further, the soccer robot 101 includes a first drive motor 115 that engages with the first drive shaft 103 and rotates the first drive shaft 103 in a predetermined direction, and a second drive motor 116 that engages with the second drive shaft 104 and rotates the second drive shaft 104 in a predetermined direction. Specifically, a first worm gear 113 is attached to the lower part of the first drive motor 115, and the first worm gear 113 engages with the teeth on the rear side of a first intermediate spur gear 111 having an axis parallel to the axial direction of the first drive shaft 103. Further, a first pinion gear 109 for the first intermediate spur gear is provided around the axis of the first intermediate spur gear 111, and the first pinion gear 109 for the first intermediate spur gear engages with the teeth on the rear side of the spur gear 107 for the first drive shaft. Thereby, the rotation of the first drive motor 115 can be transmitted to the first drive shaft 103.

[0129] The second drive motor 116 side has a symmetric structure with respect to the first drive motor 115 side. The second worm gear 114 attached to the lower part of the second drive motor 116 engages with the teeth on the rear side of a second intermediate spur gear 112 having an axis parallel to the axial direction of the second drive shaft 104, and a second pinion gear 110 for the second intermediate spur gear provided around the axis of the second intermediate spur gear 112 engages with the teeth on the rear side of the spur gear 108 for the second drive shaft. Thereby, the rotation of the second drive motor 116 can be transmitted to the second drive shaft 104.

[0130] The specific movements of each gear, gear, etc. for transmitting the driving force from the first driving motor 115 to the first driving shaft 103 and from the second driving motor 116 to the second driving shaft 104 will be described later.

[0131] Furthermore, the soccer robot 101 includes a bending and stretching device 120 that functions as a kick arm disposed between the first driving shaft 103 and the second driving shaft 104. The bending and stretching device 120 has a configuration basically the same as that described in the first embodiment, and includes an electromagnetic switch 121 and an arm mechanism 122 that engages with the electromagnetic switch 121 and performs a bending and stretching movement in the front-rear direction. The specific configuration and operation of this bending and stretching device 120 will be described later.

[0132] Each member and mechanism such as the above-described first driving shaft 103 and bending and stretching device 120 is housed in a main body base 102 formed in a predetermined shape using a resin or the like as a material.

[0133] FIG. 17 is a circuit diagram showing the electrical connection of the internal mechanism of the soccer robot shown in FIG. 15.

[0134] Referring to this figure, the soccer robot 101 supplies electricity to each of the first driving motor 115, the second driving motor 116, and the electromagnetic switch 121 via a conducting wire from a power source 123 such as a dry battery.

[0135] In the circuit on the side of the first driving motor 115, switch sets 126a, 126b and switch sets 127a, 127b that can switch between an energized on state and an off state are provided. Each of the switch sets 126a, 126b and the switch sets 127a, 127b operates integrally, and the switch sets 126a, 126b and the switch sets 127a, 127b are not energized simultaneously.

[0136] Further, in the circuit on the side of the second drive motor 116, switch sets 128a, 128b and switch sets 129a, 129b capable of switching between an energized on state and an off state are provided. Each of the switch sets 128a, 128b and the switch sets 129a, 129b operates integrally, and the switch sets 128a, 128b and the switch sets 129a, 129b are not energized simultaneously.

[0137] Furthermore, a switch 125 capable of switching between an energized on state and an off state is provided in the circuit on the side of the electromagnetic switch 121 of the bending and stretching device 120. The switch 125 operates independently of each of the switch sets 126a, 126b to 129a, 129b.

[0138] Based on these, the operations related to the first drive shaft 103 and the second drive shaft 104 corresponding to the on state of each of the switch sets 126a, 126b to 129a, 129b will be described. Note that the direction in which the first drive shaft 103 (first wheel 105) and the second drive shaft 104 (second wheel 106) rotate when the switch sets 126a, 126b and 128a, 128b are in the on state is defined as the forward rotation, and the direction in which the soccer robot 101 advances is defined as the front.

[0139] First, the operation on the side of the first drive shaft 103 when only the switch sets 126a, 126b are in the on state will be described. Referring again to FIGS. 15 to 17, as described above, the first drive motor 115 is engaged with the first drive shaft 103 via the first intermediate spur gear 111, the first intermediate spur gear pinion gear 109, and the first drive shaft spur gear 107. In this state, the first intermediate spur gear 111 rotates in the direction of arrow C1 by the first drive motor 115. Then, accordingly, the first intermediate spur gear pinion gear 109 rotates in the direction of arrow C1. Next, the rotation of the first intermediate spur gear pinion gear 109 is received via the first drive shaft spur gear 107, and the first drive shaft 103 and the first wheel 105 rotate in the direction of arrow C2 (forward rotation).

[0140] Next, the operation on the side of the first drive shaft 103 when only the switch sets 127a and 127b are turned on will be described. In this state, the first intermediate spur gear 111 rotates in the direction of arrow C2 by the first drive motor 115. Then, accordingly, the first intermediate spur gear pinion 109 rotates in the direction of arrow C2. Next, the rotation of the first intermediate spur gear pinion 109 is received via the first drive shaft spur gear 107, and the first drive shaft 103 and the first wheel 105 rotate (reverse) in the direction of arrow C1.

[0141] Furthermore, the operation on the side of the second drive shaft 104 when only the switch sets 128a and 128b are turned on will be described. As described above, the second drive motor 116 is engaged with the second drive shaft 104 via the second intermediate spur gear 112, the second intermediate spur gear pinion 110, and the second drive shaft spur gear 108. In this state, the second intermediate spur gear 112 rotates in the direction of arrow D1 by the second drive motor 116. Then, accordingly, the second intermediate spur gear pinion 110 rotates in the direction of arrow D1. Next, the rotation of the second intermediate spur gear pinion 110 is received via the second drive shaft spur gear 108, and the second drive shaft 104 and the second wheel 106 rotate (rotate forward) in the direction of arrow D2.

[0142] Furthermore, the operation on the side of the second drive shaft 104 when only the switch sets 129a and 129b are turned on will be described. In this state, the second intermediate spur gear 112 rotates in the direction of arrow D2 by the second drive motor 116. Then, accordingly, the second intermediate spur gear pinion 110 rotates in the direction of arrow D2. Next, the rotation of the second intermediate spur gear pinion 110 is received via the second drive shaft spur gear 108, and the second drive shaft 104 and the second wheel 106 rotate (reverse) in the direction of arrow D1.

[0143] Due to the relationship between the rotational directions of each of the switch sets 126a, 126b to 129a, 129b and the first drive shaft 103 and the second drive shaft 104 as described above, the running states of the soccer robot 101 when combining the on - state and off - state of each of the switch sets 126a, 126b to 129a, 129b are as shown in Table 2 below.

[0144]

Table 2

[0145] Furthermore, when the switch sets 126a, 126b and the switch sets 129a, 129b are in the on - state, the first wheel 105 rotates forward while the second wheel 106 rotates backward, so the soccer robot 101 turns left. Furthermore, when the switch sets 127a, 127b and the switch sets 128a, 128b are in the on - state, the first wheel 105 rotates backward while the second wheel 106 rotates forward, so the soccer robot 101 turns right.

[0146] Furthermore, when only the switch sets 126a and 126b are turned on, the first wheel 105 rotates forward while the second wheel 106 stops, so the soccer robot 101 turns left forward. When only the switch sets 127a and 127b are turned on, the first wheel 105 rotates backward while the second wheel 106 stops, so the soccer robot turns left backward. Furthermore, when only the switch sets 128a and 128b are turned on, the first wheel 105 stops while the second wheel 106 rotates forward, so the soccer robot 101 turns right forward. When only the switch sets 129a and 129b are turned on, the first wheel 105 stops while the second wheel 106 rotates backward, so the soccer robot 101 turns right backward.

[0147] Next, the configuration of the bending and stretching device 120 of the soccer robot 101 will be described.

[0148] FIG. 18 is a perspective view showing the bending and stretching device of the soccer robot shown in FIG. 15, and FIG. 19 is a partial cross-sectional view of the XIX-XIX line of the bending and stretching device shown in FIG. 18.

[0149] Referring to FIGS. 18 and 19 in addition to FIG. 15, as described above, the bending and stretching device 120 includes an electromagnetic switch 121 and an arm mechanism 122 engaged with the electromagnetic switch 121. Since the configuration of the electromagnetic switch 121 basically has the same configuration as the electromagnetic switch 51 of the first embodiment, only the differences will be described here.

[0150] In the bending and stretching device 120, the coil body 130 of the electromagnetic switch 121 is fixedly attached to the main body base 102 of the soccer robot 101 such that the magnetic poles of the permanent magnet 133 are in the vertical direction. At this time, the permanent magnet 133 of the electromagnetic switch 121 is sandwiched by the frame body 134 in a state where the N - pole side faces the center position side of the coil body 130 as in the first embodiment, and the center position of the permanent magnet comes to a predetermined position L2 which is separated from the center line L of the two - dotted line indicating the center position of the coil body 130 by a predetermined distance toward one end 138 side (one side of the coil body 130) of the coil body 130. Also, the N - pole side end 136 of the permanent magnet 133 is arranged at a position overlapping with one end 138 of the coil body 130, and the permanent magnet 133 together with the frame body 134 is slidable in the vertical direction (axial direction of the coil body 130) inside the coil body 130.

[0151] Also, in the electromagnetic switch 121 in this embodiment, the conducting wire of the coil body 130 is wound in a right - hand spiral, and when energized in the state shown in FIG. 19, a current is designed to flow in a right - hand spiral from bottom to top in the coil body 130.

[0152] When the electromagnetic switch 121 is energized, the permanent magnet 133 moves inside the coil body 130 and functions as a switch. Depending on the positional relationship between the coil body 130 and the moved permanent magnet 133, the bending and stretching operation of the arm mechanism 122 is performed. The specific operation of this electromagnetic switch 121 and the accompanying effects will be described later.

[0153] The arm mechanism 122 of the bending and stretching device 120 includes a first rotating part 141 that is rotatable around an axis with a pair of first rotating shafts 144a and 144b whose axial directions are arranged in a direction orthogonal to the moving direction of the permanent magnet 133 of the electromagnetic switch 121, and a second rotating part 142 that is rotatable around an axis with a second rotating shaft 148 whose axial direction is arranged in parallel with the first rotating shafts 144a and 144b and is connected to the first rotating part 141.

[0154] Specifically, the first rotating part 141 is formed in a substantially U shape in plan view, and a pair of first connecting parts 143a and 143b provided on the open-side end part side thereof are connected to a pair of first protrusions 135a and 135b provided at the lower part of the frame body 134 of the electromagnetic switch 121. Further, a pair of second connecting parts 146a and 146b are provided at the closing part 145 of the first rotating part 141, and are connected to a pair of second protrusions 147a and 147b provided on one end part side of the second rotating part 142. A kick part 149 is provided on the other end part side of the second rotating part 142.

[0155] The first rotating shafts 144a and 144b of the first rotating part 141 are located around the middle between the first connecting parts 143a and 143b and the second connecting parts 146a and 146b, and are supported by the first shaft support part 117 of the main body base 102 as shown in FIG. 15. Further, the second rotating shaft 148 of the second rotating part 142 is located around the middle between the second protrusions 147a and 147b and the kick part 149, and is supported by the second shaft support part 118 of the main body base 102 as shown in FIG. 15. The effects of such a configuration will be described later.

[0156] Still, taking the state of the bending and stretching device 120 shown in FIG. 18 as the initial state, the first rotating part 141 is in a state of being inclined upward toward the front, and the second rotating part 142 is in a state of being inclined downward toward the front.

[0157] The arm mechanism 122 configured in this way, although specifically described later, in cooperation with the vertical movement of the permanent magnet 133 of the electromagnetic switch 121 and the frame body 134, the first rotating part 141 performs a rotating motion around the first rotating shafts 144a and 144b, and the second rotating part 142 performs a rotating motion opposite to that of the first rotating part around the second rotating shaft 148 in cooperation with the rotating motion of the first rotating part 141.

[0158] Next, with the switch 125 shown in FIG. 17 turned on and the bending and stretching device 120 energized, the specific movements of the electromagnetic switch 121 and the arm mechanism 122 will be described.

[0159] FIG. 20 is a side view showing an intermediate state of the bending and stretching device shown in FIG. 18 from the bending and stretching state to the stretching state, and FIG. 21 is a side view showing the stretching state of the bending and stretching device shown in FIG. 18.

[0160] Referring to these figures, when the bending and stretching device 120 is energized, a magnetic field is generated in the coil body 130 of the electromagnetic switch 121. Since the current flowing through the coil body 130 at that time flows in the direction shown in FIG. 19 as described above, an N pole is generated on the upper side and an S pole is generated on the lower side of the coil body 130 as shown in FIG. 19. Then, since the magnetic pole of the permanent magnet 133 has an N pole on the center position side of the coil body 130, similar to the electromagnetic switch 51 described based on FIG. 7 in the first embodiment, the direction of the magnetic field generated in the coil body 130 and the direction of the magnetic field of the permanent magnet 133 are the same, and a force that attracts each other is generated.

[0161] Referring also to FIG. 20, at this time, since the coil body 130 is fixed to the main body base 102, the permanent magnet 133 and the frame body 134 move in the direction of attracting the coil body 130 (the upward arrow T1 direction in FIG. 20). Then, the first protrusion 135b also moves upward. Along with this, the side of the first connecting portion 143b of the first rotating portion 141 of the arm mechanism 122 is pulled upward, so that the first rotating portion 141 rotates in the direction of arrow R1, which is one direction around the axis, with the first rotating shaft 144b as the axis. Then, the second protrusion 147b of the second rotating portion 142 moves so as to be pushed downward by receiving the rotational movement of the second connecting portion 146b of the first rotating portion 141. Note that the portions not shown in the figure, such as the first connecting portion 143a of the first rotating portion 141, move in the same manner as the target portion. Along with this, the second rotating portion 142 rotates in the direction of arrow R'2, which is the other direction around the axis, with its second rotating shaft 148 as the axis. As a result, as shown in FIG. 20, the arm portion extends forward.

[0162] Referring also to FIG. 21, when the permanent magnet 133 and the frame 134 of the electromagnetic switch 121 move in the direction of arrow T1, the first rotating part 141 further rotates in the direction of arrow R1 about the first rotating shaft 144b, and the second rotating part 142 further rotates in the direction of arrow R'2 about the second rotating shaft 148. As a result, as shown in FIG. 21, the first rotating part 141 is inclined downward toward the front, and the second rotating part 142 is inclined upward toward the front. By this operation, when a ball (not shown) is placed in front of the kicking part 149 of the second rotating part 142, the ball can be pushed forward.

[0163] When the switch 125 of the bending and stretching device 120 shown in FIG. 17 is turned off again from this state, no current flows through the electromagnetic switch 121. Then, the magnetic field generated in the coil body 130 disappears. Accordingly, the force that moves the permanent magnet 133 of the electromagnetic switch 121 in the direction of attracting the coil body 130 disappears. Then, the permanent magnet 133 and the frame 134 lifted above the electromagnetic switch 121 move in the downward direction of arrow T2 due to their own weights.

[0164] Then, the first protrusion 135b also moves downward. Along with this, the side of the first connecting part 143b of the first rotating part 141 of the arm mechanism 122 is pulled downward, so that the first rotating part 141 rotates in the direction of arrow R'1, which is the other direction around the axis, about the first rotating shaft 144b. Then, the protrusion 147b of the second rotating part moves upward so as to be pulled up by the rotational movement of the second connecting part 146b of the first rotating part 141. Note that portions not shown in the figure, such as the first connecting part 143a of the first rotating part 141, move in the same manner as the target portions. Along with this, the second rotating part 142 rotates in the direction of arrow R2, which is one direction around the axis, about the second rotating shaft 148. As a result, the bending and stretching device 120 returns to the position in the initial state shown in FIG. 18.

[0165] By doing so, the bending and stretching device 120 only switches between the energized state and the non-energized state, and the arm mechanism 122 performs the bending and stretching movement, so that the movement of the bending and stretching device 120 can be easily controlled.

[0166] Further, the soccer robot 101 can independently move the first wheel 105, the second wheel 106, and the bending device 120 by switching the on and off states of the switches 125, switch sets 126a, 126b to 129a, 129b shown in FIG. 5. Therefore, while traveling in a predetermined direction, it is possible to bounce a ball (not shown) with the bending device, resulting in a soccer robot 101 with good operability.

[0167] Furthermore, the electromagnetic switch 121 configured as described above can change the moving direction of the permanent magnet 133 by changing the direction of the current flow. Therefore, the bending device 120 (object) of the soccer robot 101 can be controlled by the movement of the permanent magnet 133.

[0168] Incidentally, the electromagnetic switch 121 applied to the bending device 120 of the soccer robot 101 of the above-described second embodiment is as follows from a different perspective. Referring again to FIG. 19, the electromagnetic switch 121 includes a magnetic force drive body 139 including a coil body 130, a permanent magnet 133, and a frame body 134. The coil body 130 has a cylindrical shape and at least a conducting wire 132 (coil) is wound around the outer surface of the side wall in the axial direction. The permanent magnet 133 of the magnetic force drive body 139 has a bar shape with magnetic poles at both ends thereof, and is arranged slidably inside the coil body 130 with respect to the axial direction of the coil body 130.

[0169] Regarding the positional relationship between the coil body 130 and the magnetic drive body 139, referring back to FIGS. 19 and 21, from the positional relationship (the second positional relationship) before energization in the initial state shown in FIG. 19, when the coil is energized in a right-handed (one-way) direction from the bottom to the top of the figure with respect to the coil as described based on FIG. 19, the magnetic drive body 139 slides so that the coil body 130 and the magnetic drive body 139 have the positional relationship (the first positional relationship) as shown in FIG. 21. Conversely, if we take the first positional state after energization as a reference, the coil body 130 and the magnetic drive body 139 before energization are arranged at a second position different from the first positional relationship.

[0170] By doing so, due to the energization of the coil, the coil body 130 and the magnetic drive body 139 tend to return to the first positional relationship. Therefore, by the change in the positional relationship between the coil body 130 and the magnetic drive body 139, the control of the bending device 120 (object) of the soccer robot 101 becomes possible.

[0171] Furthermore, the electromagnetic switch 121 in the above-described second embodiment further includes a return means for returning the positional relationship between the coil body 130 and the magnetic drive body 139 in the first positional state to the second positional relationship when the energization of the coil ends, by the permanent magnet 133 and the frame body 134 moving downward due to their own weight.

[0172] By doing so, since the coil body 130 and the magnetic drive body 139 can be energized again from the state in the second positional relationship, the operating state of the electromagnetic switch becomes stable.

[0173] In addition, in each of the above embodiments, the electromagnetic switch changes the direction of the magnetic field generated in the coil body by changing the direction of the current flow. However, it is not limited to this, and the winding direction of the coil may be reversed. By doing so, since the moving direction of the permanent magnet can be changed by changing the winding direction of the coil, the control of the object becomes possible due to the movement of the permanent magnet.

[0174] Moreover, in each of the above embodiments, the electromagnetic switch was configured such that the permanent magnet moves in a specific direction. However, the present invention is not limited to this, and the coil body may be configured to move instead. By doing so, the direction of movement of the coil body can be changed by changing the direction of the current flow or the winding direction of the coil, enabling control of the object by the movement of the coil body. Furthermore, both the coil body and the permanent magnet may be configured to move. Thus, regarding the electromagnetic switch described from a different perspective, although the magnetic force driver was configured to slide, the coil body may be configured to slide, or both the coil body and the magnetic force driver may be configured to slide.

[0175] Furthermore, in each of the above embodiments, the permanent magnet of the electromagnetic switch was configured such that the N - pole side comes to the center position side of the coil body. However, the present invention is not limited to this, and the S - pole side may be arranged to come to the center position side of the coil body. In that case, the moving direction of the permanent magnet when in the energized state will be reversed.

[0176] Furthermore, in each of the above embodiments, the permanent magnet of the electromagnetic switch was arranged at a position separated by a predetermined distance from one side of the coil body. However, the present invention is not limited to this, and it may be arranged such that a position separated by a predetermined distance from the other side of the coil body is the predetermined position. In that case, the moving direction of the permanent magnet is determined according to the direction of the magnetic field generated in the coil body and the direction of the magnetic field of the permanent magnet.

[0177] Furthermore, in each of the above embodiments, regarding the positional relationship between the coil body of the electromagnetic switch and the permanent magnet, it is described that at least the central position of the permanent magnet is separated from the central position of the coil body, and the end portion on the side disposed on the central position side of the coil body is disposed within a range not exceeding one end portion of the coil body as a desirable configuration. However, the present invention is not limited to this, and as long as the coil body and the permanent magnet can move relatively by energization, they may be arranged beyond the above-described desirable configuration. Also, from a different perspective, regarding the second positional relationship between the coil body of the electromagnetic switch and the magnetic force driving body described above, the central position of the permanent magnet of the magnetic force driving body does not necessarily have to be separated from the central position of the coil body, and as long as it is at least different from the first positional relationship or the third positional relationship.

[0178] Furthermore, in each of the above embodiments, the coil body of the electromagnetic switch had a cylindrical shape. However, as long as it has a cylindrical shape, it may be formed of other shapes such as a polygonal cylindrical shape.

[0179] Furthermore, in each of the above embodiments, the cylindrical body of the coil body of the electromagnetic switch was made of plastic. However, the present invention is not limited to this, and as long as it is a material that is not magnetized by the permanent magnet, it may be made of other materials.

[0180] Furthermore, in each of the above embodiments, the electromagnetic switch had a frame body. However, as long as it functions as a switch, the frame body may not be provided. Accordingly, regarding the magnetic force driving body of the electromagnetic switch described from a different perspective, as long as it includes at least a permanent magnet, the frame body may not be provided.

[0181] Furthermore, in each of the above embodiments, the electromagnetic switch was applied to a driving device or a soccer robot (flexion and extension device). However, the present invention is not limited to this, and it may be applied to other devices or robots.

[0182] Furthermore, in each of the above embodiments, a neodymium magnet was used as the permanent magnet of the electromagnetic switch. However, other permanent magnets such as alnico magnets can be applied.

[0183] Furthermore, in each of the above embodiments, the permanent magnet of the electromagnetic switch had a cylindrical rod shape, but as long as it has a rod shape, it may be formed in other shapes such as a prismatic shape.

[0184] Furthermore, although not described in each of the above embodiments, any material such as resin or metal can be adopted for the material of the frame of the electromagnetic switch.

[0185] Furthermore, although not described in each of the above embodiments, the driving device and the soccer robot of each embodiment may be covered with a housing.

[0186] Furthermore, in each of the above embodiments, each of the first rotating shaft and the second rotating shaft of the driving device or each of the first driving shaft and the second driving shaft of the soccer robot was configured such that each of the first wheel and the second wheel was attached thereto, but the present invention is not limited thereto. As long as the driving device or the soccer robot is caused to travel by the rotation of each of the first rotating shaft and the second rotating shaft or each of the first driving shaft and the second driving shaft, it may be by other members.

[0187] Furthermore, in the first embodiment described above, the electromagnetic switch was arranged such that the magnetic poles of the permanent magnet were in the horizontal direction, but as long as it indicates the switching of the rotation direction of the first rotating shaft and the second rotating shaft, it may be arranged such that the magnetic poles of the permanent magnet are in other directions.

[0188] Furthermore, in the first embodiment described above, each of the first engagement mechanism and the second engagement mechanism was composed of a specific number of gears, but the present invention is not limited thereto and can be appropriately increased or decreased.

[0189] Furthermore, in the first embodiment described above, the drive shaft was transferred from a predetermined position to a predetermined distance in either direction in the axial direction via a transmission mechanism, but the present invention is not limited thereto, and the transmission mechanism may not be provided as long as the drive shaft can be transferred.

[0190] Furthermore, in the above-described first embodiment, the transmission mechanism had a specific shape, but any other shape may be used as long as the drive shaft can be relocated in the axial direction.

[0191] Furthermore, in the above-described first embodiment, the transmission mechanism was configured to press the inner ends of each of the first pinion gear and the second pinion gear of the drive shaft by the contact portion, but the present invention is not limited to this. Any other configuration may be used as long as the drive shaft can be relocated in the axial direction. For example, it may be configured to press the outer ends of each of the first pinion gear and the second pinion gear, or it may be configured to press the axial ends of the drive shaft.

[0192] Furthermore, in the above-described first embodiment, the transmission mechanism was configured to directly press the inner ends of each of the first pinion gear and the second pinion gear of the drive shaft by the contact portion, but the present invention is not limited to this. As long as the drive shaft can be relocated in the axial direction, for example, it may be configured to indirectly press by interposing other members between the contact portion of the transmission mechanism and each of the first pinion gear and the second pinion gear.

[0193] Furthermore, in the above-described first embodiment, the configuration included a drive shaft retracting mechanism, but the present invention is not limited to this. As long as the drive shaft can surely return to a predetermined position when the electromagnetic switch is turned off, the drive shaft retracting mechanism may not be provided.

[0194] Furthermore, in the above-described first embodiment, the drive shaft retracting mechanism used the raising and lowering of a weight to return the drive shaft to a predetermined position, but the present invention is not limited to this. For example, a mechanism using the expansion and contraction of a spring may be used.

[0195] Furthermore, in the above-described first embodiment, the weight was rod-shaped, but the present invention is not limited to this, and any other shape may be used.

[0196] Furthermore, although not described in the above-described first embodiment, as long as the weight has a weight that can return to the initial state position by its own weight, various materials such as iron and lead can be used.

[0197] Furthermore, in the above-described second embodiment, the electromagnetic switch was arranged such that the magnetic poles of the permanent magnet were in the vertical direction. However, as long as it controls the movement of the bending and stretching device, it may be arranged such that the magnetic poles of the permanent magnet are in other directions.

[0198] Furthermore, in the above-described second embodiment, the permanent magnet of the electromagnetic switch moved upward. However, it is not limited to this, and it may move downward. In that case, the first rotating part and the second rotating part of the arm mechanism rotate in directions opposite to those in the second embodiment, respectively. Correspondingly, regarding the positional relationship between the coil body and the magnetic force driving body of the electromagnetic switch described from a different perspective, although it slid from the second positional relationship to the first positional relationship upward, it may slide from the second positional relationship to the third positional relationship downward.

[0199] Furthermore, the return means of the electromagnetic switch described from a different perspective in each of the above embodiments had a specific configuration. However, as long as the coil body and the magnetic force driving body return to the second positional relationship when the energization ends, other configurations may be used.

[0200] Furthermore, the electromagnetic switch described from a different perspective in each of the above embodiments included a return means. However, as long as the coil body and the magnetic force driving body automatically return to the second positional relationship when the energization ends, the return means may not be provided.

[0201] Furthermore, in the above-described second embodiment, each of the first drive shaft and the second drive shaft engaged with each of the first drive motor and the second drive motor via a specific number of gears and cogs. However, it is not limited to this, and appropriate increases and decreases are possible.

[0202] Furthermore, in the above-described second embodiment, the bending and stretching device was arranged between the first drive shaft and the second drive shaft of the soccer robot. However, it is not limited to this, and it may be arranged at other positions.

[0203] Furthermore, in the above-described second embodiment, the arm mechanism of the bending and stretching device is connected to the lower part of the frame of the electromagnetic switch. However, the present invention is not limited to this, and it may be connected to other positions of the electromagnetic switch as long as it operates in cooperation with the movement of the electromagnetic switch.

[0204] Furthermore, in the above-described second embodiment, the first protrusion and the first connecting portion and the second protrusion and the second connecting portion of the bending and stretching device were configured in a specific shape. However, the present invention is not limited to this. Although it is connected to the first protrusion provided at the lower part of the frame of the electromagnetic switch, it may be formed in other shapes as long as it operates in cooperation with the movement of the electromagnetic switch.

[0205] Furthermore, in the above-described second embodiment, the first protrusion is provided on the electromagnetic switch of the bending and stretching device, and the second protrusion is provided on the side of the second rotating portion. The configuration is such that it is connected to the first connecting portion and the second connecting portion provided on each of both ends of the first rotating portion. However, the present invention is not limited to this. A configuration in which the first protrusion and the first connecting portion and the second protrusion and the second connecting portion are mutually interchanged may also be used.

[0206] Furthermore, in the above-described second embodiment, the bending and stretching device was applied as the kick arm of the soccer robot. However, the present invention is not limited to this, and it can be applied to other devices such as the arm and bucket of a bulldozer-type robot and a part of a robot.

[0207] Although not described in each of the above embodiments, when the perspective is further changed, the electromagnetic switch in each of the above embodiments includes an outer package having a cylindrical shape and an inner package having a rod shape and being arranged slidably relative to the axial direction of the outer package inside the outer package. One of the outer package and the inner package has both axial ends magnetized, and further includes magnetization control means for switching the magnetization and non-magnetization of both axial ends with respect to the other of the outer package and the inner package. It is also possible to express that the outer package and the inner package slide relative to each other in response to the activation from the deactivation of the magnetization control means.

[0208] The relationship between the exterior body and the interior body can be, for example, other than the coil body (exterior body) and the permanent magnet (interior body) described in each of the above embodiments. It is also possible to use a permanent magnet (exterior body) having a cylindrical shape and provided with magnetic poles at both ends, and a bar-shaped electromagnet (interior body) with a coil wound around an iron core. In this case, the electromagnet is arranged inside the coil body so as to be slidable relative to the axial direction of the coil body. By switching between the energized state and the non-energized state of the electromagnet, it further includes magnetization control means for switching between magnetization and non-magnetization of both ends in the axial direction of the coil body. When the electromagnet changes from the non-energized state to the energized state by this magnetization control means, the permanent magnet and the electromagnet slide relative to each other.

[0209] Also, the relationship between the exterior body and the interior body can be a coil body (exterior body) having a cylindrical shape and a bar-shaped electromagnet (interior body) with a coil wound around an iron core. In this case, it has a configuration in which the above-mentioned permanent magnet (exterior body) is replaced by a coil body, and both ends in the axial direction of the coil body are magnetized by energization. As described above, when the electromagnet changes from the non-energized state to the energized state by the magnetization control means, the coil body and the electromagnet slide relative to each other. Regarding this combination of the coil body and the electromagnet, the electromagnet side may be magnetized and the coil body side may be provided with magnetization control means.

[0210] By doing so, since the magnetization control means changes the positional relationship between the exterior body and the interior body, the object can be controlled by the change in the positional relationship between the exterior body and the interior body.

[0211] Furthermore, not limited to the above example, as long as one of the axial directions of the exterior body and the interior body is magnetized and the other of the exterior body and the interior body is provided with magnetization control means, the exterior body and the interior body may have other configurations.

Explanation of Reference Numerals

[0212] 1... Driving device 3... Driving shaft 5... First pinion gear 6…Second pinion gear 10…Drive motor 21…First rotating shaft 22…Second rotating shaft 23…First wheel 24…Second wheel 31…First engagement mechanism 32…First crown gear 41…Second engagement mechanism 42…Second crown gear 50…Drive shaft transfer means 51, 121…Electromagnetic switch 52…Transmission mechanism 53…Drive shaft retracting mechanism 60, 130…Coil body 62, 132…Conductor 63, 133…Permanent magnet 67, 68…Magnetic field 69, 139…Magnetic drive body 81a, 81b…Pair of wing parts 82a, 82b…Pair of weights 83…Rotating shaft 101…Soccer robot 103…First drive shaft 104…Second drive shaft 105…First wheel 106…Second wheel 115…First drive motor 116…Second drive motor 120…Flexion and extension device 122…Arm mechanism 141…First rotating part 142…Second rotating part 144a, 144b…First rotating shaft 148…Second rotating shaft In addition, the same reference numerals in each figure indicate the same or corresponding parts.

Claims

1. An electromagnetic switch for school textbooks, comprising at least a coil body in which a coil is wound in a certain direction, a permanent magnet that is slidable in the axial direction of the coil body inside the coil body and is arranged such that the magnetic poles are located in the sliding direction, and is sandwiched by a resin frame that surrounds the periphery of the coil body in an exposed state, when the permanent magnet is energized at a predetermined position that is separated from the center position by a predetermined distance to one side of the coil body in the axial direction of the coil body, due to the magnetic field generated in the coil body, the permanent magnet attracts or repels the coil body, whereby the coil body and the permanent magnet move relatively and function as a switch, the permanent magnet is arranged such that the magnetic poles are in the vertical direction, and when in the energized state, the coil body and the permanent magnet move relatively in the vertical direction, an electromagnetic switch in which when the energized state is released, the permanent magnet returns to the predetermined position by its own weight.

2. in the energized state at the predetermined position, when the pole generated on one side of the coil body has the same polarity as one pole of the permanent magnet, the coil body and the permanent magnet move relatively in a direction of mutual repulsion, while when the pole generated on one side of the coil body has a polarity opposite to one pole of the permanent magnet, the coil body and the permanent magnet move relatively in a direction of mutual attraction. The electromagnetic switch according to Claim 1.

3. A bending device, comprising the electromagnetic switch according to Claim 1 or Claim 2, and an arm mechanism that engages with the electromagnetic switch and performs a bending and stretching movement in the front-rear direction, the electromagnetic switch is arranged such that the magnetic poles of the permanent magnet are in the vertical direction, and in the energized state, the coil body and the permanent magnet of the electromagnetic switch move relatively in the vertical direction, The arm mechanism has a first rotating part that is rotatable around a first rotation axis whose axial direction is arranged in a direction orthogonal to the moving directions of the coil body of the electromagnetic switch and the permanent magnet, and a second rotating part that is rotatable around a second rotation axis whose axial direction is arranged in parallel with the first rotation axis. In the energized state, according to the relative movement between the coil body of the electromagnetic switch and the permanent magnet, the first rotating part rotates in one direction around the axis, and the second rotating part rotates in the other direction around the axis. When the energized state is released, due to the self-weight of the coil body or the permanent magnet of the electromagnetic switch, the first rotating part rotates in the other direction around the axis, and the second rotating part rotates in one direction around the axis. It is a bending and stretching device.

4. A soccer robot, A first drive shaft that is rod-shaped and rotatable around an axis, A second drive shaft that is rod-shaped and rotatable around an axis and is arranged on an extension line in the axial direction with the first drive shaft, A first drive body that engages with the first drive shaft and rotates the first drive shaft in a predetermined direction, A second drive body that engages with the second drive shaft and rotates the second drive shaft in a predetermined direction, A first wheel provided on the first drive shaft, A second wheel provided on the second drive shaft, It includes the bending and stretching device according to claim 3 arranged between the first drive shaft and the second drive shaft. The bending and stretching device functions as a kick arm. It is a soccer robot.

5. An electromagnetic switch, A coil body in which at least a coil is wound in a certain direction, It includes a permanent magnet that is slidable in the axial direction of the coil body inside the coil body and is arranged such that the magnetic poles are located in the sliding direction. When the permanent magnet is energized at a predetermined position separated from the center position by a predetermined distance to one side of the coil body in the axial direction of the coil body, due to the magnetic field generated in the coil body, the permanent magnet attracts or repels the coil body, whereby the coil body and the permanent magnet move relative to each other and function as a switch. The permanent magnet is arranged such that the magnetic poles are in the horizontal direction, and in the energized state, the coil body and the permanent magnet move relative to each other in the horizontal direction. A frame body that sandwiches the permanent magnet and surrounds the periphery of the coil body. Further comprising a weight that is lifted by the horizontal movement of the frame body in the energized state. An electromagnetic switch in which when the energized state is released, the permanent magnet returns to the predetermined position due to the weight of the weight.

6. In the energized state at the predetermined position, when the pole generated on one side of the coil body has the same polarity as one pole of the permanent magnet, the coil body and the permanent magnet move relative to each other in a direction of mutual repulsion, while When the pole generated on one side of the coil body has a polarity opposite to that of one pole of the permanent magnet, the coil body and the permanent magnet move relative to each other in a direction of mutual attraction. The electromagnetic switch according to claim 5.

7. A drive device, A drive shaft that is rod-shaped and rotatable around an axis and movable in the axial direction, A drive body that engages with the drive shaft and rotates the drive shaft in a predetermined direction, A first rotating shaft whose axial direction is arranged parallel to the drive shaft, A second rotating shaft whose axial direction is arranged parallel to the drive shaft, A first engagement mechanism that is arranged between the drive shaft and the first rotating shaft and transmits the rotation of the drive shaft to the first rotating shaft in the same or opposite rotation direction as the rotation direction of the drive shaft when the drive shaft is in a predetermined position. disposed between the drive shaft and the second rotating shaft, and configured to transmit the rotation of the drive shaft in the same rotational direction as the rotational direction of the first rotating shaft to the second rotating shaft in a state where the drive shaft is at the predetermined position; an electromagnetic switch according to claim 5 or claim 6 for instructing switching of the rotational directions of the first rotating shaft and the second rotating shaft; the electromagnetic switch is disposed such that the magnetic poles of the permanent magnet are in the horizontal direction, and by relatively moving the coil body and the permanent magnet in the horizontal direction, the drive shaft is moved from the predetermined position to either the first engagement mechanism side or the second engagement mechanism side in the axial direction by a predetermined distance, thereby enabling switching of the rotational directions of the first rotating shaft and the second rotating shaft; when the drive shaft is moved from the predetermined position to the first engagement mechanism side by a predetermined distance, the first engagement mechanism functions to rotate the rotation of the first rotating shaft in the opposite direction, and the second engagement mechanism maintains the rotational direction of the second rotating shaft. On the other hand, when the drive shaft is moved from the predetermined position to the second engagement mechanism side by a predetermined distance, the second engagement mechanism functions to rotate the rotation of the second rotating shaft in the opposite direction, and the first engagement mechanism maintains the rotational direction of the first rotating shaft, a drive device.

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