Oscillating device and method for controlling the same

Abstract

To provide an oscillating device and a method for controlling an oscillating device for preventing increase in a size and cost and improving safety.SOLUTION: An oscillating device comprises: a plurality of expansion devices that can expand and contract and are arranged between a first member and a second member arranged opposite to each other; a guide device that is arranged between the first member and the second member and follows an actuation of the expansion devices; and a control unit that controls the actuation of the expansion devices and the guide device. The expansion devices each have an expansion part and a driving source that supplies power to the expansion part. The guide device has a guide part and a brake device that stops an actuation of the guide part. The control unit controls the brake device according to a state of the actuation of the expansion part.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present disclosure relates to a rocking device such as a Stewart platform that is applied to driving simulators, flight simulators, and the like, and a method for controlling the rocking device. [Background technology]

[0002] A Stewart platform, which is used in driving simulators and the like, is configured by installing six actuators between a lower support plate and an upper support plate. The Stewart platform controls the angle of the upper support plate relative to the lower support plate by operating the six actuators. Examples of such technology include those described in the following patent documents: [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2017 / 202920 Summary of the Invention [Problem to be solved by the invention]

[0004] In a Stewart platform, an upper support plate is supported on a lower support plate by six actuators. Therefore, if one of the six actuators malfunctions, it becomes difficult to control the upper support plate to the appropriate angle. In the above-mentioned patent documents, the number of actuators is increased. However, this configuration poses the problem of increased size and cost of the device due to the increased number of actuators.

[0005] The present disclosure is intended to solve the above-mentioned problems, and aims to provide an oscillating device and a control method for an oscillating device that suppresses increases in size and cost and improves safety. [Means for solving the problem]

[0006] In order to achieve the above object, the oscillating device of the present disclosure comprises a plurality of telescopic devices that are arranged between a first member and a second member that are arranged opposite each other and are capable of extending and retracting, a guide device that is arranged between the first member and the second member and follows the operation of the telescopic devices, and a control unit that controls the operation of the telescopic devices and the guide devices, wherein the telescopic devices have a telescopic section and a drive source that supplies power to the telescopic section, and the guide device has a guide section and a brake device that stops the operation of the guide section, and the control unit controls the brake device depending on the operating state of the telescopic section.

[0007] In addition, the control method for a oscillating device disclosed herein includes a plurality of extension devices that are arranged between opposing first and second members and are capable of extension and contraction, and a guide device that is arranged between the first and second members and follows the operation of the extension devices, wherein the extension devices have an extension section and a drive source that supplies power to the extension section, and the guide device has a guide section and a brake device that stops the operation of the guide section, and activates the brake device when it detects a malfunction of the extension section. [Effects of the Invention]

[0008] According to the oscillating device and the method for controlling the oscillating device of the present disclosure, it is possible to suppress increases in size and cost, and also to improve safety. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a perspective view showing the overall configuration of a rocking device according to a first embodiment. [Figure 2] FIG. 2 is a schematic diagram showing the extension device and the guide device in the swing device. [Figure 3] FIG. 3 is a schematic diagram showing a brake device in a guide device. [Figure 4] FIG. 4 is a schematic diagram showing a modified example of a brake device in a guide device. [Figure 5] FIG. 5 is a schematic diagram showing an extension device and a guide device in a rocking device according to the second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0010] Preferred embodiments of the present disclosure will be described in detail below with reference to the drawings. Note that the present disclosure is not limited to these embodiments, and when there are multiple embodiments, the present disclosure also includes configurations that combine the embodiments. Furthermore, the components in the embodiments include those that can be easily imagined by a person skilled in the art, those that are substantially identical, and those that are within the so-called equivalent range.

[0011] [First embodiment] <Oscillating device> FIG. 1 is a perspective view showing the overall configuration of a rocking device according to a first embodiment.

[0012] In the first embodiment, as shown in FIG. 1 , the oscillating device 10 is configured by disposing a plurality of telescopic devices 13 and a plurality of guide devices 14 between a first member 11 and a second member 12 that are disposed opposite each other. The oscillating device 10 is, for example, a Stewart platform and has six telescopic devices 13. However, the oscillating device 10 is not limited to a Stewart platform, and the number of telescopic devices 13 may be five or less, or seven or more. The oscillating device 10 is applied to, for example, simulator devices such as driving simulators and flight simulators, robot hands, etc., but is not limited thereto.

[0013] Furthermore, two extension devices 13 make up one set of extension units, and multiple sets of extension units (three sets in this embodiment) are provided. One guide device 14 is provided for each set of two extension units. That is, the rocking device 10 of this embodiment is provided with three sets of extension units each made up of two extension devices 13, and three guide devices 14 are provided for the three sets of extension units. However, the number of guide devices 14 for one extension device 13 is not limited to these.

[0014] The six telescopic devices 13 are configured, for example, as three sets of two telescopic devices 13. The two telescopic devices 13 in one set are arranged in a V-shape. The base ends of each telescopic device 13 in one set are connected to different connecting portions 21 and 22 of the first member 11 via universal joints 23 and 24. The distal ends of each telescopic device 13 in one set are connected to a common connecting portion 25 of the second member 12 via universal joints 26 and 27. The base ends of each telescopic device 13 in one set are connected near the base ends of two adjacent telescopic devices 13 in another set. The six telescopic devices 13 have the same configuration. The base ends of each telescopic device 13 in one set may be connected to a common connecting portion, or the distal ends may be connected to different connecting portions 25.

[0015] The three guide devices 14 are arranged so as to be approximately perpendicular to the first member 11 and the second member. The base end of each guide device 14 is connected to a connecting portion 31 of the first member 11 via a universal joint 32. The tip end of each guide device 14 is connected to a connecting portion 33 of the second member 12 via a universal joint 34. The three guide devices 14 have the same configuration. The guide devices 14 may also serve as connecting portions 21, 22, and 25 of the extension device 13.

[0016] The oscillating device 10 can change and adjust the angle of the second member 12 relative to the first member 11 by controlling the extension and contraction amounts of the multiple extension devices 13. At this time, the extension and contraction amounts of at least two extension devices 13 in a set are controlled synchronously. Furthermore, when the oscillating device 10 controls the extension and contraction amounts of the multiple extension devices 13 to change the angle of the second member 12 relative to the first member 11, the guide device 14 operates in response to the operation of the extension devices 13, thereby supporting the second member 12 relative to the first member 11. Note that when the guide device 14 supports the second member 12 relative to the first member 11, some resistance is generated, but basically, it is possible for the guide device 14 to extend and contract so as not to apply force between the first member 11 and the second member 12.

[0017] <Configuration of the rocking device> FIG. 2 is a schematic diagram showing the extension device and the guide device in the swing device.

[0018] 2, the swinging device 10 includes a control unit 15 in addition to the extension device 13 and the guide device 14. The control unit 15 controls the operation of the extension device 13 and the guide device 14.

[0019] <Stretching device configuration> The extension device 13 has an extension section 41 , a drive source 42 , and a power transmission system 43 .

[0020] The extension / contraction portion 41 is extendable and retractable between the first member 11 and the second member 12. A driving source 42 supplies power to the extension / contraction portion 41 via a power transmission system 43. The extension / contraction portion 41, the driving source 42, and the power transmission system 43 are accommodated in a housing 50.

[0021] The telescopic section 41 has a telescopic main body section 51 and a telescopic rod section 52. The telescopic main body section 51 has a guide hole 51a formed therethrough on one end side. The telescopic rod section 52 has a threaded section 52a formed in the middle section in the axial direction. The telescopic section 41 is configured such that one end of the telescopic rod section 52 is fitted into the guide hole 51a of the telescopic main body section 51 so as to be freely movable along the axial direction.

[0022] The telescopic main body 51 is fixed to the housing 50. A portion of the other end of the telescopic main body 51 of the telescopic unit 41 protrudes from the housing 50. A connecting portion 53 is provided at the other end of the telescopic main body 51, and the connecting portion 53 is connected to the first member 11 via universal joints 23 and 24. In addition, a portion of the other end of the telescopic rod 52 of the telescopic unit 41 protrudes from the housing 50. A connecting portion 54 is provided at the other end of the telescopic rod 52, and the connecting portion 54 is connected to the second member 12 via universal joints 26 and 27.

[0023] The driving source 42 is, for example, an electric or hydraulic motor. The driving source 42 has a rotating shaft 61 as an output shaft. The driving source 42 is accommodated in and fixed to the housing 40. The rotating shaft 61 is supported by a bearing 62 in the housing 50 so as to be rotatable in the circumferential direction. The driving source 42 can rotate the rotating shaft 61 forward and backward. The driving source 42 supplies power to the extension / contraction section 41.

[0024] The power transmission system 43 has a drive pulley 71, a driven pulley 72, and a drive belt 73. The drive pulley 71 is fixed to the rotation shaft 61 of the drive source 42 and is supported rotatably but immovably in the axial direction in the second housing. The driven pulley 72 is threadedly engaged with the telescopic rod portion 52 of the telescopic portion 41. The driven pulley 72 is cylindrical and has a threaded hole 72a formed in its inner periphery. The driven pulley 72 is supported rotatably but immovably in the axial direction in the second housing, and the threaded hole 72a is threadedly engaged with the threaded portion 52a of the telescopic rod portion 52. The drive belt 73 is an endless belt that is wound around between the drive pulley 71 and the driven pulley 72. The power transmission system 43 is capable of transmitting power from the drive source 42 between the drive source 42 and the telescopic rod portion 52 to rotate the telescopic rod portion 52.

[0025] Therefore, when the drive source 42 is driven and the rotation shaft 61 is rotated in the forward direction, the power is transmitted to the driven pulley 72 via the drive pulley 71 and drive belt 73 that constitute the power transmission system 43, causing the driven pulley 72 to rotate in the forward direction. Then, the forward rotation of the driven pulley 72 is transmitted to the telescopic rod portion 52 via the screw hole 72a and the threaded portion 52a, and the telescopic rod portion 52 of the telescopic portion 41 moves in one axial direction and moves away from the telescopic main body portion 51.

[0026] On the other hand, when the drive source 42 is driven to rotate the rotary shaft 61 in the reverse direction, the power is transmitted to the driven pulley 72 via the drive pulley 71 and drive belt 73 that constitute the power transmission system 43, causing the driven pulley 72 to rotate in the reverse direction. Then, the reverse rotation of the driven pulley 72 is transmitted to the telescopic rod portion 52 via the screw hole 72a and the threaded portion 52a, and the telescopic rod portion 52 of the telescopic portion 41 moves in the other axial direction, approaching the telescopic main body portion 51.

[0027] <Configuration of guide device> The guide device 14 includes a guide portion 81 and a brake device 82 .

[0028] The guide portion 81 is extendable and retractable between the first member 11 and the second member 12. The brake device 82 stops the operation of the guide portion 81. The guide portion 81 and the brake device 82 are housed in the housing 50.

[0029] The guide portion 81 has a guide main body portion 91 and a guide rod portion 92. A guide hole 91a is formed in one end portion of the guide main body portion 91. The guide portion 81 is configured such that one end portion of the guide rod portion 92 is fitted into the guide hole 91a of the guide main body portion 91 so as to be freely movable along the axial direction.

[0030] The guide portion 81 has a connecting portion 93 provided at the other end of the guide main body portion 91, and the connecting portion 93 is connected to the first member 11 via the universal joint 32. The guide portion 81 also has a connecting portion 94 provided at the other end of the guide rod portion 92, and the connecting portion 94 is connected to the second member 12 via the universal joint 34.

[0031] <Brake device> FIG. 3 is a schematic diagram showing a brake device in a guide device.

[0032] 2 and 3, the brake device 82 can stop the operation of the guide portion 81 of the guide device 14. The guide portion 81 has a guide main body portion 91 and a guide rod portion 92. Stopping the operation of the guide portion 81 means preventing the guide rod portion 92 from moving relative to the guide main body portion 91 and restricting the relative movement between the guide main body portion 91 and the guide rod portion 92.

[0033] The guide main body 91 is a cylinder having a guide hole 91a formed therein. A piston 92a is connected to one axial end of the guide rod 92, and the piston 92a is fitted into the guide hole 91a and is movable. The guide main body 91 has the guide hole 91a divided into two chambers 101 and 102 by the piston 92a, and the chambers 101 and 102 are filled with a fluid (e.g., oil). The chambers 101 and 102 are provided with ports 103 and 104, and the ports 103 and 104 are communicated with the outside by a communication passage 105. The communication passage 105 is provided with an on-off valve 106, and the on-off valve 106 is opened and closed by an opening / closing unit 107. The brake device 82 is composed of the chambers 101 and 102, the ports 103 and 104, the communication passage 105, the on-off valve 106, and the on-off unit 107.

[0034] Therefore, when the on-off valve 106 is opened by the on-off unit 107, the chambers 101 and 102 of the guide main body 91 are placed in a state in which they can communicate with each other through the communication passage 105 due to the on-off valve 106 having its ports 103 and 104 open. At this time, the guide unit 81 allows fluid to flow between the chambers 101 and 102 through the communication passage 105, and the guide unit 81 allows relative movement between the guide main body 91 and the guide rod 92. In other words, the guide unit 81 is placed in an operable state by the brake device 82.

[0035] On the other hand, when the on-off valve 106 is closed by the on-off unit 107, the chambers 101 and 102 of the guide main body 91 are rendered incommunicable with each other through the communication passage 105 due to the on-off valve 106 closing the ports 103 and 104. At this time, the guide unit 81 is prevented from allowing fluid to flow between the chambers 101 and 102 due to the communication passage 105, and the guide main body 91 and the guide rod 92 are prevented from moving relative to each other. That is, the brake device 82 stops the operation of the guide unit 81.

[0036] <Modifications of the brake device> The brake device 82 is not limited to the above-described configuration. Fig. 4 is a schematic diagram showing a modified example of the brake device in the guide device.

[0037] As shown in Figures 2 and 4, the brake device 82A can stop the operation of the guide portion 81 of the guide device 14. The guide portion 81 has a guide main body portion 91 and a guide rod portion 92. The guide main body portion 91 is a cylinder with a guide hole 91a formed therein. A piston 92a that fits into the guide hole 91a and is connected to one axial end of the guide rod portion 92 is connected to the guide rod portion 92. The guide main body portion 91 is provided with a gripping portion 111 that prevents the guide rod portion 92 from moving. The gripping portion 111 has a pair of gripping pieces 112 and an operating portion 113 that moves the pair of gripping pieces 112 toward and away from each other.

[0038] Therefore, the actuation portion 113 separates the pair of gripping pieces 112 of the gripping portion 111. At this time, the pair of gripping pieces 112 do not sandwich the guide rod portion 92, and the guide portion 81 becomes capable of relative movement between the guide main body portion 91 and the guide rod portion 92. In other words, the guide portion 81 becomes operable by the brake device 82A.

[0039] Meanwhile, the pair of gripping pieces 112 of the gripping part 111 are brought closer together by the operating part 113. At this time, the pair of gripping pieces 112 hold the guide rod part 92 between them, and the guide part 81 is unable to move relative to the guide main body part 91 and the guide rod part 92. In other words, the guide part 81 is brought into an operation-deactivating state by the brake device 82A.

[0040] <Controller configuration> As shown in Fig. 2, the control unit 15 can control each extension device 13 via the drive source 42. That is, the control unit 15 controls the extension direction and extension amount of each extension device 13 by adjusting the rotation direction, rotation speed, rotation amount, etc. of the drive source 42. The control unit 15 controls the drive source 42 in accordance with input command values ​​and various stored programs. The control unit 15 is a controller, and is configured, for example, with a CPU (Central Processing Unit) or an MPU (Micro Processing Unit), and executes various programs.

[0041] The control unit 15 can also control each guide device 14 via the brake devices 82, 82A depending on the operating state of the extension device 13. Each extension device 13 is provided with a malfunction detection unit 121 that detects malfunctions of the extension / contraction unit 41, drive source 42, power transmission system 43, etc. The malfunction detection unit 121 detects failures of the extension / contraction unit 41, drive source 42, power transmission system 43, etc. Examples of the malfunction detection unit 121 include, but are not limited to, a rotation sensor that detects the amount of rotation of the drive pulley 71 and the driven pulley 72, an acceleration sensor that detects the movement speed of the drive belt 73, a stroke sensor that detects the amount of movement of the extension rod unit 52, a torque sensor that detects the output torque of the drive source 42, and a displacement sensor that detects the angle between the first member 11 and the second member 12. Furthermore, the malfunction detection unit 121 is designed to detect malfunctions of the extension / contraction unit 41, drive source 42, and power transmission system 43 that constitute the extension device 13, but it may also detect malfunctions such as damage to the universal joints 23, 24, 26, and 27 or the connecting units 21, 22, and 25.

[0042] The control unit 15 controls the brake devices 82, 82A based on the detection result of the malfunction detection unit 121. When the malfunction detection unit 121 detects a malfunction of the extension device 13, the control unit 15 activates the brake devices 82, 82A to stop the guide device 14 from operating.

[0043] <Operation of the telescopic device and guide device> When changing the angle of the second member 12 relative to the first member 11, the control unit 15 operates each extension device 13. The control unit 15 drives the drive source 42 to rotate the rotation shaft 61 in the forward direction. The power of the drive source 42 is transmitted to the extension / contraction unit 41 via the power transmission system 43, causing the driven pulley 72 to rotate in the forward direction. When the driven pulley 72 rotates in the forward direction, the rotational force is transmitted to the extension / contraction rod unit 52 via the screw hole 72a and the threaded portion 52a as an axial moving force, and the extension / contraction rod unit 52 moves away from the extension / contraction main body unit 51. As a result, the extension device 13 causes the extension rod unit 52 to extend axially outward relative to the housing 50, and the angle of the second member 12 relative to the first member 11 can be changed.

[0044] Meanwhile, the control unit 15 drives the drive source 42 to rotate the rotation shaft 61 in the reverse direction. The power of the drive source 42 is transmitted to the telescopic unit 41 via the power transmission system 43, causing the driven pulley 72 to rotate in the reverse direction. When the driven pulley 72 rotates in the forward direction in the reverse direction, the rotational force is transmitted to the telescopic rod unit 52 via the screw hole 72a and the threaded portion 52a as an axial moving force, and the telescopic rod unit 52 moves closer to the telescopic main body unit 51. As a result, in the telescopic device 13, the telescopic rod unit 52 contracts axially inward relative to the housing 50, and the angle of the second member 12 relative to the first member 11 can be changed.

[0045] <Operation of the control unit> In the extension device 13, for example, when the malfunction detection unit 121 detects malfunction of the extension / contraction unit 41, it outputs to the control unit 15 that the extension / contraction unit 41 is malfunctioning. The control unit 15 controls the brake devices 82, 82A in response to the malfunction of the extension / contraction unit 41 detected by the malfunction detection unit 121, and stops the operation of the guide device 14. In other words, by operating the brake devices 82, 82A, the relative movement of the guide main body 91 and the guide rod 92 in the guide device 14 is prevented.

[0046] As a result, even if some of the multiple extension devices 13 of the oscillating device 10 malfunction, the brake devices 82, 82A stop the operation of each guide device 14, thereby maintaining the relative angle of the second member to the first member 11 and preventing tipping over.

[0047] [Second embodiment] 5 is a schematic diagram showing an extension device and a guide device in a swing device according to the second embodiment. Note that members having the same functions as those in the first embodiment described above are given the same reference numerals and detailed descriptions thereof will be omitted.

[0048] In the second embodiment, as shown in FIG. 5, a swinging device 10A includes an extension device 13, a guide device 14, and a control unit 15.

[0049] The extension device 13 has an extension section 41, a drive source 42, and a power transmission system 43. The basic configurations of the extension section 41, the drive source 42, and the power transmission system 43 are the same as those in the first embodiment.

[0050] The guide device 14 has a guide portion 81 and a brake device 82. The basic configurations of the guide portion 81 and the brake device 82 are the same as those in the first embodiment.

[0051] The extension / contraction portion 41, the guide portion 81, and the brake device 82 are fixed to the first housing 131. The drive source 42 is fixed to the second housing 132. The first housing 131 and the second housing 132 are connected together. Alternatively, the first housing 131 and the second housing 132 may be formed together. The extension / contraction portion 41 and the guide portion 81 are arranged in parallel in the first housing 131.

[0052] The telescopic section 41 has a telescopic main body section 51 and a telescopic rod section 52, and the telescopic main body section 51 is fixed to the first housing 131. The guide section 81 has a guide main body section 91 and a guide rod section 92, and the guide main body section 91 is fixed to the first housing 131. The first housing (main body section side connecting member) 131 has a connecting section 133 at one end, and the connecting section 133 is connected to the first member 11 via universal joints 23, 24.

[0053] In the telescopic section 41, a portion of the other end side of the telescopic rod section 52 protrudes from the first housing 131. In the guide section 81, a portion of the other end side of the guide rod section 92 protrudes from the first housing 131. The telescopic rod section 52 and the guide rod section 92 have their other ends connected to a connecting member (rod section side connecting member) 134. The connecting member 134 is provided with a connecting section 135, and the connecting section 135 is connected to the second member 12 via universal joints 26, 27.

[0054] The control unit 15 can control each extension device 13 via the drive source 42. That is, the control unit 15 controls the extension direction and extension amount of each extension device 13 by adjusting the rotation direction, rotation speed, rotation amount, etc. of the drive source 42. The control unit 15 can also control each guide device 14 via the brake devices 82, 82A depending on the operating state of the extension device 13. Each extension device 13 is provided with an operation malfunction detection unit 121 that detects operation malfunctions of the extension device 41, drive source 42, power transmission system 43, etc. The control unit 15 controls the brake devices 82, 82A based on the detection results of the operation malfunction detection unit 121. When the operation malfunction detection unit 121 detects an operation malfunction of the extension device 13, the control unit 15 activates the brake devices 82, 82A to stop the guide device 14 from operating.

[0055] [Effects of this embodiment] The oscillating device of the first aspect comprises a plurality of telescopic devices 13 arranged between a first member 11 and a second member 12 that are arranged opposite each other and are capable of extension and contraction, a guide device 14 arranged between the first member 11 and the second member 12 and that follows the operation of the telescopic devices 13, and a control unit 15 that controls the operation of the telescopic devices 13 and the guide device 14, wherein the telescopic devices 13 have an extension / contraction section 41 and a drive source 42 that supplies power to the extension / contraction section 41, and the guide device 14 has a guide section 81 and a brake device 82 that stops the operation of the guide section 81, and the control unit 15 controls the brake device 82 depending on the operating state of the extension / contraction section 41.

[0056] The swing device according to the first aspect is provided with an extension device 13 having an extension / contraction section 41 driven by a drive source 42, and a guide device 14 having a guide section 81 that follows the extension device 13 and a brake device 82 that stops the guide section 81. Therefore, if a malfunction occurs in the extension device 13, the brake device 82 stops the operation of the guide section 81, and the guide device 14 maintains the position of the second member 12 relative to the first member 11, preventing the device from tipping over and improving safety. Furthermore, because the guide device 14 does not have a drive source, it is possible to prevent it from becoming larger and more expensive.

[0057] The rocking device according to the second aspect is provided with a malfunction detection unit 121 that detects malfunction of the extension / contraction unit 41, and the control unit 15 activates the brake devices 82, 82A when the malfunction detection unit 121 detects malfunction of the extension / contraction unit 41. This makes it possible to appropriately detect malfunction of the extension / contraction unit 41 and appropriately activate the brake devices 82, 82A.

[0058] In the rocking device according to the third aspect, the extension / contraction unit 41 is supplied with power from the drive source 42 and is driven to extend and contract, thereby changing the angle of the second member 12 relative to the first member 11, and the guide unit 81 is not supplied with power from the drive source 42. This allows the guide unit 81 to appropriately support the second member 12 with a simple configuration.

[0059] The rocking device according to the fourth aspect has, as the telescopic section 41, a telescopic main body section 51 and a telescopic rod section 52 that is axially movable relative to the telescopic main body section 51, and as the guide device 14, a guide main body section 91 and a guide rod section 92 that is axially movable relative to the guide main body section 91, and the drive source 42 is able to move the telescopic rod section 52 in the axial direction by supplying power only to the telescopic rod section 52 via a power transmission system 43. As a result, by operating the telescopic rod section 52, it is possible to change the angle of the second member 12 relative to the first member 11, and by operating the guide rod section 92, it is possible to appropriately support the second member 12 relative to the first member 11.

[0060] In the swinging device according to the fifth aspect, the end of the telescopic main body part 51 and the end of the guide main body part 91 are connected to one of the first member 11 and the second member 12, and the end of the telescopic rod part 52 and the guide rod part 92 are connected to the other of the first member 11 and the second member 12. This allows the telescopic device 13 and the guide device 14 to be handled separately, and the guide device 14 can be added later to a swinging device that only has the telescopic device 13.

[0061] In the swinging device according to the sixth aspect, the end of the telescopic main body portion 51 and the end of the guide main body portion 91 are connected to one of the first member 11 and the second member 12 via a first housing (main body portion side connecting member) 131, and the end of the telescopic rod portion 52 and the guide rod portion 92 are connected to the other of the first member 11 and the second member 12 via a connecting member (rod portion side connecting member) 134. This makes it possible to integrate the telescopic device 13 and the guide device 14, making it possible to make the device more compact and improving installation ease.

[0062] The swing device according to the seventh aspect is configured by providing a plurality of sets of extension units, each set consisting of two extension devices 13, and one guide device 14 is provided for each set of extension units. This allows an appropriate number of guide devices 14 to be arranged in appropriate positions for the plurality of extension devices 13.

[0063] The eighth aspect of the control method for a oscillating device includes a plurality of extension devices 13 arranged between a first member 11 and a second member 12 that are opposed to each other and are capable of extension and contraction, and a guide device 14 arranged between the first member 11 and the second member 12 and following the operation of the extension devices 13, wherein the extension devices 13 have an extension section 41 and a drive source 42 that supplies power to the extension section 41, and the guide device 14 has a guide section 81 and brake devices 82, 82A that stop the operation of the guide section 81, and activates the brake devices 82, 82A when a malfunction of the extension section 41 is detected.

[0064] According to the control method for a rocking device of the ninth aspect, when a malfunction occurs in the extension device 13, the brake device 82 stops the operation of the guide part 81, and the guide device 14 maintains the position of the second member 12 relative to the first member 11, preventing the device from tipping over and improving safety. Furthermore, since the guide device 14 does not have a drive source, it is possible to prevent the device from becoming larger and more expensive.

[0065] In the above embodiment, the power transmission system 43 is configured by a pulley and a drive belt, but is not limited to this configuration. The power transmission system 43 may be configured by, for example, a gear mechanism. [Explanation of symbols]

[0066] 10. Oscillating device 11 First member 12 Second member 13 Telescopic device 14 Guide device 15 Control Unit 41 Telescopic part 42 Drive source 43 Power Transmission System 50 Housing 51 Telescopic main body 52 Telescopic rod section 61 Rotation axis 71 Drive pulley 72 driven pulley 73 Drive Belt 81 Guide part 82,82A Brake device 91 Guide body 92 Guide rod part 121 Malfunction detection unit 131 First Housing 132 Second Housing 134 Connecting member (rod side connecting member)

Claims

1. A plurality of telescopic devices arranged between a first member and a second member that are arranged opposite to each other and are capable of extending and retracting; a guide device disposed between the first member and the second member and adapted to follow the operation of the telescopic device; a control unit that controls the operation of the extension device and the guide device; Equipped with The extension device has an extension section and a drive source that supplies power to the extension section, the guide device includes a guide portion and a brake device that stops operation of the guide portion, an operation malfunction detection unit that detects an operation malfunction of the extension / contraction unit, and the control unit activates the brake device when the operation malfunction detection unit detects an operation malfunction of the extension / contraction unit; Rocking device.

2. the extension / contraction unit is driven to extend and contract by power supplied from the drive source, thereby changing an angle of the second member relative to the first member, The guide portion is not supplied with power from the drive source. The rocking device according to claim 1 .

3. the telescopic section has a telescopic main body section and a telescopic rod section that is axially movable relative to the telescopic main body section, the guide section has a guide main body section and a guide rod section that is axially movable relative to the guide main body section, and the drive source is capable of moving the telescopic rod section axially by supplying power only to the telescopic rod section via a power transmission system. The rocking device according to claim 1 or 2.

4. an end of the telescopic main body portion and an end of the guide main body portion are connected to one of the first member and the second member, and an end of the telescopic rod portion and an end of the guide rod portion are connected to the other of the first member and the second member; The rocking device according to claim 3.

5. an end of the telescopic main body portion and an end of the guide main body portion are connected to one of the first member and the second member via a main body portion side connecting member, and an end of the telescopic rod portion and an end of the guide rod portion are connected to the other of the first member and the second member via a rod portion side connecting member; The rocking device according to claim 3.

6. The telescopic device is provided in a plurality of sets of two telescopic units, and one guide device is provided for each set of telescopic units. The rocking device according to any one of claims 1 to 5.

7. A plurality of telescopic devices arranged between a first member and a second member that are arranged opposite to each other and are capable of extending and retracting; a guide device disposed between the first member and the second member and adapted to follow the operation of the telescopic device; Equipped with The extension device has an extension section and a drive source that supplies power to the extension section, the guide device includes a guide portion and a brake device that stops operation of the guide portion, an operation malfunction detection unit that detects an operation malfunction of the extension / contraction unit; When the malfunction detection unit detects malfunction of the extension / contraction unit, the brake device is activated. A method for controlling a rocking device.

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