Retractable device

Abstract

To provide an expansion device capable of preventing unwinding of a tape.SOLUTION: An expansion device 100 is equipped with a tape 1 that has elasticity, and a tape driving device 10 that repeats winding of the tape 1 and unwinding of the tape 1. The tape driving device 10 has a reel 6 around which the tape 1 is wound in a roll-shape, a motor 11 that winds up the tape 1 around the reel 6 and unwinds the tape 1 from the reel 6, a belt 30 that is restrained on one end side and has a movable free end 34 at the other hand, is provided along an outer peripheral surface of the tape 1 wound around the reel 6 in the roll-shape, and presses the tape 1 against the reel 6, and a tension adjusting mechanism 40 that adjusts the tension of the belt 30 by adjusting a position of the free end 34 of the belt 30.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a telescopic device.

Background Art

[0002] As a telescopic device having a high telescopic ratio and sufficient strength, Patent Document 1 discloses a manipulator mechanism including a tape made of spring steel plate and a feeding device for winding and feeding out the tape.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the telescopic device described in Patent Document 1, the tape is wound around a reel in a roll shape, and the tape is wound and fed out by rotating the reel. Since the tape is made of a metal or synthetic resin having spring properties and has an elastic force, in a state where the tape is wound around the reel in a roll shape, "unwinding of the winding" occurs easily in which a gap is formed between the tapes without maintaining the state of contact between the tapes.

[0005] The present invention has been made in view of the above problems, and an object thereof is to provide a telescopic device capable of preventing unwinding of the tape.

Means for Solving the Problems

[0006] The telescopic device according to the present invention includes an elastic tape and a tape driving device that winds and unwinds the tape. The tape driving device includes a reel around which the tape is wound in a roll, a power source for winding the tape onto the reel and unwinding the tape from the reel, a free end with one end side constrained and the other end side free to move, provided along the outer peripheral surface of the tape wound around the reel in a roll, a band member that presses the tape against the reel, and tension adjusting means for adjusting the tension of the band member by adjusting the position of the free end of the band member. The tension adjusting means synchronizes with the rotation of the reel By operating, the tension of the band member becomes substantially constant according to the amount of tape wound by the rotation of the reel. and is characterized by adjusting the position of the free end of the band member.

[0007] In this invention, since the tension of the band member that presses the tape against the reel is adjusted by the tension adjusting means, it is possible to prevent the tape from loosening. In addition, since the tension of the band member is adjusted according to the amount of tape wound, it is possible to prevent the tape from loosening.

[0010] Also, The telescopic device according to the present invention includes an elastic tape and a tape driving device that winds and unwinds the tape. The tape driving device includes a reel around which the tape is wound in a roll shape, a power source for winding the tape onto the reel and unwinding the tape from the reel, a free end whose one end side is constrained and the other end side is free to move, provided along the outer peripheral surface of the tape wound around the reel in a roll shape, a band member that presses the tape against the reel, and a tension adjusting means that adjusts the tension of the band member by adjusting the position of the free end of the band member. the tension adjusting means includes a receiving portion provided on the free end side of the band member, a cam that contacts the receiving portion and determines the position of the free end of the band member, and a cam driving mechanism that rotates the cam in synchronization with the rotation of the reel and maintains the contact between the cam and the receiving portion.

[0011] In this invention, since the cam rotates in synchronization with the rotation of the reel and the contact between the cam and the receiving portion is maintained, the tension of the band member is adjusted according to the amount of tape wound. Therefore, it is possible to prevent the tape from loosening.

[0012] Further, the present invention is characterized in that the cam shape of the cam is set such that the tension of the band member becomes substantially constant according to the amount of tape wound by the reel.

[0013] In this invention, since the cam shape is set such that the tension of the band member becomes substantially constant according to the amount of tape wound, it is possible to prevent the tape from loosening.

[0014] Also, The telescopic device according to the present invention includes an elastic tape and a tape driving device that winds and unwinds the tape. The tape driving device includes a reel around which the tape is wound in a roll shape, a power source for winding the tape onto the reel and unwinding the tape from the reel, a free end whose one end side is constrained and the other end side is free to move, provided along the outer peripheral surface of the tape wound around the reel in a roll shape, a band member that presses the tape against the reel, and a tension adjusting means that adjusts the tension of the band member by adjusting the position of the free end of the band member. A housing that accommodates a reel and a power source and has an entrance for a tape, a support that supports the reel, and a guide portion that is provided on the housing and guides the movement of the support. has The support is characterized in that it moves relative to the housing while being guided by the guide portion as the reel rotates.

[0015] In this invention, even if the diameter of the rolled tape wound around the reel increases or decreases as the reel rotates, the support body that supports the reel is guided by the guide section and moves relative to the housing, so that the reel can stably wind and unwind the tape.

[0016] The present invention is also characterized in that the band member has a curved portion provided along the outer peripheral surface of the tape wound around the reel in a roll form, and a straight portion that guides the tape extending in a straight line from the reel, and a band guide that follows the straight portion of the band member is attached to the housing, and the end of the curved portion of the band member is restrained by the band guide.

[0017] In this invention, since the end of the curved portion of the band member is restrained by the band guide, the tension of the band member can be adjusted by adjusting the position of the free end of the band member with the tension adjustment means.

[0018] In addition, the present invention is characterized in that the tape is band-shaped and has an arc-shaped cross section perpendicular to the longitudinal direction, and the cross section is deformed into an approximately rectangular shape by the tension of the band member and is wound around a reel in a roll.

[0019] In this invention, the band member has a function of preventing the tape from unwinding, as well as a function of deforming the tape into a generally rectangular cross section, thereby reducing the number of parts and simplifying the structure. Effect of the Invention

[0020] According to the present invention, it is possible to prevent the tape from unwinding.

Brief Description of the Drawings

[0021]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10A

Figure 10B

Figure 11

Figure 12

Embodiments for Carrying Out the Invention

[0022] Hereinafter, with reference to the drawings, the telescopic device 100 according to an embodiment of the present invention will be described.

[0023] First, with reference mainly to FIGS. 1 and 2, the overall configuration of the telescopic device 100 will be described. FIG. 1 is a schematic diagram of the telescopic device 100 in a state where the tape 1 is extended, and FIG. 2 is a schematic diagram of the telescopic device 100 in a state where the tape 1 is contracted.

[0024] The telescopic device 100 expands and contracts the tape 1 to move the drive object 101 or supports an object with the tape 1.

[0025] As shown in FIG. 1, the telescopic device 100 includes an elastic tape 1 and a tape drive device 10 that winds and unwinds the tape 1. The tape drive device 10 includes a reel 6 around which the tape 1 is wound in a roll shape, a motor 11 as a power source for winding the tape 1 onto the reel 6 and unwinding the tape 1 from the reel 6, and a housing 20 that houses the reel 6 and the motor 11.

[0026] The motor 11 is a servo motor and incorporates a rotation angle detector and a load detector. The rotation of the motor 11 is decelerated by a transmission mechanism 12 and transmitted to the reel 6. The transmission mechanism 12 includes a driving gear 14 connected to the motor 11 via a rotating shaft 13 and a driven gear 16 connected to the reel 6 via a rotating shaft 15 and meshing with the driving gear. When the motor 11 drives and the reel 6 rotates via the transmission mechanism 12, the tape 1 is wound onto the reel 6 and unwound from the reel 6. Specifically, when the motor 11 drives forward, the tape 1 is unwound from the reel 6, and when the motor 11 drives in reverse, the tape 1 is wound onto the reel 6. A tape guide 21, which is an entrance and exit for the tape 1, is provided in the housing 20. A guide slit is formed in the tape guide 21 through which the tape 1 is slidably inserted to guide the entry and exit of the tape 1.

[0027] The tape 1 is formed of an elastic material, and in this embodiment, it is formed of spring steel. The tape 1 is not limited to spring steel and may be formed of a material having appropriate springiness and rigidity, such as synthetic resin or a composite material in which fibers (carbon fiber, glass fiber) or metal is combined with synthetic resin.

[0028] The tape 1 is in a strip shape and is formed linearly in the longitudinal direction in a state where no external force is acting. As shown in FIG. 3, the cross-section (a cross-section perpendicular to the longitudinal direction) in the width direction of the tape 1 is formed to be curved in an arc shape and has a convex surface 1a and a concave surface 1b. Since the tape 1 has an arc-shaped cross-section, it exhibits high rigidity against an external force from the longitudinal direction and does not easily bend. On the other hand, it bends against an external force from a direction perpendicular to the longitudinal direction and elastically returns to its original linear shape when the external force is removed.

[0029] The tape 1 wound around the reel 6 in a roll shape is bent and wound in a direction where the convex surface 1a faces outward. This is because the tape 1 with an arc-shaped cross-section bends relatively easily in the direction where the convex surface 1a faces outward, while a large force is required to bend it in the direction where the concave surface 1b faces outward.

[0030] The tape driving device 10 further includes a belt 30 as a band member that presses the tape 1 wound around the reel 6 against the reel 6, and a tension adjusting mechanism 40 as tension adjusting means for adjusting the tension of the belt 30. The belt 30 and the tension adjusting mechanism 40 are for preventing the tape 1 wound around the reel 6 from becoming loose. The belt 30 and the tension adjusting mechanism 40 will be described in detail later.

[0031] The telescopic device 100 further includes a folding device 50 that folds the tape 1 by 180 degrees. The tape 1 consists of a single continuous tape. After being fed out from the tape driving device 10, it is folded by 180 degrees by the folding device 50, and the end is fixed to the housing 20 of the tape driving device 10. Thus, the tape 1 has a folded portion 2 and a fixed end 3. At the folded portion 2 of the tape 1, similar to being wound around the reel 6, the convex surface 1a of the tape 1 is bent in a direction where it faces outward. Therefore, the tape 1 is smoothly fed in the folding device 50.

[0032] When the tape 1 is fed out from the tape driving device 10, according to the amount of tape 1 fed out, the folded portion 2 of the tape 1 moves in a direction away from the fixed end 3 (the upward direction in FIG. 1). On the other hand, when the tape driving device 10 winds up the tape 1, according to the amount of tape 1 wound up, the folded portion 2 of the tape 1 moves in a direction approaching the fixed end 3 (the downward direction in FIG. 1). Thus, the tape 1 functions such that the folded portion 2 serves as a free end, and the length between the folded portion 2 and the fixed end 3 changes with the driving of the tape driving device 10. That is, the portion of the tape 1 from the tape guide 21 through the folded portion 2 to the fixed end 3 functions as a telescopic portion 4 that expands and contracts with the driving of the tape driving device 10. Since the object to be driven 101 is attached to the case 51 of the folding device 50, the object to be driven 101 can be moved by expanding and contracting the telescopic portion 4.

[0033] Since the telescopic portion 4 has a folded portion 2 formed at the tip where the tape 1 is folded by 180 degrees and a fixed end 3 where the end of the tape 1 is fixed, it is formed in a double layer with two tapes 1 overlapping. Therefore, for example, when 1 m of the tape 1 is fed out from the tape driving device 10, the object to be driven 101 moves 0.5 m upward in FIG. 1, and when the tape driving device 10 winds up 1 m of the tape 1, the object to be driven 101 moves 0.5 m downward in FIG. 1. Since the telescopic portion 4 is formed by doubling the tape 1, the rigidity in the longitudinal direction is increased, and it becomes possible to support and drive the heavy object to be driven 101.

[0034] The telescopic part 4 is provided with a plurality of bundling plates 8 which are arranged at intervals in the longitudinal direction and bundle the two tapes 1. As shown in FIG. 4, the two tapes 1 are bundled by the bundling plate 8 so that their concave surfaces 1b face each other. The bundling plate 8 is formed with two arc-shaped guide slits 8a which have a shape similar to the outer shape of the tape 1 and are slightly larger than the outer shape of the tape 1. The tape 1 is slidably inserted through the guide slit 8a and is guided and sent by the guide slit 8a when the telescopic part 4 expands and contracts. A bearing for guiding the tape 1 may be provided on the inner peripheral surface of the guide slit 8a so that the tape 1 can move smoothly along the guide slit 8a.

[0035] As shown in FIG. 1, adjacent bundling plates 8 are connected to each other by a string 9, and the distance between adjacent bundling plates 8 is set by the length of the string 9 connecting the adjacent bundling plates 8. The bundling plate 8 closest to the folding device 50 (the uppermost bundling plate 8 in FIG. 1) is attached to the case 51 of the folding device 50 by a string 9. Also, the bundling plate 8 closest to the tape driving device 10 (the lowermost bundling plate 8 in FIG. 1) is attached to the housing 20 by a string 9. In this way, the string 9 is attached across the folding device 50 and the housing 20 and supports the plurality of bundling plates 8. The state in which the string 9 is stretched throughout is the fully extended state of the telescopic part 4 (the state shown in FIG. 1). A rope or a wire may be used instead of the string 9.

[0036] Since the tape 1 of the telescopic part 4 is supported by a plurality of bundling plates 8, it is prevented from bending against an external force. Even if an excessive external force acts on the telescopic part 4 of the tape 1 and the telescopic part 4 bends at a certain part, when the external force is removed, it returns to the original straight shape by the elastic force of the tape 1. The distance between adjacent bundling plates 8 is arranged so as to gradually increase from the fixed end 3 which is the base end part of the telescopic part 4 toward the folding part 2 which is the tip part. This is because a larger load acts on the base end side of the telescopic part 4. The number of bundling plates 8 and the distance between adjacent bundling plates 8 are set in consideration of the length of the telescopic part 4, the weight of the object to be driven 101, the use of the telescopic device 100, the rigidity of the tape 1, and the like.

[0037] The reversing device 50 includes a case 51, a direction-changing roller 52 rotatably provided in the case 51 for changing the traveling direction of the tape 1 by 180 degrees, a plurality of guide rollers 53 for pressing the tape 1 against the direction-changing roller 52, and a tape guide 54 provided in the case 51 for guiding the entry and exit of the tape 1 into and out of the case 51.

[0038] The tape guide 54 is formed with two arc-shaped guide slits through which the tape 1 is slidably inserted to guide the tape 1. The shapes of the two guide slits are the same as those of the two guide slits 8a formed in the binding plate 8 shown in FIG. 4.

[0039] The tape 1 that enters the case 51 from the tape guide 54 is gradually deformed from a circular arc cross-section to a rectangular cross-section from the tape guide 54 to the direction-changing roller 52 and is sent along the outer peripheral surface of the direction-changing roller 52 in a substantially flat state. Then, it is gradually deformed from a rectangular cross-section to a circular arc cross-section from the direction-changing roller 52 to the tape guide 54. In this way, the traveling direction of the tape 1 is smoothly changed by the direction-changing roller 52. The portion of the tape 1 between the tape guide 54 and the direction-changing roller 52 becomes a shape transition section where the cross-sectional shape gradually changes. The tape 1 in this shape transition section has lower rigidity compared to other parts and is thus prone to bending. Therefore, in order to prevent the bending of the tape 1 in the shape transition section, it is preferable to provide a guide roller 55 for guiding the traveling of the tape 1 in the shape transition section.

[0040] Next, with reference mainly to FIGS. 5 to 8, the tape driving device 10 will be described in detail. The reel 6, the motor 11, the transmission mechanism 12, the belt 30, and the tension adjustment mechanism 40, which are components of the tape driving device 10, are housed in a rectangular parallelepiped housing 20. FIG. 5 is a plan view of the tape driving device 10, FIG. 6 is a side view of the tape driving device 10, FIG. 7 is a bottom view of the tape driving device 10, and FIG. 8 is a schematic diagram of the belt 30 and the tension adjustment mechanism 40. In FIGS. 5 to 7, a state is shown in which a part of the surface of the housing 20 is opened so that the inside of the housing 20 can be seen.

[0041] As shown in FIG. 5, the rotary shaft 15 that connects the reel 6 and the driven gear 16 is rotatably supported across a pair of support plates 70 and 71 that are parallel to each other. Similarly, the rotary shaft 13 that connects the motor 11 and the driving gear 14 is rotatably supported across the pair of support plates 70 and 71. In FIG. 6, the illustration of the support plate 70 among the pair of support plates 70 and 71 is omitted.

[0042] The rotary shaft 13 is divided into a motor shaft 13a that is the rotary shaft of the motor 11 and is rotatably supported by the support plate 70, and a gear shaft 13b that is the rotary shaft of the driving gear 14 and is rotatably supported by the support plate 71. The motor shaft 13a and the gear shaft 13b are connected by a magnetic type non-contact coupling. In the present embodiment, the non-contact coupling is neodymium magnets 17a and 17b having a high transmission torque. There is a gap between the neodymium magnet 17a attached to the end of the motor shaft 13a and the neodymium magnet 17b attached to the end of the gear shaft 13b. By disposing a partition material such as a Teflon (registered trademark) sheet in the gap, it becomes possible to make the space in which the motor 11 is disposed into a watertight structure. With such a configuration, it becomes possible to use the telescopic device 100 in a submerged state.

[0043] A tape guide 21 is provided in the housing 20, and the tape 1 enters and exits the housing 20 through the tape guide 21. The end of the tape 1 is attached to the outer peripheral surface of the reel 6, and as the reel 6 rotates due to the drive of the motor 11, the tape 1 is wound onto the reel 6 and fed out from the reel 6. In FIG. 6, a state where the tape 1 is not attached to the reel 6 is shown.

[0044] As described above, since the tape 1 has a large elastic force, a force that expands in the radial direction and tries to return to the original linear shape as indicated by the white arrow in FIG. 8 is generated in the tape 1 wound around the reel 6 in a roll shape. Therefore, in the state where the tape 1 is wound around the reel 6 in a roll shape, "unwinding of the winding" is likely to occur, in which a gap is formed between the tapes 1 and they are not maintained in contact with each other. As a countermeasure against this unwinding of the tape 1, the tape driving device 10 includes a belt 30 that presses the tape 1 wound around the reel 6 against the reel 6, and a tension adjusting mechanism 40 that adjusts the tension of the belt 30.

[0045] As shown in FIGS. 6 and 8, the belt 30 includes a plurality of pieces each including a roller 31 and a roller support portion 32 that rotatably supports the roller 31, and is a bendable belt with rollers configured by rotatably connecting the plurality of pieces to each other. The belt 30 has a curved portion 30A provided along the outer peripheral surface of the tape 1 wound around the reel 6 in a roll shape, and a linear portion 30B that guides the tape 1 extending linearly from the reel 6. The curved portion 30A of the belt 30 is provided so as to bend along the outer peripheral surface of the tape 1 wound around the reel 6 in a roll shape and surrounds the outer peripheral surface of the tape 1. The tension of the belt 30 is applied to the tape 1 through the roller 31 of the curved portion 30A. Therefore, even in a state where tension is applied to the outer peripheral surface of the tape 1 wound around the reel 6 in a roll shape by the belt 30, the tape 1 is guided by a plurality of rotatable rollers 31, so that the tape 1 can be smoothly wound onto the reel 6 and fed out from the reel 6.

[0046] A belt guide 22 is attached to the housing 20 along the straight portion 30B of the belt 30. The end of the curved portion 30A, which is one end side of the belt 30, is fixed to and constrained by the belt guide 22. Also, the end of the straight portion 30B, which is the other end side of the belt 30, is a free end 34 that can move freely. Since the end of the belt 30 is constrained by the belt guide 22, the tension of the belt 30 can be adjusted by adjusting the position of the free end 34 of the belt 30 by the tension adjustment mechanism 40.

[0047] Here, when the reel 6 winds up the tape 1, the diameter D (see FIG. 8) of the roll-shaped tape 1 wound around the reel 6 increases. Hereinafter, the roll-shaped tape 1 wound around the reel 6 will be referred to as the "roll-shaped tape 1". When the reel 6 rotates once and winds up one turn of the tape 1, if the thickness of the tape 1 is T, the diameter D of the roll-shaped tape 1 increases by 2T. On the other hand, when the reel 6 pays out the tape 1, the diameter D of the roll-shaped tape 1 decreases. When the reel 6 rotates once and pays out one turn of the tape 1, the diameter of the roll-shaped tape 1 decreases by 2T. In the process where the reel 6 winds up the tape 1 and the diameter D of the roll-shaped tape 1 increases, if the inner diameter of the curved portion 30A of the belt 30 does not change, the tension of the belt 30 will become excessively large. On the other hand, in the process where the reel 6 pays out the tape 1 and the diameter D of the roll-shaped tape 1 decreases, if the inner diameter of the curved portion 30A of the belt 30 does not change, the tension of the belt 30 will become excessively small and unwinding will occur. Thus, as the reel 6 winds up and pays out the tape 1, the winding amount of the tape 1 by the reel 6 changes and the diameter D of the roll-shaped tape 1 changes. Therefore, it is necessary to adjust the inner diameter of the curved portion 30A of the belt 30 accordingly to adjust the tension of the belt 30. The tension adjustment mechanism 40 adjusts the tension of the belt 30 by changing the inner diameter of the curved portion 30A by adjusting the position of the free end 34 of the belt 30 according to the winding amount of the tape 1 by the reel 6. Specifically, the tension adjustment mechanism 40 adjusts so that the tension of the belt 30 becomes substantially constant according to the winding amount of the tape 1 by the reel 6.

[0048] Hereinafter, mainly with reference to FIGS. 6 to 8, the tension adjusting mechanism 40 will be described in detail. The tension adjusting mechanism 40 includes a cam follower 41 as a receiving portion provided on the free end 34 side of the belt 30, a cam 42 that contacts the cam follower 41 and determines the position of the free end 34 of the belt 30, and a cam driving mechanism 80 that rotates the cam 42 in synchronization with the rotation of the reel 6 and maintains the contact between the cam 42 and the cam follower 41.

[0049] The cam follower 41 is attached to the end of the straight portion 30B of the belt 30 via a jig 44. The cam follower 41 is a cylindrical roller and is rotatably provided about a rotation shaft 45.

[0050] The cam 42 is rotatably provided about a rotation shaft 46. The rotation shaft 46 is supported by a cam support plate 72 (see FIG. 6) fixed to the support plate 70. The cam shape of the cam 42 that contacts the cam follower 41 is set such that the tension of the belt 30 becomes substantially constant according to the amount of tape 1 wound by the reel 6. In FIG. 7, the illustration of the cam support plate 72 is omitted.

[0051] The cam driving mechanism 80 includes a worm wheel 81 integrally formed with the cam 42, a worm gear 82 that meshes with the worm wheel 81, a gear 84 attached to the rotation shaft 83 of the worm gear 82, and a gear 85 (see FIG. 5) attached to the rotation shaft 15 of the reel 6 and meshing with the gear 84. The rotation of the reel 6 is transmitted to the cam 42 through the gear 85, the gear 84, the worm gear 82, and the worm wheel 81. Thus, due to the action of the cam driving mechanism 80, the cam 42 rotates in synchronization with the rotation of the reel 6.

[0052] When the reel 6 rotates to wind up the tape 1 and the diameter D of the roll-shaped tape 1 increases, the free end 34 of the belt 30 moves in a direction approaching the reel 6 (left direction in FIG. 8). In synchronization with this, the cam 42 also rotates (rotates counterclockwise in FIG. 7), and the contact between the cam 42 and the cam follower 41 is maintained. Since the cam shape of the cam 42 is set so that the tension of the belt 30 remains substantially constant according to the amount of tape 1 wound up by the reel 6, the tension of the belt 30 does not become excessively large.

[0053] On the other hand, when the reel 6 rotates to pay out the tape 1 and the diameter D of the roll-shaped tape 1 decreases, the cam 42 also rotates in synchronization with the rotation of the reel 6 (rotates clockwise in FIG. 7) so that the free end 34 of the belt 30 moves in a direction away from the reel 6 (right direction in FIG. 8), and the contact between the cam 42 and the cam follower 41 is maintained. Since the cam shape of the cam 42 is set so that the tension of the belt 30 remains substantially constant according to the amount of tape 1 wound up by the reel 6, the tension of the belt 30 does not become excessively small.

[0054] Thus, due to the action of the cam 42, a substantially constant tension is always applied to the belt 30, so that the tape 1 wound around the reel 6 is prevented from loosening.

[0055] FIG. 7 corresponds to the fully extended state in which the tape 1 is paid out from the reel 6 and the telescopic portion 4 is most extended (the state shown in FIG. 1). The free end 34 of the belt 30 is farthest from the reel 6, and the cam 42 rotates clockwise to the maximum extent. When the reel 6 winds up the tape 1 from the state of FIG. 7, the free end 34 of the belt 30 moves leftward in FIG. 7 and the cam 42 rotates counterclockwise. When the telescopic portion 4 reaches the most contracted state (the state shown in FIG. 2), the cam 42 rotates approximately 180 degrees from the state shown in FIG. 7.

[0056] As described above, in addition to the function of preventing the tape 1 wound around the reel 6 from loosening, the belt 30 also has a function of deforming the tape 1 wound around the reel 6 from a cross-sectional arc shape to a cross-sectional rectangular shape and winding it around the reel 6. The tape 1 wound around the reel 6 is wound around the reel 6 in a substantially flat state with a cross-sectional rectangular shape due to the tension of the belt 30, so that it can be stably wound around the reel 6 in a roll shape. Thus, the tension of the belt 30 prevents the tape 1 from loosening and acts to deform the tape 1 into a cross-sectional rectangular shape. Since the belt 30 has two functions, the number of parts is reduced and the structure is simplified.

[0057] In the tape driving device 10, the reel 6 and the like are configured to move relative to the housing 20 in accordance with a change in the diameter D of the roll-shaped tape 1 corresponding to the amount of tape 1 wound by the reel 6. This will be described below.

[0058] As described above, the end of the curved portion 30A, which is one end side of the belt 30, is fixed to and constrained by the belt guide 22. Specifically, as shown in FIGS. 6 and 8, among the plurality of rollers 31 of the belt 30, the roller 31a provided at the end is rotatably attached to a rotating shaft 23 provided at the tip of the belt guide 22. That is, the roller 31a at the end of the belt 30 is constrained by the belt guide 22 and cannot move.

[0059] As shown in FIG. 6, in a state where the tape 1 is not wound around the reel 6, the outer peripheral surface of the reel 6 and the roller 31a of the belt 30 are in contact. Since the roller 31a of the belt 30 is constrained by the belt guide 22, the reel 6 is configured to be movable as it winds the tape 1. Specifically, as the reel 6 winds the tape 1, it receives a reaction force from the roller 31a of the belt 30 constrained by the belt guide 22 and moves in a direction away from the roller 31a. Also, as the reel 6 pays out the tape 1, it moves in a direction approaching the roller 31a. This will be described in detail below.

[0060] As described above, the rotating shaft 15 of the reel 6 and the driven gear 16 is supported across a pair of support plates 70 and 71, and the rotating shaft 13 of the motor 11 and the driving gear 14 is also supported across a pair of support plates 70 and 71. Further, the rotating shaft 83 (see FIG. 7) of the worm gear 82 and the gear 84 in the cam drive mechanism 80 is also supported across a pair of support plates 70 and 71. Further, the cam 42 and the worm wheel 81 are supported by a cam support plate 72 (see FIG. 6) fixed to the support plate 70 via a rotating shaft 46.

[0061] As shown in FIGS. 5 and 7, the pair of support plates 70 and 71 are fixed by a pair of slide plates 73 and 74 provided therebetween. The support plates 70 and 71, the cam support plate 72, and the slide plates 73 and 74 constitute a frame 75 as a support for supporting the reel 6, the motor 11, the transmission mechanism 12, the cam 42, and the tension adjustment mechanism 40.

[0062] Thus, the reel 6, the motor 11, the transmission mechanism 12, the cam 42, and the tension adjustment mechanism 40 are supported by the frame 75 and are integrally movable with respect to the housing 20. On the other hand, the belt 30 with the roller 31a constrained to the belt guide 22 fixed to the housing 20 is immovable with respect to the housing 20.

[0063] As shown in FIG. 6, guide portions 25 and 26 for guiding the movement of the frame 75 are provided on the inner surface of the housing 20. The guide portions 25 and 26 are provided inclined with respect to the belt guide 22. Of the frame 75, the pair of slide plates 73 and 74 are respectively provided along the guide portions 25 and 26 and slide along the guide portions 25 and 26. The inclination of the guide portions 25 and 26 will be described below.

[0064] As shown in FIGS. 6 and 8, the tape 1 is guided along the outer peripheral surface of the reel 6 between the belt guide 22 and the straight portion 30B of the belt 30. As the reel 6 winds and unwinds the tape 1, the guide portions 25 and 26 are provided inclined with respect to the belt guide 22 so that the reel 6 can move in such a manner that the straight portion of the tape 1 between the belt guide 22 and the straight portion 30B of the belt 30 always extends in the tangential direction of the rolled tape 1.

[0065] When the reel 6 winds the tape 1 and the diameter D of the rolled tape 1 increases, the reel 6 receives a reaction force from the roller 31a of the belt 30 constrained by the belt guide 22. As a result, the frame 75 that supports the reel 6 and the like is guided by the guide portions 25 and 26 and moves with respect to the housing 20 in a direction in which the reel 6 moves away from the roller 31a (in the direction indicated by the black arrow A in FIGS. 6 and 8). On the other hand, when the reel 6 unwinds the tape 1 and the diameter D of the rolled tape 1 decreases, due to the tension of the belt 30 applied from the tension adjusting mechanism 40, the frame 75 that supports the reel 6 and the like is guided by the guide portions 25 and 26 and moves with respect to the housing 20 in a direction in which the reel 6 approaches the roller 31a (in the direction indicated by the black arrow B in FIGS. 6 and 8). The frame 75 is formed in a frame shape having a pair of support plates 70 and 71 and a pair of slide plates 73 and 74 and has high rigidity, so that it slides stably along the guide portions 25 and 26.

[0066] As described above, even if the diameter D of the rolled tape 1 increases or decreases as the reel 6 rotates, the frame 75 that supports the reel 6 and the like is guided by the guide portions 25 and 26 and moves with respect to the housing 20, so that the winding and unwinding of the tape 1 by the reel 6 are performed stably.

[0067] The cam 42 is supported by the frame 75 and moves together with the frame 75, while the cam follower 41 is supported by the belt 30 and does not move together with the frame 75. Therefore, as the reel 6 rotates, the cam 42 and the cam follower 41 are displaced relative to each other. As shown in FIGS. 6 and 8, even when the cam 42 and the cam follower 41 are displaced relative to each other, the cam follower 41 is provided substantially parallel to the moving direction of the frame 75 in order to maintain a stable contact state between the cam 42 and the cam follower 41. Thereby, even if the cam 42 moves due to the movement of the frame 75, the direction in which the cam 42 and the cam follower 41 contact each other is maintained without change.

[0068] Further, the jig 44 that supports the cam follower 41 is provided with a pair of regulating plates 44a that limit the displacement of the cam 42 with respect to the cam follower 41. The pair of regulating plates 44a maintains the contact between the cam 42 and the cam follower 41.

[0069] The operation of the telescopic device 100 configured as described above will be mainly described with reference to FIGS. 1 and 2.

[0070] When the motor 11 is driven forward and the reel 6 rotates, the tape 1 is fed out from the reel 6. As a result, the telescopic part 4 extends (extends upward in FIG. 1), and the driven object 101 attached to the folding device 50 moves upward in FIG. 1. In the maximum extended state of the telescopic part 4 (the state shown in FIG. 1), the string 9 is in a state of being stretched throughout.

[0071] On the one hand, when the motor 11 rotates in reverse and the reel 6 rotates, the tape 1 is wound around the reel 6. As a result, the telescopic part 4 contracts (contracts downward in FIG. 1), and the driven object 101 attached to the folding device 50 moves downward in FIG. 1. The telescopic part 4 contracts until the binding plates 8 adjacent to each other between the case 51 of the folding device 50 and the housing 20 of the tape driving device 10 come into contact with each other in the most contracted state (the state shown in FIG. 2). In the most contracted state of the telescopic part 4, the string 9 is in a slack state (the illustration of the string 9 is omitted in FIG. 2). In FIGS. 1 and 2, the case where the tape driving device 10 is disposed below the folding device 50 is shown, but there is no limitation on the direction of the telescopic device 100, and the tape driving device 10 may be disposed above the folding device 50.

[0072] When the motor 11 stops during the unwinding of the tape 1 from the reel 6 or during the winding of the tape 1 around the reel 6, the reel 6 is maintained in a stopped state, and the driven object 101 is held by the telescopic part 4. Based on the detection result of the rotation angle detector built in the motor 11, the expansion and contraction amount (stroke) of the telescopic part 4 is controlled. Further, the load acting on the tape 1 is detected by the load detector built in the motor 11, and based on the detection result, an overload acting on the tape 1 and a bend of the tape 1 are determined.

[0073] According to the amount of winding of the tape 1 by the reel 6, the tension adjusting mechanism 40 adjusts the tension of the belt 30 so as to be substantially constant. Thereby, the unwinding of the tape 1 wound around the reel 6 is prevented. Further, as the reel 6 rotates, the frame 75 supporting the reel 6 and the like is guided by the guide portions 25 and 26 and moves with respect to the housing 20. Thereby, the winding and unwinding of the tape 1 by the reel 6 are stably performed.

[0074] As applications of the telescopic device 100, it can be used as a device for opening and closing a skylight, a device for opening and closing a door, and a stay for opening and closing a rear hatch of a vehicle. Further, as shown in FIG. 9, instead of the driven object 101, an attachment such as a hand 102 capable of opening and closing operations is attached to the folding device 50, and the telescopic device 100 can be used as a manipulator.

[0075] Further, by attaching the tape driving device 10 to the body via a belt or the like and using the folding device 50 by placing it on the floor surface or the seat surface of a chair, the telescopic device 100 can be used as an electric walking stick for assisting in standing up and maintaining a standing posture. Furthermore, by attaching a plurality of tape driving devices 10 to the body via a belt or the like and attaching wheels that can be driven by a motor to the folding device 50, the telescopic device 100 can be used for assisting walking. Thus, the telescopic device 100 can also be used for life support.

[0076] In the most contracted state of the telescopic part 4 (the state shown in FIG. 2), the telescopic device 100 is compact while having a long stroke of the telescopic part 4, having a high expansion and contraction ratio, and having a high rigidity of the telescopic part 4 composed of the tape 1, so that it can be used for various applications.

[0077] Hereinafter, modifications of the above embodiment will be described. The following modifications are also within the scope of the present invention, and it is also possible to combine the following modifications with the configuration of the above embodiment or to combine the following modifications with each other.

[0078] (1) In the above embodiment, the form in which the cross-sectional shape in the width direction of the tape 1 is arc-shaped has been described. However, the cross-sectional shape of the tape 1 is not limited to an arc shape, and may be a rectangle or the like.

[0079] (2) In the above embodiment, the form in which the tape 1 has a folded-back part 2 and a fixed end 3 has been described. Instead of this, the driving object 101 may be attached to the tip of the tape 1 without folding the tape 1. In this form, the telescopic part 4 may be composed of a plurality of tapes 1. Specifically, a plurality of tapes 1 overlapped from one tape driving device 10 may be simultaneously fed out. Also, the tapes 1 fed out from the plurality of tape driving devices 10 may be bundled.

[0080] (3) In the above embodiment, the form in which the telescopic part 4 is constituted by a single tape 1 folded back by 180 degrees has been described. As shown in FIGS. 10A and 10B, two tapes 1A and 1B folded back by 180 degrees may be arranged with a 90-degree shift so that the cross section of the telescopic part 4 becomes substantially cylindrical. Thereby, the rigidity of the telescopic part 4 can be further increased. FIG. 10A is a perspective view of the tip portion of the telescopic part 4, showing a form in which the tapes 1A and 1B are folded back without using the folding device 50, and FIG. 10B is a perspective view of the tip portion of the telescopic part 4, showing a form in which the tapes 1A and 1B are folded back using the folding device 50. The form shown in FIG. 10B is the same as the form shown in FIGS. 1 and 2, and inside the folding device 50, direction-changing rollers 52A, 52B, guide rollers 53A, 53B, and guide rollers 55A, 55B are provided for the tapes 1A and 1B, respectively. In FIG. 10B, a part of the surface of the folding device 50 is omitted so that the internal configuration of the folding device 50 can be seen.

[0081] In order to arrange two tapes 1A and 1B folded back by 180 degrees with a 90-degree shift, for example, as shown in FIG. 11, two telescopic devices 100 (100A, 100B) are connected with a 90-degree shift. Specifically, the housings 20A and 20B of the tape driving devices 10A and 10B of the telescopic devices 100A and 100B are connected with a 90-degree shift. The tape 1A fed out from the tape driving device 10A of the telescopic device 100A is folded back by the folding device 50, and the end 3A is fixed to the housing 20A of the tape driving device 10A. On the other hand, the tape 1B fed out from the tape driving device 10B of the telescopic device 100B passes through the inside of the housing 20A of the tape driving device 10A, is folded back by the folding device 50, and the end 3B is fixed to the housing 20A. The tape 1B fed out from the tape driving device 10B extends along the support plate 70 shown in FIG. 5 inside the housing 20A and passes through the inside of the housing 20A.

[0082] As shown in FIGS. 10A, 10B, and 11, when using two tapes 1A and 1B, if the stretching and contracting speeds of the two tapes 1A and 1B are controlled to be different, tension can be generated between the two tapes 1A and 1B at the tip of the stretching and contracting portion 4. This tension can be utilized, for example, for the gripping force of the hand 102 (see FIG. 9) or for the braking force of the wheels attached to the folding device 50.

[0083] (4) In the above embodiment, the form in which the band member that presses the tape 1 wound around the reel 6 in a roll shape against the reel 6 is the belt 30 has been described. However, as the band member, as long as it can press the tape 1 against the reel 6, for example, a chain may be used instead of the belt 30.

[0084] (5) In the above embodiment, the form in which the tension adjustment mechanism 40 has the cam follower 41 and the cam 42 has been described. However, the tension adjustment mechanism 40 is not limited to this form, and any configuration that can adjust the tension of the belt 30 by adjusting the position of the free end 34 of the belt 30 is acceptable. For example, a form in which the position of the free end 34 of the belt 30 is adjusted by a motor in synchronization with the rotation of the reel 6 may also be used.

[0085] (6) In the above embodiment, the form in which the motor 11 is a servo motor and incorporates a rotation angle detector and a load detector has been described. Instead, a stroke sensor for detecting the amount of tape 1 fed out and taken up to detect the amount of expansion and contraction (stroke) of the expansion and contraction portion 4 may be provided on the tape guide 21 of the housing 20 or the tape guide 54 of the folding device 50. Also, a load detector for detecting the load acting on the tape 1 may be provided between the fixed end 3 of the tape 1 and the housing 20.

[0086] As shown in FIG. 12, wall portions 22a for accommodating the straight portions of the tape 1 and the straight portion 30B of the belt 30 may be provided on both side portions of the belt guide 22. Thereby, the straight portion of the tape 1 and the straight portion 30B of the belt 30 can move stably along the belt guide 22. Further, a rotatable roller 22b for guiding the movement of the straight portion of the tape 1 may be provided on the bottom surface of the belt guide 22.

[0087] Hereinafter, the configuration, operation, and effects of the embodiments of the present invention will be collectively described.

[0088] The telescopic device 100 includes an elastic tape 1 and a tape driving device 10 that winds and unwinds the tape 1. The tape driving device 10 includes a reel 6 around which the tape 1 is wound in a roll shape, a motor 11 (power source) for winding the tape 1 onto the reel 6 and unwinding the tape 1 from the reel 6, a free end 34 whose one end is restrained and the other end is free to move, which is provided along the outer peripheral surface of the tape 1 wound around the reel 6 in a roll shape, and presses the tape 1 against the reel 6, a belt 30 (band member), and a tension adjusting mechanism 40 (tension adjusting means) that adjusts the tension of the belt 30 by adjusting the position of the free end 34 of the belt 30.

[0089] In this configuration, since the tension of the belt 30 that presses the tape 1 against the reel 6 is adjusted by the tension adjusting mechanism 40, loosening of the tape 1 can be prevented.

[0090] Further, the tension adjusting mechanism 40 adjusts the tension of the belt 30 according to the amount of tape 1 wound by the reel 6.

[0091] In this configuration, since the tension of the belt 30 is adjusted according to the amount of tape 1 wound, loosening of the tape 1 can be prevented.

[0092] Further, the tension adjusting mechanism 40 includes a cam follower 41 (receiving portion) provided on the free end 34 side of the belt 30, a cam 42 that contacts the cam follower 41 and determines the position of the free end 34 of the belt 30, and a cam drive mechanism 80 that rotates the cam 42 in synchronization with the rotation of the reel 6 and maintains the contact between the cam 42 and the cam follower 41.

[0093] In this configuration, since the cam 42 rotates in synchronization with the rotation of the reel 6 and the contact between the cam 42 and the cam follower 41 is maintained, the tension of the belt 30 is adjusted according to the amount of tape 1 wound. Therefore, loosening of the tape 1 can be prevented.

[0094] Also, the cam shape of the cam 42 is set so that the tension of the belt 30 becomes substantially constant according to the amount of tape 1 wound by the reel 6.

[0095] In this configuration, since the cam shape is set so that the tension of the belt 30 becomes substantially constant according to the amount of tape 1 wound, loosening of the tape 1 can be prevented.

[0096] Further, the tape driving device 10 further includes a housing 20 that houses the reel 6 and the motor 11 and is provided with an entrance and an exit for the tape 1, a frame 75 (support) that supports the reel 6, and guide portions 25, 26 provided on the housing 20 for guiding the movement of the frame 75. The frame 75 is guided by the guide portions 25, 26 and moves with respect to the housing 20 as the reel 6 rotates.

[0097] In this configuration, even if the diameter D of the roll-shaped tape 1 wound around the reel 6 increases or decreases as the reel 6 rotates, the frame 75 that supports the reel 6 is guided by the guide portions 25, 26 and moves with respect to the housing 20. Therefore, the winding and unwinding of the tape 1 by the reel 6 are stably performed.

[0098] Further, the belt 30 has a curved portion 30A provided along the outer peripheral surface of the tape 1 wound around the reel 6 in a roll shape, and a straight portion 30B that guides the tape 1 extending linearly from the reel 6. A belt guide 22 (band guide) along the straight portion 30B of the belt 30 is attached to the housing 20, and the end of the curved portion 30A of the belt 30 is constrained by the belt guide 22.

[0099] In this configuration, since the end of the curved portion 30A of the belt 30 is constrained by the belt guide 22, the tension of the belt 30 can be adjusted by adjusting the position of the free end 34 of the belt 30 by the tension adjustment mechanism 40.

[0100] Further, the tape 1 is belt-shaped and has an arc-shaped cross-section perpendicular to the longitudinal direction. Due to the tension of the belt 30, the cross-section is deformed into a substantially rectangular shape and wound around the reel 6 in a roll shape.

[0101] In this configuration, in addition to the function of preventing the tape 1 from unwinding, the belt 30 also has the function of deforming the tape 1 into a substantially rectangular cross-section, thus reducing the number of parts and simplifying the structure.

[0102] As described above, the embodiments of the present invention have been described. However, the above embodiments merely show a part of the application examples of the present invention, and are not intended to limit the technical scope of the present invention to the specific configurations of the above embodiments.

Explanation of Reference Numerals

[0103] 100... telescopic device, 1... tape, 2... folded-back portion, 3... fixed end, 4... telescopic portion, 6... reel, 8... bundling plate, 10... tape driving device, 11... motor (power source), 12... transmission mechanism, 14... driving gear, 16... driven gear, 20... housing, 22... belt guide (band guide), 25, 26... guide portions, 30... belt (band member), 30A... curved portion, 30B... straight portion, 31... roller, 34... free end of the belt, 40... tension adjustment mechanism (tension adjustment means), 41... cam follower (receiving portion), 42... cam, 50... folding-back device, 70, 71... support plates, 73, 74... slide plates, 75... frame (support body), 80... cam driving mechanism, 81... worm wheel, 82... worm gear, 101... object to be driven

Claims

1. A tape having elasticity, A tape driving device configured to wind and unwind the tape, and The tape driving device includes A reel around which the tape is wound in a roll shape, A power source for winding the tape onto the reel and unwinding the tape from the reel, A band member having a free end with one end side restrained and the other end side free to move, provided along an outer peripheral surface of the tape wound in a roll shape around the reel, and pressing the tape against the reel, Tension adjusting means for adjusting the tension of the band member by adjusting the position of the free end of the band member, and The tension adjusting means operates in synchronization with the rotation of the reel to adjust the position of the free end of the band member so that the tension of the band member becomes substantially constant according to the amount of tape wound by the rotation of the reel. A telescopic device characterized by the above.

2. A tape having elasticity, A tape driving device configured to wind and unwind the tape, and The tape driving device includes A reel around which the tape is wound in a roll shape, A power source for winding the tape onto the reel and unwinding the tape from the reel, A band member having a free end with one end side restrained and the other end side free to move, provided along an outer peripheral surface of the tape wound in a roll shape around the reel, and pressing the tape against the reel, Tension adjusting means for adjusting the tension of the band member by adjusting the position of the free end of the band member, and The tension adjusting means includes A receiving portion provided on the free end side of the band member, A cam that contacts the receiving portion and determines the position of the free end of the band member, A cam drive mechanism that rotates the cam in synchronization with the rotation of the reel and maintains contact between the cam and the receiving portion. The telescopic device is characterized by the above.

3. The telescopic device according to claim 2, The telescopic device is characterized in that the cam shape of the cam is set so that the tension of the band member is substantially constant according to the amount of tape wound by the reel.

4. An elastic tape, A tape drive device that winds and unwinds the tape, The tape drive device includes, A reel around which the tape is wound in a roll, A power source for winding the tape onto the reel and unwinding the tape from the reel, A band member having a free end with one end constrained and the other end free to move, provided along the outer peripheral surface of the tape wound around the reel in a roll, and pressing the tape against the reel, Tension adjusting means for adjusting the tension of the band member by adjusting the position of the free end of the band member, A housing that houses the reel and the power source and is provided with an entrance and exit for the tape, A support for supporting the reel, A guide portion provided in the housing for guiding the movement of the support, The telescopic device is characterized in that the support moves relative to the housing guided by the guide portion as the reel rotates.

5. The telescopic device according to claim 4, The band member has a curved portion provided along the outer peripheral surface of the tape wound around the reel in a roll and a straight portion for guiding the tape extending linearly from the reel. A band guide along the straight portion of the band member is attached to the housing, An expansion and contraction device, characterized in that an end portion of the curved portion of the band member is restrained by the band guide.

6. An expansion and contraction device according to any one of claims 1 to 5, wherein the tape is strip-shaped and has a cross-section perpendicular to the longitudinal direction formed in an arc shape, and the cross-section is deformed into a substantially rectangular shape by the tension of the band member and wound around the reel in a roll shape.

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