JP4428592B2 - Closely wound spring type telescopic actuator - Google Patents

Description

【００１６】
請求項６および請求項７の発明も、請求項４および請求項５の発明と全く同じ発想に基いてＣＶ密着巻バネの座屈荷重の増大が図られるが、後者ではガイドの長さが固定されているのに対して、前者ではガイドの長さもＣＶ密着巻バネの送り出しと引戻しに同期して伸縮する点に相違があり、長大ストロークが実現できる。
【００１７】
請求項６の場合は、筒体が請求項４のガイドに相当し、円弧状スリット付の底板が各筒体に取付けてあるので、筒体の長さが同一の場合のｌ値はＣＶ密着巻バネの実長を筒体の数で除した値とほぼ等しくなり、ｎ値，ｌ値とも大幅な改善を図ることができる。請求項７はガイド板を利用することにより底板の数を更に増加させたと同等の効果があり、座屈荷重が更に増大する。
【００１８】
請求項９の発明は、長手方向に等間隔で孔のあるＣＶ密着巻バネを使用し、同一ピッチのスプロケットでＣＶ密着巻バネの送り出しと引き戻しを行なうようにしたものである。請求項10は、大きな荷重力を必要とする場合には、図示しないが、ＣＶ密着巻バネを内面凹型円弧状と内面凸型円弧状のツインの支持ブロック又は板で挟むか、またはいずれか片方のブロックまたは板で押さえて、スプロケットによるＣＶ密着巻バネの送りをガイドするものである。このブロックまたは板はスプロケットの位置に長孔または溝があり、送り機構の架台に固定されている。
【００１９】
請求項11，12の発明もＣＶ密着巻バネの送り機構に関するものである。断面凹型円弧状および断面凸型円弧状の単数または複数のツインの回転ロールでＣＶ密着巻バネを挟持し、ロールの回転でＣＶ密着巻バネの送り出しと引き戻しを行なうのであるが、回転ロールは軸方向の位置によって回転半径が異なっている。従って、これに接するＣＶ密着巻バネを送る速度が接点ごとに異なり、摩擦を生ずるという問題がある。
【００２０】
この問題を解決するには、例えば、円柱状または円筒状のツインのロールでＣＶ密着巻バネを挟んで平板状に押しつぶして送ればよいが、ＣＶ密着巻バネは伸長状態で一定の限度を超えて扁平化するとその両側が反転弯曲変形する特性がある。従って、この限度内で扁平化する必要があり、前記の問題は緩和されても完全には解決できない。
【００２１】
請求項12の発明は、ＣＶ密着巻バネより扁平な円弧状断面の凹凸ツインのロールを使用すると同時にロール材質を例えばゴムのような弾性変形の特性をもつ材質で形成することにより前記問題を実用的に解決することができた。ゴムの場合、接触面にしわができて、これが前部から後部へ波のように移動する現象（シャルマック波）があり、これによって接点ごと異なる速度の影響が吸収される。この現象は、ゴムの種類，硬度，押付圧，ロール回転速度等とも関係があるが、ＣＶ密着巻バネの駆動に必要な適度の動摩擦をもたらすものである。
【００２２】
ツインの回転ロールを使用する請求項11および請求項12の場合、駆動を停止した時の荷重による逆方向へのシャルマック波の移動によるスリップを防止するため、請求項13の発明ではツインの回転ロールと直列にＣＶ密着巻バネ保持用のブレーキを設けるのである。
【００２３】
請求項14，15の発明は、ＣＶ密着巻バネの送り機構として、回転ロールのような接点ごとに送り速度が異なる問題のないベルトの平行部でＣＶ密着巻バネを挟持して駆動する発想のものである。この場合、全面を断面凹型円弧状あるいは断面凸型円弧状の一体もののベルトにするとプーリーを通過する際にラジアル方向にクラックを生じやすいので、一定間隔ごとに背面にそれぞれ断面凹型円弧状および断面凸型円弧状の台座のあるツインの回転ベルトを使用する。
【００２４】
請求項14の場合は、摩擦力でＣＶ密着巻バネを駆動するが、請求項15では、断面凹型円弧状および断面凸型円弧状の台座に突起の付いたベルトを使用し、長手方向に等間隔の孔のあるＣＶ密着巻バネを孔と同一ピッチのスプロケットで駆動するのである。
【００２５】
本発明のＣＶ密着巻バネを利用した伸縮アクチュエータの基本構成の一員としてＣＶ密着巻バネの巻き納め機構があるが、これはＣＶ密着巻バネの一端を常に数巻以上コイル状に巻かれた状態で保持する機構であって、通常は送り機構と１体のケーシングに納められている。送り機構によって引き戻されたＣＶ密着巻バネはそれ自身のバネ力によって自動的に巻き納まるので、巻き納め機構は簡単な円筒状ケースでもよいが、通常は中心に円柱または円筒状の軸を設けて巻き芯の位置がずれないような構造とする。
【００２６】
【発明の実施の形態】
次に本発明の実施の形態を例を挙げて図に拠り説明する。図１は本発明アクチュエータに使用する「ＣＶ密着巻バネ」（符号１）の一例の伸長状態を示した斜視図、図２は図１のＣＶ密着巻バネ１が自身のバネ力で内径Ｄに自然に巻き納まった状態を示した斜視図、図３は図１の伸長状態のＣＶ密着巻バネ１の背面に矢印方向の力Ｆを加えた時に反転湾曲した瞬間の状態を示したもので、この直後、図２のように巻き納まるのである。
【００２７】
図４は本発明アクチュエータの基本構成による実施の一例を示した斜視図、図５は請求項２および請求項３の本発明アクチュエータの実施の一例の斜視図、図６は図５のアクチュエータの下方の平面図、図７は図５のＡ−Ａ線矢視拡大図、図８は請求項５の本発明アクチュエータの実施の一例の斜視図、図９は請求項６の本発明伸縮アクチュエータの実施の一例の伸長状態の正断面図、図10は図９におけるＢ−Ｂ線矢視図、図11は図９におけるＣ−Ｃ線矢視図、図12は図９のアクチュエータの右側面図、図13は請求項11の本発明アクチュエータのＣＶ密着巻バネの送り機構の実施の一例の平面図、図14は図13の正面図である。
【００２８】
本発明の伸縮アクチュエータは、伸長時断面円弧状のＣＶ密着巻バネ１を利用したことを特徴としているが、この巻バネの伸長時の断面形状を図１の板厚ｔ，円弧半径ｒおよび円弧の開き角ψで規定し、この密着巻バネが自力で巻き納まったときの直径を図２に示したＤとする。
【００２９】
ＣＶ密着巻バネ１の特性として、板幅が等しい場合、座屈荷重は板厚ｔが大きいほど，円弧半径ｒが小さいほど、従ってｔ／ｒが大きなほど大きく、また開き角ψが大きいほど大きいが、それに比例して製作の難度が増し、直径Ｄも増す。従って、これら形状因子には請求項１に示した実用的な範囲があり、使用目的に応じてこの範囲で適値を選定する。
【００３０】
本発明の実施の一例を示せば、板幅50mm，ｔ＝0.4mm，ｒ＝45mm，ψ＝63°のときＤ＝114mm，支点間距離700mmにおける座屈荷重68kgfであった。また、他の一例では、板幅90mm，ｔ＝0.6mm，ｒ＝95mm，ψ＝55°のときＤ＝185mm，支点間距離700mmにおける座屈荷重163kgfであった。更に他の１例では、板幅90mm，ｔ-0.5mm，ｒ＝59.5mm，ψ＝87°のときＤ＝114mm，支点間距離1,100mmにおける座屈荷重245kgfであった。
【００３１】
図４は請求項１の本発明アクチュエータの基本構成から成る実施の一例である。図４において１は等間隔に小孔1hを等ピッチであけたＣＶ密着巻バネ、２はこの巻バネ１の送り機構で、密着巻バネ１の孔1hと同一ピッチのスプロケット2sとこれを回転するためのハンドル2hから成る。このハンドル2hの代わりにモータを使用してもよい。３はこの巻バネ１を巻き納めるドラム、４は駆動部のケーシングで、前記バネ１の巻き納め機構の一例を形成する。５はアクチュエータのヘッドブロックで、使用目的に応じて撮影機器，検査プローブ，センサー，ワーク等を取付けたり、あるいは引戸の開閉に使用する場合であれば、引戸に取付ける。この送り機構は請求項９の実施の一例でもある。
【００３２】
図５は請求項２および請求項３の発明の実施例の一例である。４本のＣＶ密着巻バネ1a，1b，1c，1dを凹側を内側にして対面配置し、頂部をクラウン６で一体化する。巻バネ1bと1dには図４の場合と同様に等間隔の孔があり、この孔と等ピッチのスプロケット2b及び2dにより伸縮駆動される。2b′はスプロケット2bを駆動するためのハンドルでモータに置換えてもよい。図６の2d′と2d″は、ハンドル2b′による回転をスプロケット2dに伝達するためのベルトとギヤーである。ＣＶ密着巻バネ1a，1b，1cおよび1dは夫々ドラム3a，3b，3cおよび3dに巻き収められる。図５および図７に示したように、４本のＣＶ密着巻バネ1a〜1dで円形に囲まれた内側には、ストリング（図示せず）で連結された円柱状のブロック４₁，４₂，４₃が一定間隔で配置され、外側にはストリング（図示せず）で連結されたリング５₁，５₂，５₃が同様に一定間隔で配置されている。スプロケット2b，2dの正回転により４本のＣＶ密着巻バネ1a〜1dで構成された円柱が伸長するに従い、下部に累積している円柱状ブロック４₁〜およびリング５₁〜はストリングによって順次引き上げられ、一定間隔に配置される。スプロケット2b，2dの逆回転によりＣＶ密着巻バネ1a〜1dで構成された円柱が短縮するに従い、ブロック４₁〜およびリング５₁〜は順次下部に累積し、各巻バネ1a〜1dは夫々ドラム3a〜3dに巻き納められてゆく。クラウン６には、目的に応じて、映像機器，検査プローブ，照明灯，アンテナ，風速計などを取付ける。この送り機構は請求項９の発明の実施の他の一例でもある。
【００３３】
図８は請求項４および請求項５の発明の実施の一例である。チャンネル８に取付けられた２本のレール7aおよび7bに跨ってベアリング付のブロック6a，6b，6cが直動する。このブロック6a〜6cには円弧状のスリットを切った板5a〜5cが取付けられている。同様のスリットを切った板5dが、駆動部ケーシング４にも固定されている。
【００３４】
図８におけるＣＶ密着巻バネ１の先端はブロック6aに固定され、板5b，5c，5dの各スリットを貫通し、スプロケット２を経て末端はドラム３に巻き納められている。この巻きバネ１には等間隔の孔1hがあり、同一ピッチのピンを周上に有するスプロケット２の正逆転により、送り出しと引き戻しが行なわれる。２′はスプロケット駆動用のモータである。ブロック6a〜6cには目的に応じて加工用のワークや工作機械のツールユニット、自動倉庫の出納物品等を載せることができる。この実施例のアクチュエータは従来のボールネジ，ラック／ピニオン，ベルト，リニヤーモーター等に比較して、安価で長大ストロークを実現できる大きな特長がある。
【００３５】
図９および図12は請求項６および請求項７の発明の実施の一例である。テレスコピックな筒体17a，17b，17c，17dには図10，図11に示したようなスリットを切った底板16a，16b，16c，16dが取付けてあり、先端を天板４に固定したＣＶ密着巻バネ１は底板16a，16b，16c，16dのスリットを貫通し、保持ブレーキ８および凹凸ツインの送りロール2a，2bを経てドラム３に巻き納められる。図12の９は送りロール回転用のモータである。天板14には目的に応じて映像機器，検査プローブ，アンテナ，照明灯，作業ロボット等を取付けることができる。図示してないが送りロール2a，2bの間には動力伝達機構があり、ロール2aと2bは同期回転する。この送り機構は請求項11および請求項12の発明の実施の一例でもある。15は駆動部ケーシングである。
【００３６】
図13および図14は、請求項11の発明の実施の一例である。図13，図14において１はＣＶ密着巻バネ、2aおよび2bは夫々ゴム製の断面凸型円弧状ロールおよび断面凹型円弧状ロール、3aおよび3bは回転軸である。図13はこの巻バネ１を挟持して送るツインの回転ロール2a，2bの平面図、図14は図13に示したロールの正面図である。この実施例ではツインの回転ロールの中心円弧の半径と巻バネの伸長時の断面円弧の半径とは等しくｒである。
【００３７】
請求項12の発明の実施例は図示しないが、この場合はツインの回転ロールの中心円弧の半径をＣＶ密着巻バネの伸長時の断面円弧の半径より大きくし、この巻バネをツインのロールで挟圧して円弧を扁平化して送り動作を行う。
【００３８】
請求項14の発明の送り機構については、実施例は図示しないが、ツインのベルトを用いた場合はツインのロールを用いた場合と比較して、ＣＶ密着巻バネの長手方向と直角の各接触点における送り速度が等しく、また長手方向の接触面積が大きいのでスリップを発生し難い大きな利点がある。
【００３９】
請求項15の発明の送り機構についても実施例は図示しないが、請求項９の送り機構と比較して、ＣＶ密着巻バネの孔と噛み合う突起の数が多いので強力な送りが可能な大きな利点がある。
【００４０】
【発明の効果】
本発明は以上の通りであって、伸縮アクチュエータを、伸長時の幅方向の断面が円弧状の密着巻バネとこの密着巻バネの送り機構およびこの密着巻バネの巻き納め機構とにより構成したので、構造がきわめて簡潔で動作が円滑であり、また、適宜のスパンで支持すれば大きな坐屈強度を発揮する前記密着巻バネを、目的に応じて単独または複数をセットで使用したり、あるいは剛性の大きなガイドに沿って直動させたり、更にはテレスコピック状に伸縮する筒体やチャンネル体に組込むなどして、伸縮アクチュエータとして合理的に利用できる構造としたから、上下に伸縮するポールや昇降装置、水平に伸縮するアームや直動機構、あるいは吊下機構等のアクチュエータとしてきわめて有用である。
【図面の簡単な説明】
【図１】 本発明アクチュエータに使用する「ＣＶ密着巻バネ」の一例の伸長状態を示した斜視図。
【図２】 図１のＣＶ密着巻バネが自身のバネ力で自然に巻き納まった状態を示した斜視図。
【図３】 図１の伸長状態のＣＶ密着巻バネの背面に矢印のように力を加えた時に反転湾曲した瞬間の状態の斜視図。
【図４】 本発明アクチュエータの基本構成による実施の一例を示した斜視図。
【図５】 請求項２および請求項３の本発明アクチュエータの実施の一例の斜視図。
【図６】 図５の平面図。
【図７】 図５のＡ−Ａ線矢視図。
【図８】 請求項５の本発明アクチュエータの実施の一例の斜視図。
【図９】 請求項６の本発明伸縮アクチュエータの実施の一例の伸長状態の正断面図。
【図10】 6aのＢ−Ｂ線矢視図。
【図11】 6cのＣ−Ｃ線矢視図。
【図12】 図９の側断面図。
【図13】 請求項11の本発明アクチュエータのＣＶ密着巻バネの送り機構の実施の一例の平面図。
【図14】 図13の正面図。
【符号の説明】
１ ＣＶ密着巻バネ
２ 巻バネの送り機構のスプロケット，ロール，ハンドル，モータ
３ 巻バネを巻き納めるドラム
４ ケーシング
４₁，４₂，４₃ 円柱状のブロック
５ アクチュエータのヘッドブロック
５₁，５₂，５₃ 連結されたリング
６ クラウン[0001]
BACKGROUND OF THE INVENTION
The present invention includes, for example, driving of a linear motion system, raising and lowering and horizontal transfer in an automatic warehouse and processing system, arm driving for a work robot, and long strokes of cameras, antennas, lights, and measuring devices in a photographing, communication, inspection, and measuring system. This relates to a telescopic actuator that is easy, lightweight, compact, and has a large stroke used for movement.
[0002]
[Prior art]
Conventional hydraulic actuators that use hydraulic pressure or pneumatic pressure have poor stroke control accuracy and require accessories such as pumps, compressors, tanks, etc., and have problems such as troublesome maintenance. The solenoid system is relatively heavy, expensive, and has a problem with the stroke length. In addition, mechanical methods such as screw type, rack and pinion type, and wire type have problems in any of stroke length, expansion / contraction ratio, load force, smoothness of operation, expansion / contraction speed, compactness, weight, etc. This is insufficient to satisfy the needs in the field of application of the present invention.
[0003]
[Problems to be solved by the invention]
An object of the present invention is to realize a telescopic actuator that is simple, lightweight, compact, has a large stroke, expansion / contraction ratio, and expansion / contraction speed, is smooth in operation, easy to control, and inexpensive, covering the drawbacks of conventional actuators.
[0004]
[Means for Solving the Problems]
The main structure of the present invention made for the purpose of solving the above-mentioned problems is a close-contact winding spring having an arc-shaped cross section in the width direction when stretched, a feed mechanism of the close-contact winding spring, and a retracting mechanism of the close-contact winding spring An expansion / contraction actuator using a contact winding spring having an arcuate cross-section when extended, wherein the contact winding spring has a ratio of the plate thickness to the arc radius of 0.006 to 0.013 , and the opening angle of the arc is 50 ° to 105 It has a cross-sectional shape of ° and is a straight straight plate with an arc cross-section in the extended state, but with one end bent, it has a characteristic that it becomes a flat cross-section when it is bent and is rolled into a cylindrical shape by itself. It is.
[0005]
The present invention has the greatest feature in that the expansion / contraction actuator utilizes a close-contact winding spring having an arcuate cross section when extended. The material of this tightly wound spring is not limited to steel as long as it has work hardening characteristics. For example, a copper-zinc alloy, a titanium / aluminum-cobalt alloy, etc. may be used. As is well known, a steel strip with an arc-shaped cross-section has a remarkably large cross-sectional moment compared to a steel strip with a flat cross section, so the buckling load against axial compression is remarkably large, which is a very favorable characteristic for an actuator. is there. However, a steel strip having an arc-shaped cross section requires a very large torque to wind it, and has a drawback that it is difficult to wind it to a small diameter.
[0006]
Therefore, in the present invention, in order to overcome this difficulty, the cross section in the width direction has an arc shape at the time of extension, but since it is wound by itself, the idea of using a close wound spring that does not require external force for winding is used as an expansion / contraction actuator. It was obtained and completed.
[0007]
In other words, this tightly wound spring is a straight plate having a large cross-sectional arc shape and a large rigidity in the extended state, but when one end is bent, it has a flat cross section and is wound in a cylindrical shape while rotating by itself. Also, when starting to wind from the fully extended state and when starting to extend from the fully wound state, a relatively large deformation torque is required, but the other end is made cylindrical while keeping one end in the extended state. If this is maintained, when this intermediate portion is extended or unwound, rewinding is performed by itself, and stretching can also be performed with a relatively small torque, and this operation is performed continuously and smoothly. There is a feature that.
[0008]
In the present invention, one end of a close-contact winding spring having an arc-shaped cross-section at the time of extension is placed in an extended state by a feed mechanism and the other end is wound around a retracting mechanism. Smooth operation as a telescopic actuator was achieved by taking advantage of the above-mentioned characteristics of the winding spring.
[0009]
As described above, it is desirable that the contact wound spring having an arcuate cross-section when stretched, which is the eye of the present invention, is kept as small as possible by itself while maintaining as high rigidity as possible in the stretched state.
[0010]
However, these are essentially contradictory properties and have processing limitations, and it is also necessary to consider the life against repeated stretching and winding. The present invention, by employing the plate thickness and cross-sectional shape of the dense Chakumaki spring is was able to practically solve these problems.
[0011]
The invention of claim 4 supplements this because the close-contact winding spring (hereinafter abbreviated as CV close-contact spring) of the present invention has a different characteristic with respect to bending in the extended state. Therefore, a plurality of CV tightly wound springs are set so that the concave surfaces face each other, and the rigidity is enhanced.
[0012]
In the invention of claim 5 , in order to realize a solid integration of a plurality of CV tightly wound springs, a cylindrical or cylindrical block having a diameter slightly larger than the inner width of the cross section surrounded by the arc is formed at regular intervals. It is arranged on the inside and devised to fit and tighten the ring at regular intervals on the outside. In this case, the block material is preferably an elastic body such as rubber.
[0013]
In the present invention, the function of the telescopic actuator is exhibited by the basic structure of claim 1, but when a large stroke is required or when a large load is to be counteracted, as in claims 4 , 5 , 6 , 7 , Combined with a mechanism that resists lateral loads, the buckling strength against axial compression was remarkably enhanced, and a telescopic actuator with a long stroke and large load force could be realized.
[0014]
The buckling load of the CV contact winding spring follows the Euler formula shown in the equation (1). However, in the invention of claim 4 , the tip of the CV contact winding spring is attached to the block, and this block is restrained by a rigid guide. Since the linear movement structure is adopted, the n value in the formula (1) changes from 1/4 in the case of a single CV tightly wound spring to 1 to 2, and the buckling load greatly increases. In the case of the invention of claim 5 , in addition to an increase in buckling load due to an increase in the n value, the l value is substantially equal to the value obtained by dividing the actual length of the CV tightly wound spring by the number of blocks with arc slits. As a result, the buckling load increases dramatically.
[0015]
[Expression 1]

[0016]
In the inventions of claims 6 and 7, the buckling load of the CV contact winding spring is increased based on the same idea as the inventions of claims 4 and 5 , but in the latter, the guide length is fixed. On the other hand, in the former, the length of the guide is different in that it expands and contracts in synchronism with the feeding and retracting of the CV contact spring, and a long stroke can be realized.
[0017]
In the case of claim 6 , since the cylinder corresponds to the guide of claim 4 and the bottom plate with the arc-shaped slit is attached to each cylinder, the l value when the length of the cylinder is the same is CV adhesion It becomes substantially equal to the value obtained by dividing the actual length of the winding spring by the number of cylinders, and can greatly improve both the n value and the l value. The seventh aspect has the same effect as the number of the bottom plates is further increased by using the guide plate, and the buckling load is further increased.
[0018]
According to the ninth aspect of the present invention, a CV contact winding spring having holes at equal intervals in the longitudinal direction is used, and the CV contact winding spring is fed and retracted by a sprocket having the same pitch. In claim 10 , when a large load force is required, although not shown, the CV contact winding spring is sandwiched between twin support blocks or plates having an inner concave arc shape and an inner convex arc shape, or one of them. The block or plate is used to guide the feeding of the CV contact winding spring by the sprocket. This block or plate has a long hole or groove at the position of the sprocket, and is fixed to the frame of the feed mechanism.
[0019]
The inventions of claims 11 and 12 also relate to a feeding mechanism for a CV contact winding spring. A CV contact winding spring is sandwiched between one or a plurality of twin rotary rolls having a concave arc shape and a cross section convex arc shape, and the CV contact winding spring is fed and retracted by rotation of the roll. The radius of rotation differs depending on the position in the direction. Therefore, different for each contact rate to send the CV adhesion coil spring in contact with this, there Ru problem causing friction.
[0020]
In order to solve this problem, for example, a CV contact winding spring may be crushed into a flat plate shape with a cylindrical or cylindrical twin roll, but the CV contact winding spring exceeds a certain limit in an extended state. When flattened, both sides have the characteristic of reverse fold deformation. Therefore, it is necessary to flatten within this limit, and even if the above problem is alleviated, it cannot be completely solved.
[0021]
The invention of claim 12 uses the roll of a concavo-convex twin with an arc-shaped cross section flatter than a CV tightly wound spring, and at the same time forms the roll material with a material having elastic deformation characteristics such as rubber, for example. It was possible to solve it. In the case of rubber, there is a phenomenon (Charmac wave) that wrinkles on the contact surface and moves like a wave from the front to the rear, thereby absorbing the influence of different speeds for each contact. This phenomenon is related to the type of rubber, hardness, pressing pressure, roll rotation speed, and the like, but brings about appropriate dynamic friction necessary for driving the CV tightly wound spring.
[0022]
For claim 11 and claim 12 using a twin rotating roll, to prevent slippage due to movement of interstitial Mac waves in the opposite direction due to the load when the stops driving, rotation twin the invention of claim 13 A brake for holding the CV tightly wound spring is provided in series with the roll.
[0023]
The inventions of claims 14 and 15 are based on the concept of driving the CV contact winding spring as a feed mechanism of the CV contact winding spring by sandwiching the CV contact winding spring at the parallel part of the belt which does not have a different feed speed for each contact such as a rotating roll. Is. In this case, if the entire surface is made of a concave cross-section arc or a convex cross-section arc belt, cracks are likely to occur in the radial direction when passing through the pulley, so that the cross-section concave arc and cross-section are formed on the back surface at regular intervals. A twin rotating belt with a circular arc base is used.
[0024]
In the case of claim 14 , the CV tightly wound spring is driven by a frictional force. In claim 15 , a belt with a protrusion on a pedestal having a concave arc shape and a convex arc shape is used. The CV tightly wound springs with holes at intervals are driven by sprockets having the same pitch as the holes.
[0025]
As a member of the basic configuration of the expansion / contraction actuator using the CV contact winding spring of the present invention, there is a winding mechanism for the CV contact winding spring. in a mechanism for holding, normally it is found housed in the feed mechanism and a body casing. Since the CV contact winding spring pulled back by the feeding mechanism is automatically wound by its own spring force, the winding mechanism may be a simple cylindrical case, but usually a column or a cylindrical shaft is provided at the center. The structure is such that the position of the winding core does not shift.
[0026]
DETAILED DESCRIPTION OF THE INVENTION
Next, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a perspective view showing an extended state of an example of a “CV contact winding spring” (reference numeral 1) used in the actuator of the present invention, and FIG. 2 shows that the CV contact winding spring 1 of FIG. FIG. 3 is a perspective view showing a state of being naturally wrapped, and FIG. 3 shows a state at the moment of reverse bending when a force F in the direction of an arrow is applied to the back surface of the extended CV contact spring 1 of FIG. Immediately after this, it is rolled up as shown in FIG.
[0027]
4 is a perspective view showing an example of implementation of the actuator of the present invention according to the basic configuration, FIG. 5 is a perspective view of an example of implementation of the actuator of the present invention of claims 2 and 3 , and FIG. 6 is a lower side of the actuator of FIG. FIG. 7 is an enlarged view taken along the line AA in FIG. 5, FIG. 8 is a perspective view of an embodiment of the actuator of the present invention of claim 5 , and FIG. 9 is an implementation of the telescopic actuator of the present invention of claim 6 . FIG. 10 is a sectional view taken along line BB in FIG. 9, FIG. 11 is a sectional view taken along line CC in FIG. 9, and FIG. 12 is a right side view of the actuator in FIG. FIG. 13 is a plan view of an embodiment of the CV tightly wound spring feed mechanism of the actuator of the present invention according to claim 11 , and FIG. 14 is a front view of FIG.
[0028]
The expansion / contraction actuator of the present invention is characterized in that it uses a CV contact winding spring 1 having a circular arc cross section when extended. The cross sectional shape of this winding spring when extended is the thickness t, arc radius r and arc of FIG. Is defined by an opening angle ψ, and the diameter when the tightly wound spring is wound by itself is defined as D shown in FIG.
[0029]
As a characteristic of the CV tightly wound spring 1, when the plate widths are equal, the buckling load increases as the plate thickness t increases, the arc radius r decreases, and accordingly t / r increases, and the opening angle ψ increases. However, the difficulty of production increases in proportion to this, and the diameter D also increases. Therefore, these form factors have a practical range shown in claim 1 , and an appropriate value is selected in this range according to the purpose of use.
[0030]
An example of the implementation of the present invention was a buckling load of 68 kgf at a plate width of 50 mm, t = 0.4 mm, r = 45 mm, ψ = 63 °, D = 114 mm, and fulcrum distance of 700 mm. In another example, the buckling load was 163 kgf at a plate width of 90 mm, t = 0.6 mm, r = 95 mm, ψ = 55 °, D = 185 mm, and fulcrum distance of 700 mm. In another example, the buckling load was 245 kgf when the plate width was 90 mm, t-0.5 mm, r = 59.5 mm, ψ = 87 °, D = 114 mm, and the distance between fulcrums was 1,100 mm.
[0031]
FIG. 4 shows an example of the basic structure of the actuator according to the first aspect of the present invention. In FIG. 4, 1 is a CV contact winding spring having small holes 1h formed at equal intervals at equal intervals, 2 is a feed mechanism of this winding spring 1, and a sprocket 2s having the same pitch as the holes 1h of the contact winding spring 1 is rotated. consisting of handle 2h for. A motor may be used instead of the handle 2h. Reference numeral 3 denotes a drum around which the winding spring 1 is wound, and reference numeral 4 denotes a casing of the driving unit, which forms an example of a winding mechanism for the spring 1. Reference numeral 5 denotes a head block of the actuator, which is attached to a sliding door if it is used for attaching a photographing device, an inspection probe, a sensor, a work, etc. depending on the purpose of use, or for opening and closing the sliding door. This feed mechanism is also an example of the embodiment of claim 9.
[0032]
FIG. 5 shows an example of embodiments of the inventions of claims 2 and 3 . Four CV tightly wound springs 1 a, 1 b, 1 c, 1 d are arranged facing each other with the concave side inward, and the top is integrated with a crown 6. As in the case of FIG. 4, the winding springs 1b and 1d have holes that are equally spaced, and are driven to expand and contract by sprockets 2b and 2d that have the same pitch as the holes. 2b 'may be replaced with a motor with a handle for driving the sprocket 2b. 6 are belts and gears for transmitting the rotation of the handle 2b 'to the sprocket 2d. The CV tightly wound springs 1a, 1b, 1c and 1d are drums 3a, 3b, 3c and 3d, respectively. 5 and 7, a cylindrical block connected by a string (not shown) on the inner side surrounded by four CV contact springs 1a to 1d in a circular shape. 4 ₁ , 4 ₂ and 4 ₃ are arranged at regular intervals, and rings 5 ₁ , 5 ₂ and 5 ₃ connected by strings (not shown) are similarly arranged at regular intervals on the outside. accordance configured cylinder is extended by four CV adhesion winding spring 1a~1d by the forward rotation of the 2d, ~ cylindrical block 4 ₁ that accumulated in the lower and the ring 51 _to the are sequentially pulled by the string, Arranged at regular intervals for reverse rotation of sprockets 2b and 2d Ri accordance CV adhesion winding cylinder made of a spring 1a~1d is shortened, block 4 ₁ and ring 51 _to the accumulated sequentially in a lower portion, each winding spring 1a~1d is housed around the respective drum 3a~3d According to the purpose, video equipment, an inspection probe, an illumination lamp, an antenna, an anemometer, etc. are attached to the crown 6. This feed mechanism is another example of the embodiment of claim 9 .
[0033]
FIG. 8 shows an example of the fourth and fifth aspects of the invention. The blocks 6a, 6b, and 6c with bearings move directly across the two rails 7a and 7b attached to the channel 8. Plates 5a to 5c having arc-shaped slits are attached to the blocks 6a to 6c. A plate 5d having a similar slit is also fixed to the drive unit casing 4.
[0034]
The tip of the CV tightly wound spring 1 in FIG. 8 is fixed to the block 6 a, passes through the slits of the plates 5 b, 5 c, 5 d, and the end is wound around the drum 3 via the sprocket 2. The winding spring 1 has equally spaced holes 1h, and is fed and pulled back by forward and reverse rotation of a sprocket 2 having pins of the same pitch on the circumference. Reference numeral 2 'denotes a motor for driving the sprocket. Depending on the purpose, the blocks 6a to 6c can be loaded with workpieces for processing, tool units of machine tools, goods stored in automatic warehouses, and the like. The actuator of this embodiment has a great advantage that it can realize a long stroke at a low price as compared with a conventional ball screw, rack / pinion, belt, linear motor or the like.
[0035]
9 and 12 show an example of the embodiments of the inventions of claims 6 and 7. FIG. The telescopic cylinders 17a, 17b, 17c and 17d are provided with bottom plates 16a, 16b, 16c and 16d having slits as shown in FIGS. The winding spring 1 passes through the slits of the bottom plates 16a, 16b, 16c and 16d, and is wound around the drum 3 through the holding brake 8 and the feed rolls 2a and 2b of the concavo-convex twin. Reference numeral 9 in FIG. 12 denotes a motor for rotating the feed roll. A video device, an inspection probe, an antenna, an illumination lamp, a working robot, and the like can be attached to the top plate 14 according to the purpose. Although not shown, there is a power transmission mechanism between the feed rolls 2a and 2b, and the rolls 2a and 2b rotate synchronously. This feed mechanism is also an example of the embodiments of claims 11 and 12 . Reference numeral 15 denotes a drive unit casing.
[0036]
13 and 14 show an example of the embodiment of the invention of claim 11 . 13 and 14, reference numeral 1 denotes a CV tightly wound spring, 2a and 2b are rubber-made convex cross-section arc-shaped rolls and cross-section concave-shaped arc-shaped rolls, and 3a and 3b are rotating shafts. FIG. 13 is a plan view of twin rotary rolls 2a and 2b which are fed with the winding spring 1 interposed therebetween, and FIG. 14 is a front view of the roll shown in FIG. In this embodiment, the radius of the center arc of the twin rotary roll and the radius of the cross-section arc when the winding spring is extended are equal r.
[0037]
Although the embodiment of the invention of claim 12 is not illustrated, in this case, the radius of the center arc of the twin rotating roll is made larger than the radius of the cross-section arc when the CV contact winding spring is extended, and this winding spring is a twin roll. Feeding operation is performed by flattening the arc by clamping.
[0038]
As for the feed mechanism of the invention of claim 14 , although the embodiment is not shown in the drawing, each contact perpendicular to the longitudinal direction of the CV tightly wound spring is compared to the case where the twin belt is used when the twin belt is used. Since the feed speeds at the points are equal and the contact area in the longitudinal direction is large, there is a great advantage that slip does not easily occur.
[0039]
Although the embodiment of the feed mechanism of the invention of claim 15 is not shown in the drawings, the number of projections meshing with the holes of the CV contact winding spring is larger than that of the feed mechanism of claim 9 , so that it is possible to perform powerful feed. There is.
[0040]
【The invention's effect】
The present invention is as described above, and the expansion / contraction actuator is constituted by a contact winding spring having an arcuate cross section in the width direction when extended, a feeding mechanism of the contact winding spring, and a winding mechanism of the contact winding spring. The above-mentioned tightly wound springs that exhibit extremely simple structure and smooth operation, and that exhibit a large buckling strength when supported by an appropriate span, can be used singly or as a set, or rigid A structure that can be used rationally as an expansion / contraction actuator by moving it directly along a large guide or by incorporating it into a telescopic tube body or channel body. It is extremely useful as an actuator such as a horizontally extending and retracting arm, a linear motion mechanism, or a suspension mechanism.
[Brief description of the drawings]
FIG. 1 is a perspective view showing an extended state of an example of a “CV contact winding spring” used in an actuator of the present invention.
FIG. 2 is a perspective view showing a state in which the CV contact winding spring of FIG. 1 is naturally wound by its own spring force.
FIG. 3 is a perspective view of a state in which a reverse curve is applied when a force is applied as indicated by an arrow to the back surface of the CV contact winding spring in an extended state in FIG. 1;
FIG. 4 is a perspective view showing an example of an embodiment according to the basic configuration of the actuator of the present invention.
FIG. 5 is a perspective view of an example of implementation of the actuator of the present invention according to claim 2 and claim 3 ;
6 is a plan view of FIG. 5. FIG.
7 is a view taken along the line AA in FIG.
8 perspective view of an example embodiment of the present invention actuator according to claim 5.
[9] a sectional front view of the extended state of an exemplary embodiment of the present invention telescopic actuator according to claim 6.
FIG. 10 is a BB line arrow view of 6a.
Fig. 11 is a view taken along line CC of 6c.
FIG. 12 is a side sectional view of FIG. 9;
FIG. 13 is a plan view of an example of an embodiment of a feed mechanism for a CV contact winding spring of the actuator of the present invention according to claim 11 ;
14 is a front view of FIG.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 CV contact | adherence winding spring 2 Sprocket, roll, handle, motor of winding spring feed mechanism 3 Drum which winds winding spring 4 Casing 4 ₁ , 4 ₂ , 4 ₃ Cylindrical block 5 Head block 5 ₁ , 5 _{2 of} actuator , 5 ₃ Linked ring 6 Crown

Claims (15)

A telescopic actuator using a close-up winding spring having an arcuate cross-section at the time of extension, comprising a close-up winding spring having an arc-shaped cross section in the width direction at the time of extension, a feed mechanism of this close-up winding spring, and a retracting mechanism of this close-up winding spring The contact winding spring has a cross-sectional shape in which the ratio of the plate thickness to the arc radius is 0.006 to 0.013 , and the opening angle of the arc is 50 ° to 105 ° . A close-contact spring-type telescopic actuator, which is a plate but has a characteristic that when one end is bent, it has a flat cross section and is wound by itself while rotating by itself.   A cross-section arc shape when extended, characterized in that it is set in a retracting mechanism so that the concave sides of the arc-shaped cross-sections of a plurality of closely wound springs having the same cross-sectional shape face each other and the tips thereof are integrated, and these springs are driven synchronously Telescopic actuator that uses a tightly wound spring.   When a plurality of closely wound springs having the same cross-sectional shape are set with the concave side of the arc-shaped cross section facing each other, and these wound springs are extended in synchronization, a columnar or cylinder connected by a string is placed inside the closely wound springs. 3. A ring-shaped close contact winding spring according to claim 1 or 2, wherein a ring conforming to the outer shape of the contact winding spring set connected by a string on the outside is arranged at a constant interval. Telescopic actuator.   A guide composed of a pipe or rail with a channel or longitudinal groove of any cross-sectional shape, a wire, etc., a block or blocks that can be moved along this guide, a tightly wound spring to drive this block, and this winding The expansion / contraction actuator using the contact winding spring having an arcuate cross-section when extended according to claim 1, comprising a spring feeding mechanism and a winding mechanism.   A plurality of blocks with arc-shaped slits for loose insertion of tightly wound springs are connected at predetermined intervals with strings or springs, one end of which is fixed to the distal end of the closely wound spring, and the other end of the tightly wound spring. The expansion / contraction actuator using the contact winding spring having an arcuate cross-section at the time of extension according to claim 1 or 4, wherein the extension is attached to the mechanism, and the blocks are interlocked with feeding and withdrawal of the contact winding spring along a guide provided appropriately.   One or more closely wound windings of arcuate slits or holes of a plurality of telescopic cylinders or channels with a bottom plate with one arcuate slit or two symmetrical or circular holes in the center and with a retaining The spring can be loosely inserted in an extended state, and one end of this tightly wound spring is fixed to a cylinder or channel with the smallest cross section, and the other end passes through a slit or hole in each bottom plate and is stored in the winding mechanism through a feed mechanism. The extension mechanism according to claim 1, wherein the feeding mechanism and the retracting mechanism are fixed to a cylinder or a channel lower part of the maximum cross section, and a plurality of telescopic cylinders or channels can be extended and retracted by feeding and pulling back the tightly wound springs. A telescopic actuator that uses a tightly wound spring with a circular arc cross section.   Between the bottom plate of a plurality of telescopic cylinders or channels, one or a plurality of guide plates with holes surrounded by arc-shaped slits or arcs similar to the bottom plate are provided, and this guide plate is connected to the front and rear bottom plates. The telescopic actuator using the tightly wound spring having an arcuate cross section when extended according to claim 1 or 6, wherein the inner surface of the cylinder or channel is slidable.   The width of the arc-shaped contact winding spring when extended is reduced continuously or stepwise toward the tip according to the size of the cross-section of a plurality of telescopic cylinders or channels by an arbitrary number of steps. An expansion / contraction actuator that uses a close-wound spring having an arcuate cross-section when stretched.   The extension according to any one of claims 1 to 8, wherein a contact winding spring having an arcuate cross-sectional shape having holes at equal intervals in the longitudinal direction is fed and pulled back by rotation of one or more sprockets having the same pitch as the holes. A telescopic actuator that uses a tightly wound spring with an arc-shaped cross section.   A single-sided concave arc shape and a single-sided convex arc shape of appropriate length around the position of the sprocket and driven by a sprocket while guiding a perforated tightly wound spring with a pair or one of blocks with a slot or groove at the sprocket position. An expansion / contraction actuator using the tightly wound spring having an arcuate cross-section when extended according to any one of claims 1 to 9.   An extended wound spring having an arc-shaped cross section is sandwiched between one or a plurality of twin rotating rolls having a concave arc shape and a convex arc shape in cross section, and the winding spring is fed and retracted by forward and reverse rotation of the roll. An expansion / contraction actuator using the contact winding spring having an arcuate cross-section when extended according to any one of claims 1 to 8.   The rotary roll having a circular arc section of one or a plurality of concavo-convex twins is formed to be elastically deformable, and the height of the circular arc is lower than the height of the arc of the closely wound spring having an arcuate cross section. The expansion / contraction actuator using the contact | adherence winding spring of the cross-section circular arc shape at the time of expansion | extension in any one of Claims 1-8, 11 made higher than the height of the limit which a winding spring curves.   An expansion / contraction actuator using a contact winding spring having an arcuate cross-section when extended according to any one of claims 1 to 8, 11 and 12, wherein a brake for holding the contact winding spring in an extended state is provided in series with a twin rotary roll.   A tightly wound spring having an arcuate cross section is sandwiched between twin rotating belts each having a concave arcuate cross section and a convex arcuate cross section pedestal on the back surface at regular intervals. An expansion / contraction actuator using the contact winding spring having an arcuate cross-section at the time of extension according to any one of claims 1 to 8, which performs feeding and withdrawal.   Protrusions that correspond to the holes of the closely wound spring having an arcuate cross-sectional arc shape with holes at equal intervals in the longitudinal direction are alternately attached to either one side or both sides of the inner concave arc shape and inner convex arc shape at equal intervals. 9. An expansion / contraction actuator using a contact winding spring having an arcuate cross-section when extended according to any one of claims 1 to 8, wherein the winding spring is fed and retracted by forward / reverse rotation of the belt by means of a twin rotating belt with a base. .

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