telescopic device

Abstract

To provide an expansion device that stably winds up and feeds out a tape.SOLUTION: An expansion device 100 comprises: a reel 6 around which a tape 1 is wound in a roll shape; a motor 11 that winds-up the tape 1 into the reel 6 and feeds-out the tape 1 from the reel 6; a unitized tape driving device 10 including the reel 6 and the motor 11; and a moving mechanism 90 that can move the tape driving device 10, in accordance with an amount of winding-up or an amount of feeding-out of the tape 1 by the reel 6. The moving mechanism 90 has a link mechanism 91 that supports the tape driving device 10. The link mechanism 91 has a pair of oscillating links 92a and 92b, rotatably connected to the tape driving device 10, which oscillate in parallel to each other.SELECTED DRAWING: Figure 8

Description

Technical Field

[0004] , , ,

[0006] , , , ,

[0005] , , ,

[0007] , , ,

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

Background Art

[0002] Patent Document 1 discloses a telescopic device including an elastic tape and a tape driving device for winding and unwinding the tape.

Prior Art Documents

Patent Documents

[0003] <00000舍16>

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 diameter of the roll-shaped tape wound around the reel changes according to the amount of tape wound by the reel, and accordingly, the tape driving device including the reel and the like moves with respect to the housing. Specifically, the tape driving device moves along the guide portion between two guide portions provided in the housing.

[0005] Since a force in the rotational direction acts on the tape driving device according to the winding and unwinding of the tape by the reel, there is a possibility that the tape driving device may be pressed against the guide portion by the force in the rotational direction and cannot move smoothly. In that case, the winding and unwinding of the tape are not stable.

[0006] The present invention has been made in view of the above problems, and an object thereof is to provide a telescopic device capable of stably winding and unwinding a tape.

Means for Solving the Problems

[0007] The present invention relates to a tape winding and unwinding device, comprising: a reel on which tape is wound in a roll shape; a power source for winding tape onto the reel and unwinding tape from the reel; a unitized tape drive device including the reel and the power source; and a moving mechanism that moves the tape drive device according to the amount of tape wound or unwound by the reel, the moving mechanism supporting the tape drive device. Parallel four-bar link It has, Parallel four-bar link It has a pair of swing links that are rotatably connected to the tape drive and swing while maintaining parallelism to each other. The tape drive unit moves, using a parallel four-bar linkage, while maintaining an angle relative to the tape's direction of travel, according to the amount of tape wound or unwound by the reel. It is characterized by the following:

[0008] In this invention, even if a rotational force acts on the tape drive device according to the amount of tape wound or unwound by the reel, the tape drive device moves due to the oscillation of a pair of oscillating links, allowing the tape drive device to move smoothly. Therefore, stable tape winding and unwinding can be achieved.

[0009] Furthermore, the present invention is characterized in that the moving mechanism further comprises a linear guide for moving the tape drive device in the direction of tape travel, the link mechanism further comprises a connecting link that rotatably connects a pair of swing links, and the linear guide has a rail provided on the tape drive device that extends linearly in the direction of travel and guides the connecting link.

[0010] In this invention, the connecting link that rotatably connects a pair of oscillating links according to the amount of tape wound or unwound by the reel is guided by the rail of a linear guide, so that the tape drive device can move more smoothly.

[0011] Furthermore, the present invention relates to a tape winding and unwinding device, comprising: a reel on which tape is wound in a roll shape; a power source for winding tape onto the reel and unwinding tape from the reel; a unitized tape drive device including the reel and the power source; and a moving mechanism that allows the tape drive device to move according to the amount of tape wound or unwound by the reel, wherein the moving mechanism has a first linear guide and a second linear guide that are provided perpendicular to the rotation axis of the reel and connected to each other in an intersecting manner. The tape drive unit moves in a plane that includes the tape's travel direction and a direction perpendicular to it, while maintaining an angle with respect to the tape's travel direction, using the first and second linear guides, according to the amount of tape wound or unwound by the reel. It is characterized by the following:

[0012] In this invention, even when a rotational force acts on the tape drive device according to the amount of tape wound or unwound by the reel, the tape drive device moves along the first and second linear guides, which are connected in a cross pattern, allowing the tape drive device to move smoothly. Therefore, stable tape winding and unwinding are possible. [Effects of the Invention]

[0013] According to the present invention, tape can be reliably wound up and unwound. [Brief explanation of the drawing]

[0014] [Figure 1] This is a schematic diagram of an expandable device according to an embodiment of the present invention, showing the expandable portion in its most extended state. [Figure 2] This is a schematic diagram of an expandable / contractable device according to an embodiment of the present invention, showing the state in which the expandable / contractable portion is fully contracted. [Figure 3] This is a cross-sectional view of a tape, specifically a cross-section perpendicular to the longitudinal direction of the tape. [Figure 4] This is a plan cross-sectional view of a binding plate. [Figure 5] This is a plan view of the tape drive device of an expandable / contractable device according to an embodiment of the present invention. [Figure 6] A side view of the tape drive device of an expandable / contractable device according to an embodiment of the present invention. [Figure 7]The bottom view of the tape drive device of the telescopic device according to an embodiment of the present invention. [Figure 8] It is a schematic view around the reel. [Figure 9] The side view of the tape drive device of the telescopic device according to an embodiment of the present invention, and it is a figure showing the support plate which is omitted in FIG. 6. [Figure 10] It is a schematic view showing Modification 1 of the telescopic device according to an embodiment of the present invention. [Figure 11] It is a schematic view around the reel showing Modification 2 of the telescopic device according to an embodiment of the present invention. [Figure 12] It is a schematic view around the reel showing Modification 3 of the telescopic device according to an embodiment of the present invention. [Figure 13A] It is a schematic view showing Modification 4 of the telescopic device according to an embodiment of the present invention, and it is a perspective view of the tip portion of the telescopic part. [Figure 13B] It is a schematic view showing Modification 5 of the telescopic device according to an embodiment of the present invention, and it is a perspective view of the tip portion of the telescopic part. [Figure 14] It is a schematic view showing Modification 6 of the telescopic device according to an embodiment of the present invention, and it is a schematic perspective view showing a form in which two telescopic devices are connected. [Figure 15] It is a schematic view showing Modification 7 of the telescopic device according to an embodiment of the present invention, and it is a cross-sectional view near the belt guide.

Embodiments for Carrying Out the Invention

[0015] Hereinafter, referring to the drawings, the telescopic device 100 according to an embodiment of the present invention will be described.

[0016] First, referring mainly to FIGS. 1 and 2, the overall configuration of the telescopic device 100 will be described. FIG. 1 is a schematic view of the telescopic device 100 in a state where the tape 1 is extended, and FIG. 2 is a schematic view of the telescopic device 100 in a state where the tape 1 is contracted.

[0017] The telescopic device 100 winds up and unwinds the tape 1 to move the object to be driven 101 or to support an object with the tape 1.

[0018] As shown in Figure 1, the expandable tape device 100 comprises an elastic tape 1 and a tape drive device 10 that winds up and unwinds the tape 1. The tape drive device 10 includes a reel 6 on which the tape 1 is wound in a roll shape, and 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. The tape drive device 10 is housed in a housing 20.

[0019] Motor 11 is a servo motor and has a built-in rotation angle detector and load detector. The rotation of motor 11 is reduced by a transmission mechanism 12 and transmitted to reel 6. The transmission mechanism 12 has a driving gear 14 connected to motor 11 via a rotating shaft 13, and a driven gear 16 connected to reel 6 via a rotating shaft 15 as a rotation axis and meshing with the driving gear. The rotation of reel 6 via the transmission mechanism 12 by the drive of motor 11 causes tape 1 to be wound onto reel 6 and tape 1 to be unwound from reel 6. Specifically, when motor 11 is driven in the forward direction, tape 1 is unwound from reel 6, and when motor 11 is driven in the reverse direction, tape 1 is wound onto reel 6. The housing 20 is provided with a tape guide 21, which is the entrance and exit for tape 1. The tape guide 21 has guide slits formed in it that allow tape 1 to slide freely through and guide the entry and exit of tape 1.

[0020] Tape 1 is made of an elastic material, and in this embodiment, it is made of metal, specifically spring steel. Tape 1 is not limited to spring steel; it can be made of any material with appropriate springiness and rigidity, such as synthetic resin or a composite material combining synthetic resin with fibers (carbon fiber, glass fiber) or metal.

[0021] Tape 1 is strip-shaped and, when no external force is acting on it, is formed in a straight line along its longitudinal direction. As shown in Figure 3, the cross-section of Tape 1 in the width direction (cross-section perpendicular to the longitudinal direction) is formed in an arc shape, having a convex surface 1a and a concave surface 1b. Because Tape 1 has an arc-shaped cross-section, it exhibits high rigidity against external forces from the longitudinal direction and does not easily bend. On the other hand, it bends when subjected to an external force perpendicular to the longitudinal direction, and elastically returns to its original straight shape when the external force is removed.

[0022] The tape 1, which is wound in a roll on the reel 6, is bent so that the convex surface 1a faces outward. This is because the tape 1, which has a circular arc 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.

[0023] Because the tape 1 has elasticity, when the tape 1 is wound in a roll on the reel 6, it is prone to "unwinding," where gaps form between the tapes 1 instead of them remaining in contact. To prevent this unwinding, the expandable / contractable device 100 further includes a belt 30, which acts as a band member to press the roll of tape 1 against the reel 6, and a tension adjustment mechanism 40, which acts as a tension adjustment means for adjusting the tension of the belt 30. The belt 30 and the tension adjustment mechanism 40 will be described in detail later.

[0024] The tape extender 100 further includes a folding device 50 that folds the tape 1 back by 180 degrees. The tape 1 consists of a single continuous tape, which is fed out from the tape drive device 10, then folded back by 180 degrees in the folding device 50, and its end is fixed to the housing 20 of the tape drive device 10. Thus, the tape 1 has a folded portion 2 and a fixed end 3. At the folded portion 2, the tape 1 is bent in a direction where the convex surface 1a of the tape 1 faces outward, similar to winding onto the reel 6. Therefore, the tape 1 is fed smoothly in the folding device 50.

[0025] When the tape 1 is unwound from the tape drive unit 10, the folded portion 2 of the tape 1 moves away from the fixed end 3 (upward direction in Figure 1) according to the amount of tape 1 unwound. On the other hand, when the tape drive unit 10 winds up the tape 1, the folded portion 2 of the tape 1 moves towards the fixed end 3 (downward direction in Figure 1) according to the amount of tape 1 wound up. In this way, the folded portion 2 of the tape 1 functions as a free end, and the length between the folded portion 2 and the fixed end 3 changes as the tape drive unit 10 is driven. In other words, the portion of the tape 1 that extends from the tape guide 21 through the folded portion 2 to the fixed end 3 functions as an expandable / contractable portion 4 that expands and contracts as the tape drive unit 10 is driven. 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 expandable / contractable portion 4.

[0026] The expandable section 4 has a folded section 2 formed at its tip where the tape 1 is folded back 180 degrees, and a fixed end 3 to which the end of the tape 1 is fixed, so it is formed as a double layer with two tapes 1 overlapping. Therefore, for example, when 1 m of tape 1 is unwound from the tape drive device 10, the object to be driven 101 moves 0.5 m upward in Figure 1, and when the tape drive device 10 winds up 1 m of tape 1, the object to be driven 101 moves 0.5 m downward in Figure 1. Because the tape 1 is formed as a double layer in the expandable section 4, the rigidity in the longitudinal direction is increased, making it possible to support and drive a heavy object to be driven 101.

[0027] The expandable section 4 is provided with multiple binding plates 8, which are spaced apart in the longitudinal direction and used to bundle two tapes 1 together. As shown in Figure 4, the two tapes 1 are bundled together by the binding plates 8 so that their concave surfaces 1b face each other. The binding plates 8 have two arc-shaped guide slits 8a that are similar in shape to the outer shape of the tape 1 but slightly larger than the outer shape of the tape 1. The tape 1 slides through the guide slits 8a and is guided and fed by the guide slits 8a when the expandable section 4 expands and contracts. To allow the tape 1 to move smoothly along the guide slits 8a, bearings may be provided on the inner circumferential surface of the guide slits 8a to guide the tape 1.

[0028] As shown in Figure 1, adjacent binding plates 8 are connected to each other by a string 9, and the distance between adjacent binding plates 8 is set by the length of the string 9 connecting them. The binding plate 8 closest to the folding device 50 (the uppermost binding plate 8 in Figure 1) is attached to the case 51 of the folding device 50 by the string 9. Also, the binding plate 8 closest to the tape drive device 10 (the lowermost binding plate 8 in Figure 1) is attached to the housing 20 by the string 9. In this way, the string 9 is attached across the folding device 50 and the housing 20, supporting multiple binding plates 8. The state in which the string 9 is taut throughout is the state of the most extended telescopic section 4 (the state shown in Figure 1). A rope or wire may be used instead of the string 9.

[0029] The tape 1 of the expandable section 4 is supported by multiple binding plates 8, preventing it from bending under external force. Even if an excessive external force acts on the expandable section 4 of the tape 1 and it bends at that point, the tape 1 will return to its original straight shape due to its elastic force once the external force is removed. The spacing between adjacent binding plates 8 is arranged to gradually increase from the fixed end 3, which is the base end of the expandable section 4, to the folded-over section 2, which is the tip end. This is because a larger load acts on the expandable section 4 towards the base end. The number of binding plates 8 and the spacing between adjacent binding plates 8 are set considering the length of the expandable section 4, the weight of the driven object 101, the application of the expandable device 100, and the rigidity of the tape 1. Furthermore, if, as a result of considering these factors, binding plates 8 are unnecessary, they may be omitted.

[0030] The folding device 50 includes a case 51, a direction changing roller 52 rotatably mounted on the case 51 that changes the direction of travel of the tape 1 by 180 degrees, a plurality of guide rollers 53 that press the tape 1 against the direction changing roller 52, and a tape guide 54 provided on the case 51 that guides the tape 1 in and out of the case 51.

[0031] The tape guide 54 has two arc-shaped guide slits through which the tape 1 is slidably inserted and which guide the tape 1. The shape of the two guide slits is the same as the two guide slits 8a formed on the binding plate 8 shown in Figure 4.

[0032] The tape 1, having entered the case 51 from the tape guide 54, gradually deforms from a circular arc cross-section to a rectangular cross-section from the tape guide 54 to the direction change roller 52, and is fed along the outer surface of the direction change roller 52 in a nearly flat state. Then, from the direction change roller 52 to the tape guide 54, it gradually deforms from a rectangular cross-section to a circular arc cross-section. In this way, the direction of travel of the tape 1 is smoothly changed by the direction change roller 52. The portion of the tape 1 between the tape guide 54 and the direction change roller 52 is 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 therefore prone to bending. For this reason, it is preferable to provide a guide roller 55 in the shape transition section to guide the movement of the tape 1 in order to prevent bending of the tape 1 in the shape transition section.

[0033] Next, the tape drive unit 10, belt 30, and tension adjustment mechanism 40 will be described in detail, mainly with reference to Figures 5 to 8. The tape drive unit 10, belt 30, and tension adjustment mechanism 40 are housed in a rectangular parallelepiped housing 20. Figure 5 is a plan view of the tape drive unit 10, Figure 6 is a side view of the tape drive unit 10, Figure 7 is a bottom view of the tape drive unit 10, and Figure 8 is a schematic diagram of the area around the reel 6. In Figures 5 to 7, a portion of the housing 20 is shown open so that the inside of the housing 20 can be seen. Also, in Figure 8, the reel 6, belt 30, and tension adjustment mechanism 40, which are actually located on the back side of the support plate 70, are shown on the front side of the support plate 70 for the sake of explanation.

[0034] As shown in Figure 5, the rotating shaft 15 connecting the reel 6 and the driven gear 16 is rotatably supported across a pair of parallel support plates 70 and 71. Similarly, the rotating shaft 13 connecting the motor 11 and the drive gear 14 is rotatably supported across a pair of support plates 70 and 71. Note that in Figure 6, support plate 70 of the pair of support plates 70 and 71 is not shown.

[0035] The rotating shaft 13 is divided into a motor shaft 13a, which is the rotating shaft of the motor 11 and is rotatably supported by the support plate 70, and a gear shaft 13b, which is the rotating shaft of the drive 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 non-contact coupling. In this embodiment, the non-contact coupling is made of neodymium magnets 17a and 17b, which have high transmission torque. A gap exists 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 placing a partition material such as a Teflon® sheet in this gap, it is possible to make the space in which the motor 11 is located a watertight structure. With this configuration, the expansion joint 100 can be used when submerged in water.

[0036] The housing 20 is provided with a tape guide 21, and the tape 1 moves in and out of the housing 20 through the tape guide 21. The end of the tape 1 is attached to the outer 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 unwound from the reel 6. Note that Figure 6 shows the state in which the tape 1 is not attached to the reel 6.

[0037] As described above, since the tape 1 has great elasticity, when the tape 1 is wound in a roll on the reel 6, a force is generated that causes it to expand radially and return to its original straight shape. Therefore, when the tape 1 is wound in a roll on the reel 6, it is easy for the tape 1 to unwind, creating gaps between the tapes 1 as they are not kept in contact with each other. To counteract this unwinding, the stretching device 100 includes a belt 30 that presses the tape 1 wound in a roll on the reel 6 against the reel 6, and a tension adjustment mechanism 40 that adjusts the tension of the belt 30.

[0038] As shown in Figures 6 and 8, the belt 30 is a curved roller belt composed of multiple pieces, each consisting of a roller 31 and a roller support portion 32 that rotatably supports the roller 31, with the multiple pieces rotatably connected to one another. The belt 30 has a curved portion 30A provided along the outer circumferential surface of the tape 1 wound in a roll on the reel 6, and a straight portion 30B that guides the tape 1 extending linearly from the reel 6. The curved portion 30A of the belt 30 is provided to bend along the outer circumferential surface of the tape 1 wound in a roll on the reel 6, and surrounds the outer circumferential 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 when tension is applied by the belt 30 to the outer circumferential surface of the tape 1 wound in a roll on the reel 6, the tape 1 is guided by the multiple rotatable rollers 31, so that the winding of the tape 1 onto the reel 6 and the unwinding of the tape 1 from the reel 6 can be performed smoothly.

[0039] The housing 20 is provided with a belt guide 22 that runs along the straight section 30B of the belt 30. The end of the curved section 30A, which is one end of the belt 30, is fixed and restrained by the belt guide 22. The other end of the straight section 30B, which is the other end of the belt 30, is a free end 34 that can move freely. Since the end of the belt 30 is restrained 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 using the tension adjustment mechanism 40.

[0040] Here, as the reel 6 winds up the tape 1, the diameter d of the roll of tape 1 wound around the reel 6 (see Figure 8) increases. Hereafter, the roll of tape 1 wound around the reel 6 will be referred to as "roll of tape 1". If the thickness of the tape 1 is T, when the reel 6 makes one rotation and winds up one turn of tape 1, the diameter d of the roll of tape 1 increases by 2T. On the other hand, when the reel 6 unwinds the tape 1, the diameter d of the roll of tape 1 decreases. When the reel 6 makes one rotation and unwinds up one turn of tape 1, the diameter of the roll of tape 1 decreases by 2T. If the inner diameter of the curved portion 30A of the belt 30 does not change during the process in which the reel 6 winds up the tape 1 and the diameter d of the roll of tape 1 increases, the tension of the belt 30 will become excessively large. On the other hand, if the inner diameter of the curved portion 30A of the belt 30 does not change as the reel 6 unwinds the tape 1 and the diameter d of the rolled tape 1 decreases, the tension of the belt 30 will become excessively low, causing it to unwind. Thus, as the reel 6 winds and unwinds the tape 1, the amount of tape 1 wound by the reel 6 changes, and the diameter d of the rolled tape 1 changes. Therefore, it is necessary to adjust the tension of the belt 30 by changing the inner diameter of the curved portion 30A of the belt 30 accordingly. The tension adjustment mechanism 40 adjusts the tension of the belt 30 by changing the inner diameter of the curved portion 30A, in accordance with the amount of tape 1 wound or unwound by the reel 6. Specifically, the tension adjustment mechanism 40 adjusts the tension of the belt 30 so that it remains approximately constant in accordance with the amount of tape 1 wound or unwound by the reel 6.

[0041] As shown in Figures 6 to 8, the tension adjustment mechanism 40 includes a cam 42 that contacts a cam follower 41, which is provided on the free end 34 side of the belt 30, to determine 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 to maintain contact between the cam 42 and the cam follower 41.

[0042] The cam follower 41 is attached to the end of the straight section 30B of the belt 30 via a jig 44. The cam follower 41 is a cylindrical roller and is rotatably mounted around a rotation axis 45.

[0043] The cam 42 is rotatably mounted around the rotating shaft 46. The rotating shaft 46 is supported by a cam support plate 72 (see Figure 6) fixed to the support plate 70. The cam shape of the cam 42 that contacts the cam follower 41 is set so that the tension of the belt 30 is approximately constant according to the amount of tape 1 wound or unwound by the reel 6. Note that the cam support plate 72 is not shown in Figure 7.

[0044] The cam drive mechanism 80 includes a worm wheel 81 formed integrally with the cam 42, a worm gear 82 that meshes with the worm wheel 81, a gear 84 attached to the rotating shaft 83 of the worm gear 82, and a gear 85 (see Figure 5) attached to the rotating shaft 15 of the reel 6 that meshes with the gear 84. The rotation of the reel 6 is transmitted to the cam 42 through the gear 85, gear 84, worm gear 82, and worm wheel 81. In this way, the cam drive mechanism 80 causes the cam 42 to rotate in sync with the rotation of the reel 6.

[0045] As the reel 6 rotates and winds up the tape 1, increasing the diameter d of the rolled tape 1, the cam 42 rotates in sync with the rotation of the reel 6 (rotating counterclockwise in Figure 7) so that the free end 34 of the belt 30 moves towards the reel 6 (to the left in Figure 8), maintaining contact between the cam 42 and the cam follower 41. The cam shape of the cam 42 is set so that the tension of the belt 30 remains approximately constant according to the amount of tape 1 wound up by the reel 6, so that the tension of the belt 30 does not become excessively large.

[0046] Meanwhile, as the reel 6 rotates and unwinds the tape 1, and the diameter d of the rolled tape 1 decreases, the cam 42 rotates in sync with the rotation of the reel 6 (clockwise in Figure 7) so that the free end 34 of the belt 30 moves away from the reel 6 (to the right in Figure 8), and contact between the cam 42 and the cam follower 41 is maintained. The cam shape of the cam 42 is set so that the tension of the belt 30 is approximately constant according to the amount of tape 1 unwound by the reel 6, so that the tension of the belt 30 does not become excessively low.

[0047] In this way, the action of the cam 42 applies a nearly constant tension to the belt 30 at all times, thus preventing the tape 1 wrapped around the reel 6 from unraveling.

[0048] Figure 7 shows the state when the tape 1 is unwound from the reel 6, the telescopic section 4 is fully extended (as shown in Figure 1), the free end 34 of the belt 30 is as far away from the reel 6 as possible, and the cam 42 is rotated to its maximum extent clockwise. From the state in Figure 7, when the reel 6 winds up the tape 1, the free end 34 of the belt 30 moves to the left in Figure 7, and the cam 42 rotates counterclockwise. When the telescopic section 4 is fully retracted (as shown in Figure 2), the cam 42 rotates approximately 180 degrees from the state shown in Figure 7.

[0049] As explained above, the belt 30 has the function of preventing the tape 1 wound around the reel 6 from unraveling, as well as the function of deforming the tape 1 from an arc-shaped cross-section to a rectangular cross-section before winding it onto the reel 6. Because the tension of the belt 30 causes the tape 1 wound onto the reel 6 to be in a nearly flat state with a rectangular cross-section, it is wound onto the reel 6 stably in a roll shape. Thus, the tension of the belt 30 prevents the tape 1 from unraveling and acts to deform the tape 1 into a rectangular cross-section, and since the belt 30 has two functions, the number of parts is reduced and the structure is simplified.

[0050] The retractable device 100 further includes a moving mechanism 90 that allows the tape drive device 10, including the reel 6, to move in accordance with the change in the diameter d of the roll-shaped tape 1 corresponding to the amount of tape 1 wound by the reel 6. The moving mechanism 90 will be described in detail below, mainly with reference to Figures 8 and 9. Figure 9 is a side view of the tape drive device 10 in the same orientation as Figure 6, but differs in that it shows the support plate 70, which is omitted from the illustration in Figure 6.

[0051] As described above, the end of the curved portion 30A, which is one end of the belt 30, is fixed and restrained by the belt guide 22. Specifically, as shown in Figures 6 and 8, the roller 31a provided at the end of the multiple rollers 31 of the belt 30 is rotatably attached to the rotating shaft 23 provided at the tip of the belt guide 22. In other words, the roller 31a at the end of the belt 30 is restrained by the belt guide 22 and cannot move.

[0052] As shown in Figure 6, when the tape 1 is not wound around the reel 6, the outer 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 move as the tape 1 is wound up. Specifically, as the tape 1 is wound up, the reel 6 receives a reaction force from the roller 31a of the belt 30, which is constrained by the belt guide 22, and moves away from the roller 31a. Also, as the tape 1 is unwound, the reel 6 moves towards the roller 31a. This will be explained in more detail below.

[0053] As described above, the rotating shaft 15 of the reel 6 and driven gear 16 is supported across a pair of support plates 70 and 71, and the rotating shaft 13 of the motor 11 and driving gear 14 is also supported across a pair of support plates 70 and 71. In addition, the rotating shaft 83 (see Figure 7) of the worm gear 82 and gear 84 in the cam drive mechanism 80 is also supported across a pair of support plates 70 and 71. Furthermore, the cam 42 and worm wheel 81 are supported by a cam support plate 72 (see Figure 6) fixed to the support plate 70 via a rotating shaft 46.

[0054] As shown in Figures 5 and 7, a pair of support plates 70 and 71 are connected by a pair of connecting plates 73 and 74 provided between them. The pair of support plates 70 and 71 and the pair of connecting plates 73 and 74 constitute the frame 75 of the tape drive unit 10. The tape drive unit 10, which includes the reel 6, motor 11, transmission mechanism 12, and tension adjustment mechanism 40, is unitized via the frame 75. Here, unitization means integrating multiple components together. The unitized tape drive unit 10 moves by the movement mechanism 90 according to the amount of tape 1 wound or unwound by the reel 6. In other words, the tape drive unit 10 is movable relative to the housing 20 by the movement mechanism 90. On the other hand, the belt 30 has rollers 31a provided at its ends that are restrained by belt guides 22 provided on the housing 20.

[0055] As shown in Figures 8 and 9, the moving mechanism 90 includes a link mechanism 91 that supports the tape drive unit 10 relative to the housing 20, and a linear guide 96 that moves the tape drive unit 10 in the direction of travel of the tape 1. The link mechanism 91 and the linear guide 96 that constitute the moving mechanism 90 are provided on both sides of the tape drive unit 10 (see Figures 5 and 7). The configuration of the moving mechanism 90 provided on both sides of the tape drive unit 10 is the same. Figures 8 and 9 only show the moving mechanism 90 provided on one side (support plate 70 side), and only the moving mechanism 90 provided on the support plate 70 side will be described below.

[0056] The link mechanism 91 includes a pair of swing links 92a and 92b that are rotatably connected between the housing 20 and the tape drive unit 10 and swing while maintaining parallelism with each other, and a connecting link 93 that rotatably connects the pair of swing links 92a and 92b. One end of each pair of swing links 92a and 92b is rotatably connected to a base 26 provided on the housing 20, and the other end is rotatably connected to each end of the connecting link 93. The pair of swing links 92a and 92b are of the same length. The link mechanism 91 constitutes a parallel four-bar linkage with the base 26 as a fixed link.

[0057] The swing link 92a of the link mechanism 91 provided on the support plate 70 side and the swing link 92a of the link mechanism 91 provided on the support plate 71 side are connected to each other by a connecting plate 92c (see Figure 7), and therefore swing together. Similarly, the swing link 92b of the link mechanism 91 provided on the support plate 70 side and the swing link 92b of the link mechanism 91 provided on the support plate 71 side are connected to each other by a connecting plate 92c (see Figure 7), and therefore swing together. Thus, the link mechanism 91 provided on the support plate 70 side and the link mechanism 91 provided on the support plate 71 side operate synchronously.

[0058] The linear guide 96 is provided on the tape drive device 10 and has a rail 97 that extends linearly in the direction of travel of the tape 1. The rail 97 is fixed to a support plate 70 that constitutes the frame 75 of the tape drive device 10. The connecting link 93 of the link mechanism 91 is guided along the rail 97. Since a plurality of balls 98 are interposed between the rail 97 and the connecting link 93, the connecting link 93 moves smoothly along the rail 97. In this embodiment, the connecting link 93 itself functions as a slider guided by the rail. However, a separate slider guided along the rail 97 may be provided and the slider and the connecting link 93 may be connected.

[0059] Thus, the connecting link 93 of the link mechanism 91 is provided on the tape drive device 10 via the linear guide 96, and the pair of oscillating links 92a and 92b of the link mechanism 91 are rotatably connected to the tape drive device 10 via the connecting link 93.

[0060] As the reel 6 winds up 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, which is constrained by the belt guide 22. As a result, the tape drive unit 10, including the reel 6, attempts to move away from the roller 31a due to the action of the linear guide 96 (direction of arrow A in Figure 8). At this time, the straight section 1c of the tape 1 from the tape guide 21 to the reel 6 is supported between the belt guide 22 and the straight section 30B of the belt 30, and is also supported by the housing 20 by the tape guide 21. Therefore, the pair of swing links 92a and 92b swing in the direction of arrow C in Figure 8 so that the straight section 1c always extends in the direction of travel of the tape 1, which is the tangential direction of the rolled tape 1. In this way, due to the action of the linear guide 96 and the link mechanism 91, the tape drive unit 10, including the reel 6, moves parallel to the roller 31a (direction of arrow A in Figure 8) while maintaining an angle with respect to the direction of travel of the tape 1.

[0061] On the other hand, as the reel 6 unwinds the tape 1 and the diameter d of the rolled tape 1 decreases, the tension of the belt 30 provided by the tension adjustment mechanism 40 causes the tape drive unit 10, including the reel 6, to move toward the roller 31a due to the action of the linear guide 96 (direction of arrow B in Figure 8). At this time, the pair of swing links 92a and 92b swing toward the direction of arrow D in Figure 8 so that the straight portion 1c of the tape 1 always extends in the direction of the tape 1's travel, which is the tangential direction of the rolled tape 1. In this way, due to the action of the linear guide 96 and the link mechanism 91, the tape drive unit 10, including the reel 6, moves parallel to the roller 31a (direction of arrow B in Figure 8) while maintaining an angle with respect to the direction of the tape 1's travel.

[0062] As described above, the unitized tape drive device 10 moves in parallel while maintaining an angle with respect to the direction of travel of the tape 1, according to the amount of tape 1 wound up or unwound by the reel 6, through the action of the moving mechanism 90. In other words, the tape drive device 10 can move freely in a plane (within the plane of the paper in Figures 8 and 9) that includes the direction of travel of the tape 1 and the direction perpendicular to that direction, while maintaining an angle with respect to the direction of travel of the tape 1, according to the amount of tape 1 wound up or unwound by the reel 6. Therefore, even if the diameter d of the roll-shaped tape 1 increases or decreases with the rotation of the reel 6, the winding and unwinding of the tape 1 by the reel 6 is performed stably, and the retractable device 100 reliably extends and retracts.

[0063] The operation of the expandable device 100, configured as described above, will be explained mainly with reference to Figures 1 and 2.

[0064] When the motor 11 rotates in the forward direction and the reel 6 rotates, the tape 1 is unwound from the reel 6. As a result, the telescopic section 4 extends (extending upwards in Figure 1), and the driven object 101 attached to the folding device 50 moves upwards in Figure 1. In the fully extended state of the telescopic section 4 (as shown in Figure 1), the string 9 is taut throughout.

[0065] On the other hand, when the motor 11 drives in reverse and the reel 6 rotates, the tape 1 is wound onto the reel 6. As a result, the retractable section 4 contracts (contracts downwards in Figure 1), and the driven object 101 attached to the folding device 50 moves downwards in Figure 1. The retractable section 4 contracts to its most contracted state (shown in Figure 2) where adjacent binding plates 8 between the case 51 of the folding device 50 and the housing 20 of the tape drive device 10 come into contact with each other. In the most contracted state of the retractable section 4, the string 9 becomes loose (the string 9 is not shown in Figure 2). Although Figures 1 and 2 show the case where the retractable section 100 is positioned below the folding device 50, there are no restrictions on the orientation of the retractable section 100, and the retractable section 100 may be positioned above the folding device 50.

[0066] If the motor 11 stops while the tape 1 is being unwound from the reel 6 or while the tape 1 is being wound onto the reel 6, the reel 6 remains stopped, and the object to be driven 101 is held by the telescopic part 4. The amount of extension or retraction (stroke) of the telescopic part 4 is controlled based on the detection result of the rotation angle detector built into the motor 11. In addition, the load acting on the tape 1 is detected by a load detector built into the motor 11, and overload or bending of the tape 1 is determined based on the detection result.

[0067] The tension adjustment mechanism 40 adjusts the tension of the belt 30 to be approximately constant, depending on the amount of tape 1 wound or unwound by the reel 6. This prevents the tape 1 wound around the reel 6 from unwinding. In addition, the tape drive device 10 moves freely due to the action of the movement mechanism 90, depending on the amount of tape 1 wound or unwound by the reel 6. This ensures that the winding and unwinding of tape 1 by the reel 6 is performed stably.

[0068] The telescopic device 100 can be used as an opening and closing device for skylights, doors, or as a stay for opening and closing the rear hatch of a vehicle. Furthermore, as shown in Figure 10, instead of the driven object 101, an attachment such as a hand 102 capable of opening and closing can be attached to the folding device 50, allowing the telescopic device 100 to be used as a manipulator.

[0069] Furthermore, by attaching the tape drive unit 10 to the body via a belt or the like, and using the folding device 50 against the floor or chair seat, the telescopic device 100 can be used as an electric crutch for standing assistance and maintaining a standing posture. In addition, by attaching multiple tape drive units 10 to the body via a belt or the like, and attaching motor-driven wheels to the folding device 50, the telescopic device 100 can be used for walking assistance. Thus, the telescopic device 100 can also be used for daily living assistance.

[0070] The expandable device 100 is compact when the expandable section 4 is in its most contracted state (as shown in Figure 2), yet it has a long stroke and a high expansion / contraction ratio. Furthermore, because the expandable section 4, which is made of tape 1, has high rigidity, it can be used for a variety of applications.

[0071] The following describes modifications of the above embodiment. The following modifications are also within the scope of the present invention, and it is possible to combine the following modifications with the configuration of the above embodiment, or to combine the following modifications with each other.

[0072] (1) In the above embodiment, the end of the curved portion 30A, which is one end of the belt 30, is fixed and restrained by the belt guide 22, and the end of the straight portion 30B, which is the other end of the belt 30, is a free end that can move freely. Alternatively, as shown in Figure 11, the end of the curved portion 30A, which is one end of the belt 30, may be made a free end that can move freely, and the end of the straight portion 30B, which is the other end of the belt 30, may be restrained so that it cannot move. In this case, the belt guide 22 to which the end of the curved portion 30A of the belt 30 is fixed can be made movable, and the tension of the belt 30 can be adjusted. The tension adjustment mechanism 40 for adjusting the tension of the belt 30 may be a configuration that uses a cam, as in the above embodiment, or a rack and pinion mechanism may be used as shown in Figure 11. The rack and pinion mechanism shown in Figure 11 is configured such that the rack 48 is slid by rotating the pinion 47, and the belt guide 22 is slid via a stay 49 having a cam curved surface, via a cam follower 48a that is rotatably provided on the rack 48. Furthermore, as shown in Figure 11, the tape drive unit 10 may be configured to be suspended and supported by the housing 20 by a link mechanism 91.

[0073] (2) In the above embodiment, a configuration in which the moving mechanism 90 has a link mechanism 91 and a linear guide 96 has been described. However, the linear guide 96 is not an essential component, and the moving mechanism 90 may have only a link mechanism 91. In this configuration, it is necessary to avoid restraining the belt 30 with the belt guide 22 so that the tape drive device 10 can move freely by the operation of the link mechanism 91 of the parallel four-bar linkage according to the amount of tape 1 wound up or unwound by the reel 6. In this configuration, the connecting link 93 can be omitted, and a pair of oscillating links 92a and 92b can be rotatably connected to the support plate 70. The parallel four-bar linkage is composed of the base 26, the pair of oscillating links 92a and 92b, and the support plate 70.

[0074] (3) In the above embodiment, a configuration was described in which the moving mechanism 90 has a link mechanism 91 and a linear guide 96. Alternatively, as shown in Figure 12, the moving mechanism 90 may have a configuration that includes a first linear guide 96A which is provided along the direction in which the tape drive device 10 travels along the tape 1, and a second linear guide 96B which is connected to the first linear guide 96A and is provided along a direction perpendicular to the direction in which the tape drive device 10 travels along the tape 1 and perpendicular to the rotating shaft 15 of the reel 6. Here, "a direction perpendicular to the direction in which the tape 1 travels and perpendicular to the rotating shaft 15 of the reel 6" is the vertical direction of the paper in Figure 12. Thus, both the first linear guide 96A and the second linear guide 96B are provided perpendicular to the rotating shaft 15 of the reel. The first linear guide 96A has the same configuration as the linear guide 96 in the above embodiment, and instead of a connecting link 93, it has a slider 99 which is guided along the rail 97. The second linear guide 96B is fixed to the housing 20 and has a rail (not shown) that extends linearly in a direction perpendicular to the direction of travel of the tape 1, and a slider (not shown) that is guided along the rail. The slider 99 of the first linear guide 96A and the slider of the second linear guide 96B are connected to each other. In Figure 12, two second linear guides 96B are provided, but only one may be provided.

[0075] As the reel 6 winds up 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, which is constrained by the belt guide 22. As a result, the tape drive unit 10, including the reel 6, is guided by the first linear guide 96A and the second linear guide 96B, and the reel 6 moves in the direction away from the roller 31a (direction of arrow A). On the other hand, as the reel 6 unwinds the tape 1 and the diameter d of the rolled tape 1 decreases, the tension of the belt 30 applied by the tension adjustment mechanism 40 causes the tape drive unit 10, including the reel 6, to move in the direction closer to the roller 31a (direction of arrow B), guided by the first linear guide 96A and the second linear guide 96B. In the configuration shown in Figure 12, the tape drive unit 10 can move freely within a plane (the plane of Figure 12) that includes the direction in which the tape 1 travels and the direction perpendicular to that direction, while maintaining an angle with respect to the direction in which the tape 1 travels, according to the amount of tape 1 wound up or unwound by the reel 6. Therefore, the winding and unwinding of the tape 1 by the reel 6 is performed stably.

[0076] In the modified configuration shown in Figure 12, the first linear guide 96A is provided along the direction of travel of the tape 1, and the second linear guide 96B is provided perpendicularly to the first linear guide 96A. However, the first linear guide 96A may be provided at an angle to the direction of travel of the tape 1, and the intersection angle of the first linear guide 96A and the second linear guide 96B may be other than 90°. In other words, the first linear guide 96A and the second linear guide 96B may be provided in any way as long as they are provided perpendicularly to the rotating shaft 15 of the reel and are connected to each other in an intersecting manner.

[0077] (4) In the above embodiment, a configuration in which the cross-sectional shape of the tape 1 in the width direction is arc-shaped was described. However, the cross-sectional shape of the tape 1 is not limited to an arc shape, and may be rectangular or the like.

[0078] (5) In the above embodiment, a configuration in which the tape 1 has a folded portion 2 and a fixed end 3 has been described. Alternatively, the tape 1 may be attached to the leading end of the tape 1 without being folded. In this configuration, the expandable portion 4 may be composed of multiple tapes 1. Specifically, multiple overlapping tapes 1 may be fed out simultaneously from one tape drive device 10. Alternatively, tapes 1 fed out from multiple tape drive devices 10 may be bundled together.

[0079] (6) In the above embodiment, a configuration in which the expandable portion 4 is made of a single tape 1 that has been folded back 180 degrees has been described. As shown in Figures 13A and 13B, two tapes 1A and 1B that have been folded back 180 degrees may be arranged with a 90-degree offset so that the cross-section of the expandable portion 4 is substantially cylindrical. This can further increase the rigidity of the expandable portion 4. Figure 13A is a perspective view of the tip portion of the expandable portion 4, showing a configuration in which tapes 1A and 1B are folded back without using the folding device 50, and Figure 13B is a perspective view of the tip portion of the expandable portion 4, showing a configuration in which tapes 1A and 1B are folded back using the folding device 50. In the configuration shown in Figure 13B, similar to the configurations shown in Figures 1 and 2, direction changing rollers 52A, 52B, guide rollers 53A, 53B, and guide rollers 55A, 55B are provided inside the folding device 50 for each of tapes 1A and 1B. Note that in Figure 13B, some surfaces of the folding device 50 have been omitted so that the internal structure of the folding device 50 can be seen.

[0080] To position two tapes 1A and 1B, which have been folded back 180 degrees, with a 90-degree offset, for example, two expandable / contractable devices 100 (100A, 100B) are connected with a 90-degree offset, as shown in Figure 14. Specifically, the housings 20A and 20B of the tape drive units 10A and 10B of expandable / contractable devices 100A and 100B are connected with a 90-degree offset. Tape 1A, which is unwound from the tape drive unit 10A of expandable / contractable device 100A, is folded back by the folding device 50, and its end 3A is fixed to the housing 20A of the tape drive unit 10A. On the other hand, tape 1B, which is unwound from the tape drive unit 10B of expandable / contractable device 100B, passes inside the housing 20A of the tape drive unit 10A, is folded back by the folding device 50, and its end 3B is fixed to the housing 20A. The tape 1B, which is unwound from the tape drive unit 10B, extends along the support plate 70 shown in Figure 5 within the housing 20A and passes through the interior of the housing 20A.

[0081] As shown in Figures 13A, 13B, and 14, when using two tapes 1A and 1B, tension can be generated between the two tapes 1A and 1B at the tip of the telescopic section 4 by controlling the extension and retraction speeds of the two tapes 1A and 1B to be different. This tension can be used, for example, for the gripping force of the hand 102 (see Figure 10) or for the braking force of the wheels attached to the folding device 50.

[0082] (7) In the above embodiment, a configuration was described in which the band member that presses the tape 1, which is wound in a roll shape on the reel 6, against the reel 6 is a belt 30. However, the band member can be any member that can press the tape 1 against the reel 6, and instead of a belt 30, for example, a chain may be used.

[0083] (8) In the above embodiment, the tension adjustment mechanism 40 was described in a form having a cam follower 41 and a cam 42. 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, it may be a configuration 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.

[0084] (9) In the above embodiment, the motor 11 is described as a servo motor with a built-in rotation angle detector and load detector. Alternatively, a stroke sensor may be provided on the tape guide 21 of the housing 20 or the tape guide 54 of the folding device 50 to detect the amount of tape 1 unwound and rewound and to detect the amount of extension and retraction (stroke) of the extension and retraction section 4. Alternatively, a load detector may be provided between the fixed end 3 of the tape 1 and the housing 20 to detect the load acting on the tape 1.

[0085] (10) As shown in Figure 15, walls 22a may be provided on both sides of the belt guide 22 to accommodate the straight portion of the tape 1 and the straight portion 30B of the belt 30. This allows the straight portion of the tape 1 and the straight portion 30B of the belt 30 to move stably along the belt guide 22. Alternatively, the belt guide 22 may be provided with a rotatable roller 22b to guide the movement of the straight portion of the tape 1. The roller 22b includes a roller 22ba that guides the concave surface 1b of the tape 1 and a roller 22bb that guides both sides of the tape 1.

[0086] The configuration, operation, and effects of the embodiments of the present invention will be described below.

[0087] The retractable tape device 100 for winding and unwinding tape 1 comprises a reel 6 on which tape 1 is wound in a roll shape, a motor 11 (power source) for winding tape 1 onto the reel 6 and unwinding tape 1 from the reel 6, a unitized tape drive device 10 including the reel 6 and the motor 11, and a moving mechanism 90 that allows the tape drive device 10 to move according to the amount of tape 1 wound or unwound by the reel 6. The moving mechanism 90 has a link mechanism 91 that supports the tape drive device 10, and the link mechanism 91 has a pair of swinging links 92a, 92b that are rotatably connected to the tape drive device 10 and swing while maintaining parallel to each other.

[0088] In this configuration, even if a rotational force acts on the tape drive unit 10 according to the amount of tape wound or unwound by the reel 6, the tape drive unit 10 moves as the pair of oscillating links 92a and 92b oscillate, allowing the tape drive unit 10 to move smoothly. Therefore, the tape 1 can be wound and unwound stably.

[0089] Furthermore, the moving mechanism 90 further includes a linear guide 96 for moving the tape drive unit 10 in the direction of travel of the tape 1, the link mechanism 91 further includes a connecting link 93 that rotatably connects a pair of swing links 92a and 92b, and the linear guide 96 has a rail 97 provided on the tape drive unit 10 that extends linearly in the direction of travel of the tape 1 and guides the connecting link 93.

[0090] In this invention, the connecting link 93, which rotatably connects a pair of oscillating links 92a and 92b according to the amount of tape 1 wound or unwound by the reel 6, is guided by the rail 97 of the linear guide 96, so that the tape drive device 10 can move more smoothly.

[0091] The retractable tape device 100 for winding and unwinding tape 1 comprises a reel 6 on which tape 1 is wound in a roll shape, a motor 11 (power source) for winding tape 1 onto the reel 6 and unwinding tape 1 from the reel 6, a unitized tape drive device 10 including the reel 6 and the motor 11, and a moving mechanism 90 that allows the tape drive device 10 to move according to the amount of tape 1 wound or unwound by the reel 6. The moving mechanism 90 has a first linear guide 96A and a second linear guide 96B that are provided perpendicular to the rotating shaft 15 (rotating axis) of the reel 6 and are connected to each other in an intersecting manner.

[0092] In this configuration, even if a rotational force acts on the tape drive unit 10 according to the amount of tape 1 wound or unwound by the reel 6, the tape drive unit 10 moves along the first linear guide 96A and the second linear guide 96B, which are connected in a cross pattern, allowing the tape drive unit 10 to move smoothly. Therefore, the tape 1 can be wound and unwound stably.

[0093] Although embodiments of the present invention have been described above, these embodiments only represent 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 Symbols]

[0094] 100... Telescopic device, 1... Tape, 2... Folded section, 3... Fixed end, 4... Telescopic section, 6... Reel, 10... Tape drive device, 11... Motor (power source), 15... Rotating shaft (reel's rotation axis), 20... Housing, 22... Belt guide, 30... Belt (band member), 34... Free end of belt, 40... Tension adjustment mechanism (tension adjustment means), 70, 71... Support plate, 75... Frame, 90... Moving mechanism, 91... Link mechanism, 92a, 92b... Swivel link, 93... Connecting link, 96... Linear guide, 96A... First linear guide, 96B... Second linear guide, 97... Rail, 101... Driven object

Claims

1. A retractable device for winding and unwinding tape, A reel on which the aforementioned 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 unitized tape drive device including the reel and the power source, The tape drive device is provided with a moving mechanism that allows it to move according to the amount of tape wound or unwound by the reel, The moving mechanism has a parallel four-bar linkage that supports the tape drive device, The aforementioned parallel four-bar linkage has a pair of swinging links that are rotatably connected to the tape drive device and swing while maintaining parallelism with each other. The tape drive device is a retractable device characterized in that it moves in accordance with the amount of tape wound up or unwound by the reel, while maintaining an angle with respect to the direction of travel of the tape by the parallel four-bar linkage.

2. The expandable device according to claim 1, The moving mechanism further includes a linear guide for moving the tape drive device in the direction of travel of the tape, The aforementioned parallel quadruple link further comprises a connecting link that rotatably connects the pair of swing links, The linear guide is provided on the tape drive device and has a rail that extends linearly in the direction of travel and guides the connecting link.

3. A retractable device for winding and unwinding tape, A reel on which the aforementioned 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 unitized tape drive device including the reel and the power source, The tape drive device is provided with a moving mechanism that allows it to move according to the amount of tape wound or unwound by the reel, The moving mechanism has a first linear guide and a second linear guide that are provided perpendicular to the rotation axis of the reel and are connected to each other in an intersecting manner. The tape drive device is characterized in that, in accordance with the amount of tape wound up or unwound by the reel, it moves in a plane including the direction of travel of the tape and a direction perpendicular to that direction, while maintaining an angle with respect to the direction of travel of the tape using the first linear guide and the second linear guide.

Images