阅读说明：本技术 伸缩机构和移动体 (Telescopic mechanism and moving body ) 是由 古村博隆 于 2021-04-23 设计创作，主要内容包括：本发明涉及伸缩机构和移动体。具体地,提供了一种伸缩机构,其中伸缩部能够转动。根据本公开的一个方面的伸缩机构包括第一驱动源和第二驱动源,其中该第一驱动源被连接到送出/拉回部以能够传递驱动力,该第二驱动源被连接到送出/拉回部和可旋转地支撑送出/拉回部的转动部,以便能够经由齿轮组传递驱动力。当由第一驱动源传递到送出/拉回部以使送出/拉回部旋转的旋转速度等于由第二驱动源传递到送出/拉回部以使送出/拉回部旋转的旋转速度时,伸缩部经由转动部转动。当以上旋转速度彼此不同时,伸缩部伸展或收缩。(The present invention relates to a telescopic mechanism and a movable body. Specifically, a telescopic mechanism is provided in which a telescopic portion is rotatable. A telescopic mechanism according to one aspect of the present disclosure includes a first drive source connected to a send/pull-back portion so as to be able to transmit a drive force, and a second drive source connected to the send/pull-back portion and a rotating portion that rotatably supports the send/pull-back portion so as to be able to transmit the drive force via a gear train. When the rotational speed transmitted to the send/pull-out section by the first drive source to rotate the send/pull-out section is equal to the rotational speed transmitted to the send/pull-out section by the second drive source to rotate the send/pull-out section, the expansion section is rotated via the rotating section. When the above rotation speeds are different from each other, the telescopic part is extended or contracted.)

1. A telescopic mechanism including a telescopic portion that is extended when a send/pull-back portion is rotated in one direction and is contracted when the send/pull-back portion is rotated in the other direction, the telescopic mechanism comprising:

a first drive source connected to the send-out/pull-back portion so that the first drive source can transmit a drive force to the send-out/pull-back portion; and

a second drive source connected to the send/pull-back portion and a rotating portion that rotatably supports the send/pull-back portion such that the second drive source can transmit a drive force to the send/pull-back portion and the rotating portion via a gear train, wherein

When a rotational speed to be transmitted by the first drive source to the send/pull-back portion so as to rotate the send/pull-back portion is equal to a rotational speed to be transmitted by the second drive source to the send/pull-back portion so as to rotate the send/pull-back portion, the expansion and contraction portion is rotated via the rotation portion, and

the expanding/contracting portion expands or contracts when a rotational speed to be transmitted to the send/pull-out portion by the first drive source so as to rotate the send/pull-out portion is different from a rotational speed to be transmitted to the send/pull-out portion by the second drive source so as to rotate the send/pull-out portion.

2. The telescoping mechanism of claim 1, wherein:

the gear set includes:

a first gear to which a driving force is input from the second driving source; and

a planetary gear rotatably supported by the rotating portion and having a gear ratio of a first gear ratio to a second gear ratio

The planetary gear includes:

a second gear connected to the teeth formed on the inner circumferential surface of the first gear such that the second gear can transmit a driving force to the teeth formed on the inner circumferential surface of the first gear;

a third gear connected to a tooth portion formed on an outer circumferential surface of the send/pull-back section such that the third gear can transmit a driving force to the tooth portion formed on the outer circumferential surface of the send/pull-back section; and

a rotating shaft rotatably supported by the rotating portion, and the second gear and the third gear are fixed to the rotating shaft.

3. The retracting mechanism according to claim 1 or 2, wherein the retracting portion is extended when the send/retract portion is rotated in one direction, a first belt and a second belt are sent out, and the first belt and the second belt are engaged with each other and wound in a spiral shape, and the retracting portion is retracted when the send/retract portion is rotated in the other direction, the first belt and the second belt are retracted, and a state in which the first belt and the second belt are engaged with each other and wound is released.

4. A moving body comprising the telescopic mechanism according to any one of claims 1 to 3.

Technical Field

The present disclosure relates to a telescopic mechanism and a moving body, and for example, to a telescopic mechanism and a moving body including a telescopic portion that is extended when a send/pull-back portion is rotated in one direction and is contracted when the send/pull-back portion is rotated in the other direction.

Background

For example, a telescopic mechanism disclosed in japanese patent No. 4607772 includes: a stretchable portion including a first band provided with an engaging pin along a long side thereof and a second band provided with an engaging hole along a long side thereof; a send/pull-back portion in which a groove having a spiral shape is formed on an outer circumferential surface thereof and which is rotated; and a base portion supporting the telescopic portion and the send-out/pull-back portion.

In the above telescopic mechanism, when the send/pull-back portion is rotated in one direction in a state in which the engaging pin is engaged with the engaging hole so that the first belt and the second belt are offset from each other and in which the engaging pin is inserted into the groove of the send/pull-back portion, then the first belt and the second belt are pulled out and wound in a spiral shape, which causes the telescopic portion to stretch. In another aspect, when the send/pull-back section is rotated in the other direction, the first and second belts are pulled in and the state in which the first and second belts are wound is released, the stretchable section is contracted.

Disclosure of Invention

The applicant has found the following problems. Although the telescopic mechanism disclosed in japanese patent No. 4607772 has a configuration in which the telescopic part is extended or contracted, the telescopic part is not configured to rotate.

The present disclosure has been made in view of the above problems, and provides a telescopic mechanism and a moving body in which a telescopic portion is rotatable.

A telescopic mechanism according to an aspect of the present disclosure is a telescopic mechanism including a telescopic portion that is expanded when a send/pull-back portion is rotated in one direction and contracted when the send/pull-back portion is rotated in another direction, the telescopic mechanism including:

a first drive source connected to the send-out/pull-back portion so that the first drive source can transmit a drive force to the send-out/pull-back portion; and

a second drive source connected to the send/pull-back portion and a rotating portion that rotatably supports the send/pull-back portion such that the second drive source can transmit a drive force to the send/pull-back portion and the rotating portion via a gear train, wherein

When a rotational speed to be transmitted by the first drive source to the send/pull-back portion so as to rotate the send/pull-back portion is equal to a rotational speed to be transmitted by the second drive source to the send/pull-back portion so as to rotate the send/pull-back portion, the expansion and contraction portion is rotated via the rotation portion, and

the expanding/contracting portion expands or contracts when the rotational speed to be transmitted to the send/pull-out portion by the first drive source so as to rotate the send/pull-out portion is different from the rotational speed to be transmitted to the send/pull-out portion by the second drive source so as to rotate the send/pull-out portion.

With the above structure, the expansion/contraction movement and the rotation movement of the telescopic part can be achieved by the first drive part and the second drive part.

In the above-described telescopic mechanism, the elastic member is,

the gear set may include:

a first gear to which a driving force is input from a second driving source; and

a planetary gear rotatably supported by the rotation part, and the planetary gear may include:

a second gear connected to the teeth formed on the inner circumferential surface of the first gear such that the second gear can transmit the driving force to the teeth formed on the inner circumferential surface of the first gear;

a third gear connected to the teeth formed on the outer circumferential surface of the send/pull-back section such that the third gear can transmit the driving force to the teeth formed on the outer circumferential surface of the send/pull-back section; and

a rotating shaft that is rotatably supported by the rotating portion, and to which the second gear and the third gear are fixed.

In the above-described telescopic mechanism, when the send/pull-back portion is rotated in one direction, the first belt and the second belt are sent out, and the first belt and the second belt are engaged with each other and wound in a spiral shape, the telescopic portion may be extended, and when the send/pull-back portion is rotated in the other direction, the first belt and the second belt are retracted, and a state in which the first belt and the second belt are engaged with each other and wound is released, the telescopic portion may be contracted.

A moving body according to an aspect of the present disclosure includes the above-described telescopic mechanism.

According to the present disclosure, a telescopic mechanism and a moving body in which a telescopic portion is rotatable can be provided.

The above and other objects, features and advantages of the present disclosure will become more fully understood from the detailed description given herein below and the accompanying drawings which are given by way of illustration only, and thus should not be taken to limit the present disclosure.

Drawings

Fig. 1 is a perspective view schematically showing a moving body according to an embodiment;

fig. 2 is a side view schematically showing a moving body according to the embodiment;

fig. 3 is a perspective view illustrating a telescopic mechanism according to an embodiment;

fig. 4 is a plan view illustrating a telescopic mechanism according to the embodiment;

fig. 5 is a horizontal sectional view showing a telescopic mechanism according to the embodiment;

fig. 6 is a vertical sectional view showing a telescopic mechanism according to the embodiment;

fig. 7 is a schematic view for describing a telescopic part according to an embodiment;

fig. 8 is a perspective view illustrating a main shaft of the telescopic mechanism according to the embodiment;

fig. 9 is a perspective view showing a screw shaft of the telescopic mechanism according to the embodiment;

fig. 10 is a perspective view illustrating a belt guide of the retracting mechanism according to the embodiment;

fig. 11 is a perspective view illustrating a first strap holder of the telescoping mechanism according to an embodiment;

fig. 12 is a perspective view illustrating a first roller holding part of the telescopic mechanism according to the embodiment;

fig. 13 is a perspective view showing a roller unit of the telescopic mechanism according to the embodiment;

fig. 14 is a perspective view for describing a drive transmission portion of the second drive portion in the telescopic mechanism according to the embodiment;

fig. 15 is a plan view for describing a drive transmission portion of the second drive portion in the telescopic mechanism according to the embodiment; and is

Fig. 16 is a sectional view showing in an enlarged manner a region near the planetary gear of the second driving portion in the telescopic mechanism according to the embodiment.

Detailed Description

Hereinafter, specific embodiments to which the present disclosure is applied will be described in detail with reference to the accompanying drawings. However, the present disclosure is not limited to the following embodiments. Furthermore, the following description and drawings are simplified as appropriate for clarity of description.

< first embodiment >

First, a basic structure of a moving body in which the telescopic mechanism according to this embodiment is employed will be described. Fig. 1 is a perspective view schematically showing a moving body according to the embodiment. Fig. 2 is a side view schematically showing the moving body according to the embodiment.

As shown in fig. 1 and 2, the moving body 1 according to the embodiment includes a telescopic mechanism 2 and a driving section 3. The telescopic mechanism 2 includes a telescopic portion 4 and a base portion 5. The telescopic portion 4 is a telescopic cylindrical body that can be expanded/contracted, and a plate 6 is provided, for example, in an upper end portion of the telescopic portion 4, details of the telescopic portion 4 will be described later.

The base 5 supports the bellows 4 such that the bellows 4 can be expanded/contracted, although the details of the base 5 will be described later. The free caster 5a is provided in the front end portion and the rear end portion, for example, on the lower surface of the base 5. The base 5 may for example be covered by a cover 7. Fig. 1 and 2 each indicate the plate 6 and the cover 7 with alternate long and two short dashes, so that the structure of the moving body 1 becomes clear.

The drive section 3 includes left and right drive wheels 3a, a motor (drive source; not shown), and the like. The left and right drive wheels 3a, the motor, and the like are supported by the base 5. The movable body 1 moves forward, backward, or rotates by rotationally driving the left and right drive wheels 3a independently of each other, for example. Then, the expansion and contraction portion 4 is expanded or contracted in the vertical direction, whereby the plate 6 is displaced in the vertical direction. The mobile body 1 may be operated by autonomous control or by an external instruction.

Next, the structure of the telescopic mechanism 2 according to this embodiment will be described in detail. Fig. 3 is a perspective view showing the telescopic mechanism according to the embodiment. Fig. 4 is a plan view showing the telescopic mechanism according to the embodiment. Fig. 5 is a horizontal sectional view showing the telescopic mechanism according to the embodiment. Fig. 6 is a vertical sectional view showing the telescopic mechanism according to the embodiment. Fig. 7 is a schematic view for describing the expansion and contraction part according to the embodiment. Fig. 8 is a perspective view showing a main shaft and the like of the telescopic mechanism according to the embodiment. Fig. 9 is a perspective view showing a screw shaft of the telescopic mechanism according to the embodiment. Fig. 10 is a perspective view showing a belt guide of the telescopic mechanism according to the embodiment. Fig. 11 is a perspective view showing the first belt holder of the telescopic mechanism according to the embodiment. Fig. 12 is a perspective view showing the first roller holding portion of the telescopic mechanism according to the embodiment. Fig. 13 is a perspective view showing a roller unit of the telescopic mechanism according to the embodiment.

As described above, the telescopic mechanism 2 according to the embodiment includes the telescopic part 4 and the base part 5, as shown in fig. 3 to 6. As shown in fig. 7, the stretch section 4 includes a first belt 11 and a second belt 12. The first belt 11 is provided with engaging pins 11a at substantially equal intervals along opposite long sides of the first belt 11, wherein the first belt 11 is, for example, a strip-shaped body made of steel. The second belt 12 is provided with engaging holes 12a such that the engaging holes 12a correspond to the pitch of the engaging pins 11a along the opposite long sides of the second belt 12, wherein the thickness of the second belt 12 is equal to that of the first belt 11, and the second belt 12 is, for example, a strip-shaped body made of steel.

The second tape 12 is arranged inside the first tape 11 in advance, and the first tape 11 and the second tape 12 are wound in a spiral shape such that they are offset from each other, thereby forming the stretch 4. At this time, the engaging pin 11a of the first strap 11 protrudes toward the inside of the expansion and contraction portion 4, the engaging pin 11a on the upper side of the first strap 11 engages with the engaging hole 12a on the lower side of the second strap 12 arranged to be displaced upward with respect to the first strap 11, and the engaging pin 11a on the lower side of the first strap 11 engages with the engaging hole 12a on the upper side of the second strap 12 arranged to be displaced downward with respect to the first strap 11.

As shown in fig. 3 to 6, the base 5 includes a frame 21, a main shaft (rotating portion) 22, a first roller holding portion 23, a screw shaft (feeding/retracting portion) 24, a tape guide 25, a first tape holder 26, a second tape holder 27, a second roller holding portion 28, a first roller unit 29, a second roller unit 30, a first driving portion 31, and a second driving portion 32. Fig. 3 to 6 each show the frame 21 with alternate long and two short dashes, so that the structure of the telescopic mechanism 2 becomes clear.

As shown in fig. 3, the frame 21 includes a first plate 21a, a second plate 21b, and a pillar 21 c. The first plate 21a is a plate-shaped body having a substantially flat upper surface. A second plate 21b is arranged above the first plate 21a, wherein the second plate 21b is a plate-shaped body having a substantially flat upper surface. Through holes are formed in the second plate 21 b. The strut 21c couples the first plate 21a with the second plate 21b, wherein the strut 21c is provided in an edge portion of the first plate 21 a.

As shown in fig. 8, the main shaft 22 includes a cylindrical portion 22a and a flange portion 22b protruding outward from a lower end portion of the cylindrical portion 22a, and the lower end portion of the main shaft 22 is rotatably supported by the first plate 21 a. As shown in fig. 6, in a state in which the main shaft 22 is passed through the through hole of the second plate 21b in the frame 21, the upper end portion of the cylindrical portion 22a in the main shaft 22 protrudes upward from the second plate 21 b.

As shown in fig. 8, the first roller holding portion 23 is a cylindrical body, and a groove portion 23a extending in the vertical direction is formed on the outer peripheral surface of the first roller holding portion 23. The groove portions 23a are arranged at substantially equal intervals in the circumferential direction of the first roller holding portion 23, for example. The first roller holding portion 23 is fixed to an upper end portion of the cylindrical portion 22a in the main shaft 22.

As shown in fig. 9, the screw shaft 24 includes a cylindrical portion 24a and a flange portion 24 b. A groove portion 24c is formed on the outer peripheral surface of the cylindrical portion 24a, wherein the groove portion 24c has a spiral shape into which the engaging pin 11a of the first band 11 is inserted. The flange portion 24b projects outward from the lower end portion of the cylindrical portion 24 a.

Then, as shown in fig. 6, the cylindrical portion 22a of the main shaft 22 is passed through the screw shaft 24, and the screw shaft 24 is disposed between the flange portion 22b of the main shaft 22 and the first roller holding portion 23 in a state where the screw shaft 24 is rotatable with respect to the main shaft 22.

As shown in fig. 10, the tape guide 25 having a cylindrical body as its basic form includes a first portion 25a and a second portion 25b, wherein the first portion 25a has a first outer diameter, and the second portion 25b has a second outer diameter smaller than the first outer diameter and is disposed above the first portion 25 a.

An opening 25c through which the second belt 12 passes is formed in the first portion 25a of the belt guide 25. An opening 25d through which the first tape 11 passes is formed in the second portion 25b of the tape guide 25.

Then, as shown in fig. 6, the cylindrical portion 24a of the screw shaft 24 passes inside the tape guide 25, and the lower end portion of the tape guide 25 is fixed to the flange portion 24b of the screw shaft 24.

Thus, the screw shaft 24 and the tape guide 25 can rotate about the main shaft 22. At this time, a gap through which the first tape 11 overlapping the second tape 12 can pass is formed between the outer peripheral surface of the cylindrical portion 24a of the screw shaft 24 and the inner peripheral surface of the tape guide 25.

The first tape holder 26 accommodates the second tape 12 in a state before the second tape 12 is formed into the stretch section 4. As shown in fig. 11, the first belt holder 26 has a bottomed cylindrical body as its basic form, and a through hole 26a is formed in the bottom of the first belt holder 26.

Then, as shown in fig. 6, the tape guide 25 is passed through the through hole 26a of the first tape holder 26, and in a state in which the first tape holder 26 is rotatable relative to the tape guide 25, the first tape holder 26 is supported by the flange portion 24b of the screw shaft 24.

The second tape holder 27 accommodates the first tape 11 in a state before the first tape 11 is formed into the stretchable portion 4. The second tape holder 27 has substantially the same shape as the first tape holder 26, and a through hole 27a is formed in the bottom of the second tape holder 27.

As shown in fig. 6, the second tape holder 27 is arranged above the first tape holder 26. The tape guide 25 is then passed through the through hole 27a of the second tape holder 27, and in a state in which the second tape holder 27 is rotatable relative to the tape guide 25, the second tape holder 27 is supported by the step portion between the first portion 25a and the second portion 25b in the tape guide 25.

As shown in fig. 12, the second roller holding portion 28 includes a cylindrical portion 28a and a flange portion 28 b. The inner diameter of the cylindrical portion 28a is larger than the outer diameter of the first roller holding portion 23, and a groove portion 28c extending in the vertical direction is formed on the inner circumferential surface of the cylindrical portion 28 a. The groove portions 28c are arranged at substantially equal intervals in the circumferential direction of the cylindrical portion 28a, for example. The flange portion 28b is formed such that it protrudes outward from the lower end portion of the cylindrical portion 28 a.

Then, as shown in fig. 6, in a state in which the first roller holding portion 23 is passed inside the second roller holding portion 28, the flange portion 28b of the second roller holding portion 28 is fixed to the second plate 21b of the frame 21. At this time, as shown in fig. 5, the groove portion 23a of the first roller holding portion 23 and the groove portion 28c of the second roller holding portion 28 may be arranged such that they substantially oppose each other.

As shown in fig. 13, the first roller unit 29 includes a roller 29a and a fixing tool 29 b. The roller 29a is aligned in the vertical direction, wherein the roller 29a is rotatable about a rotation axis 29c extending in a substantially horizontal direction.

The fixing tool 29b supports the roller 29a via the rotation shaft 29C in a state where the roller 29a is arranged inside the fixing tool 29b, wherein the fixing tool 29b is formed in a substantially C-shape when viewed from the vertical direction. The first roller unit 29 is fitted into and fixed to the groove portion 23a of the first roller holding portion 23.

When a detailed description of the second roller unit 30 is omitted because its structure is the same as that of the first roller unit 29, the roller 30a aligned in the vertical direction is fixed to the fixing tool 30b via the rotation shaft 30c so that the roller 30a can rotate. As shown in fig. 12, the second roller unit 30 is fitted into and fixed to the groove portion 28c of the second roller holding portion 28.

At this time, a gap through which the first and second tapes 11 and 12 can pass in a state in which they overlap each other is formed between the roller 29a of the first roller unit 29 and the roller 30a of the second roller unit 30, and when the gap is viewed from the vertical direction, it is seen to substantially overlap the gap between the outer peripheral surface of the cylindrical portion 24a of the screw shaft 24 and the inner peripheral surface of the tape guide 25.

The roller 29a of the first roller unit 29 and the roller 30a of the second roller unit 30 are arranged such that when the first belt 11 and the second belt 12 pass through a gap between the roller 29a of the first roller unit 29 and the roller 30a of the second roller unit 30 in a state where the first belt 11 and the second belt 12 overlap each other, the roller 29a of the first roller unit 29 comes into contact with the inner circumferential surface of the second belt 12, and the roller 30a of the second roller unit 30 comes into contact with the outer circumferential surface of the first belt 11.

As shown in fig. 6, the first driving portion 31 includes a motor (first driving source) 31a and a drive transmitting portion 31 b. Although the motor 31a is not specifically shown in fig. 6, the motor 31a is supported by the second plate 21b of the frame 21. The drive transmission portion 31b includes a pinion 31c, a pulley 31d, and a belt 31 e.

The pinion gear 31c is fixed to an output shaft of the motor 31 a. The pulley 31d is a ring gear having a toothed portion formed on an outer peripheral surface thereof, and an inner peripheral portion of the pulley 31d is fixed to an upper end portion of the belt guide 25 so that it can transmit a driving force. A belt 31e bridges the pinion 31c and the pulley 31d, wherein the belt 31e is an annular belt having teeth formed on an inner peripheral surface thereof.

As shown in fig. 6, the second driving portion 32 includes a motor (second driving source) 32a and a drive transmitting portion 32 b. Although the motor 32a is not specifically shown in fig. 6, the motor 32a is supported by the first plate 21a of the frame 21. The drive transmission portion 32b includes a pinion gear 32c, a ring gear (first gear) 32d, external teeth portions 32e, a planetary gear 32f, and a belt 32 g.

Fig. 14 is a perspective view for describing a drive transmission portion of the second drive portion in the telescopic mechanism according to the embodiment. Fig. 15 is a plan view for describing a drive transmission portion of the second drive portion in the telescopic mechanism according to the embodiment. Fig. 16 is a sectional view showing in an enlarged manner a region in the vicinity of the planetary gear of the second drive portion in the telescopic mechanism according to the embodiment.

As shown in fig. 6, a pinion gear 32c is fixed to an output shaft of the motor 32 a. As shown in fig. 6 and 16, the ring gear 32d is rotatably supported by the flange portion 22b of the main shaft 22, and a tooth portion is formed on each of the outer peripheral surface and the inner peripheral surface of the ring gear 32 d. The external teeth portions 32e are formed on the outer peripheral surface of the flange portion 24b of the screw shaft 24.

As shown in fig. 14 and 16, the planetary gear 32f includes a rotation shaft 32h, a first gear part (second gear) 32i, and a second gear part (third gear) 32 j. The rotation shaft 32h extends in the vertical direction, and a lower end portion of the rotation shaft 32h is rotatably supported by the flange portion 22b of the main shaft 22. As shown in fig. 14 to 16, a first gear portion 32i is engaged with a toothed portion formed on an inner peripheral surface of the ring gear 32d, wherein the first gear portion 32i is a gear provided in the rotation shaft 32 h.

As shown in fig. 14 and 16, the second gear portion 32j, which is a gear provided in the rotation shaft 32h, is engaged with an external tooth portion 32e formed in the flange portion 24b of the screw shaft 24. In this case, although the second gear part 32j is arranged above the first gear part 32i in fig. 14 and 16, the second gear part 32j may be arranged below the first gear part 32 i.

In the first drive portion 31 and the second drive portion 32 described above, when the rotation speed transmitted to the screw shaft 24 by the first drive portion 31 to rotate the screw shaft 24 is equal to the rotation speed transmitted to the screw shaft 24 by the second drive portion 32 to rotate the screw shaft 24, the expansion/contraction portion 4 rotates via the main shaft 22. When the above rotation speeds are different from each other, the expansion and contraction portion 4 expands or contracts.

In other words, when the rotation speed of the screw shaft 24 for rotating the screw shaft 24 by the first driving part 31 is equal to the rotation speed of the screw shaft 24 for rotating the screw shaft 24 by the second driving part 32, the telescopic part 4 rotates via the main shaft 22. When the above rotation speeds are different from each other, the expansion and contraction portion 4 expands or contracts. The "rotation speed" is indicated by "+" and "-", where "+" indicates rotation of the screw shaft 24 in one direction and "-" indicates rotation of the screw shaft 24 in the other direction when the moving body 1 is viewed from above.

In this case, the first driving part 31 and the second driving part 32 may satisfy, for example, the following conditions. Since the expansion/contraction motion of the telescopic part 4 is a difference between the rotation amount of the main shaft 22 and the rotation amount of the screw shaft 24, it can be expressed by the following < expression 1 >.

< expression 1>

v_p＝p(ω_s-ω_m)

Symbol v_pDenotes the expansion/contraction speed of the expansion/contraction part 4, p denotes the pitch length of the groove part 24c of the screw shaft 24, ω_sRepresents the rotation speed of the screw shaft 24, and ω_mThe rotational speed of the spindle 22 is indicated.

At this time, the rotation speed ω of the frame 21 with respect to the main shaft 22_pMatching the rotational speed of the spindle 22, which can be made from<Expression 2>And (4) expressing.

< expression 2>

ω_p＝ω_m

The following < expression 3> is satisfied in accordance with the relationship of the planetary gear 32 f.

< expression 3>

Symbol Z₁Denotes the number of teeth, Z, of the second gear part 32j of the planetary gear 32f_sThe number of teeth, ω, of the external teeth 32e formed in the flange portion 24b of the screw shaft 24_yIndicates the rotational speed, ω, of the planetary gear 32f_iIndicates the rotational speed, Z, of the ring gear 32d₂Indicates the number of teeth of the first gear part 32i of the planet gear 32f, and Z_iThe number of teeth of the teeth formed on the inner peripheral surface of the ring gear 32d is indicated.

In this case, it is assumed that < expression 4> is satisfied.

< expression 4>

From the above discussion, ω can be deleted_yTo derive<Expression 5>。

< expression 5>

Therefore, < expression 7> can be derived when < expression 6> is satisfied.

< expression 6>

< expression 7>

By using an inverse matrix, < expression 8> can be satisfied.

< expression 8>

Further, according to the static relationship, < expression 9> can be satisfied.

< expression 9>

Symbol τ_sRepresenting the torque, τ, input to the screw shaft 24_iIndicating the torque, F, input to the ring gear 32d_pRepresents the expansion/contraction force of the expansion part 4, and T_PWhich represents the output torque of the frame 21 relative to the main shaft 22.

When the telescopic part 4 performs only the expansion/contraction motion, < expression 12> and < expression 13> may be satisfied if the following conditions < expression 10> and < expression 11> are satisfied.

< expression 10>

< expression 11>

< expression 12>

< expression 13>

On the other hand, when the telescopic part 4 performs only the rotational movement, if the following conditions < expression 14> and < expression 15> are satisfied, < expression 16> and < expression 17> may be satisfied.

< expression 14>

< expression 15>

< expression 16>

< expression 17>

Therefore, in both the expansion/contraction movement and the rotation movement of the telescopic part 4, the output of the motor 31a of the first drive part 31 and the output of the motor 32a of the second drive part 32 can be combined with each other.

Since the above-assumed < expression 4> is to obtain the above relationship when equivalent outputs can be obtained from the motor 31a of the first drive section 31 and the motor 32a of the second drive section 32, if, for example, the output of the motor 31a of the first drive section 31 is different from the output of the motor 32a of the second drive section 32, it may not be necessary to satisfy < expression 4 >.

Next, an operation when the telescopic part 4 of the telescopic mechanism 2 according to this embodiment is extended or contracted will be described. The motor 31a of the first driving portion 31 and the motor 32a of the second driving portion 32 are rotationally driven such that the rotational speed transmitted to the screw shaft 24 by the first driving portion 31 to rotate the screw shaft 24 becomes different from the rotational speed transmitted to the screw shaft 24 by the second driving portion 32 to rotate the screw shaft 24, the rotational driving force of the motor 31a is transmitted to the screw shaft 24 via the drive transmitting portion 31b of the first driving portion 31 and the tape guide 25, and the rotational driving force of the motor 32a is transmitted to the main shaft 22 and the screw shaft 24 via the drive transmitting portion 32b of the second driving portion 32.

Accordingly, the screw shaft 24 differentially rotates with respect to the main shaft 22, and this rotation of the screw shaft 24 causes the expansion and contraction portion 4 to expand when the first and second belts 11, 12 are drawn and wound in a spiral shape, or causes the expansion and contraction portion 4 to contract when a state in which the first and second belts 11, 12 are engaged with each other and wound is released.

At this time, in the moving body 1 and the telescopic mechanism 2 according to the embodiment, the lower portion of the telescopic part 4 is held by the roller 29a of the first roller unit 29 and the roller 30a of the second roller unit 29 in the thickness direction of the telescopic part 4, whereby the swing of the telescopic part 4 can be prevented.

Next, an operation when the telescopic part 4 of the telescopic mechanism 2 according to this embodiment is rotated will be described. The motor 31a of the first driving portion 31 and the motor 32a of the second driving portion 32 are rotationally driven so that the rotational speed transmitted to the screw shaft 24 by the first driving portion 31 to rotate the screw shaft 24 becomes equal to the rotational speed transmitted to the screw shaft 24 by the second driving portion 32 to rotate the screw shaft 24, whereby the rotational driving force of the motor 31a is transmitted to the screw shaft 24 via the drive transmitting portion 31b of the first driving portion 31 and the tape guide 25, and the rotational driving force of the motor 32a is transmitted to the main shaft 22 and the screw shaft 24 via the drive transmitting portion 32b of the second driving portion 32.

Therefore, the main shaft 22 and the screw shaft 24 rotate uniformly, and the main shaft 22, the screw shaft 24, the tape guide 25, and the extensible part 4 rotate integrally, whereby the extensible part 4 rotates relative to the base part 5.

As described above, the moving body 1 and the telescopic mechanism 2 according to the embodiment can realize the expansion/contraction movement and the rotation movement of the telescopic part 4 by the first drive part 31 and the second drive part 32. In addition, the output of the motor 31a of the first driving part 31 and the output of the motor 32a of the second driving part 32 are combined with each other, so that the expansion/contraction movement and the rotation movement of the telescopic part 4 can be achieved. Therefore, as compared with a case where two motors are used so that the extension/contraction motion and the rotation motion of the telescopic section 4 are separately achieved by the outputs of the respective motors, the motors 31a, 32a can be reduced in size, which contributes to reduction in size and weight of the mobile body 1.

The present disclosure is not limited to the above embodiments, and may be appropriately changed without departing from the spirit of the present disclosure.

For example, although the telescopic portion 4 according to the above embodiment is described using the telescopic portion as an example, the telescopic portion 4 may have any configuration as long as it can be extended/contracted by the rotation of the send/pull-back portion.

For example, although the telescopic mechanism 2 according to the above embodiment includes the first roller unit 29 and the second roller unit 30, the first roller unit 29 and the second roller unit 30 may be omitted.

For example, the first drive portion 31 and the second drive portion 32 according to the above embodiments are merely examples, and they may include a configuration in which the telescopic portion 4 is rotated via the main shaft 22 when the rotational speed transmitted to the screw shaft 24 by the first drive source 31 to rotate the screw shaft 24 is equal to the rotational speed transmitted to the screw shaft 24 by the second drive source 32 to rotate the screw shaft 24, and the telescopic portion 4 is contracted when the above rotational speeds are different from each other.

From the disclosure thus described, it will be obvious that the embodiments of the disclosure may be varied in many ways. Such variations are not to be regarded as a departure from the spirit and scope of the disclosure, and all such modifications as would be obvious to one skilled in the art are intended to be included within the scope of the following claims.