JP2001165217A - Close wind spring type extension/contraction actuator - Google Patents
Close wind spring type extension/contraction actuatorInfo
- Publication number
- JP2001165217A JP2001165217A JP34748799A JP34748799A JP2001165217A JP 2001165217 A JP2001165217 A JP 2001165217A JP 34748799 A JP34748799 A JP 34748799A JP 34748799 A JP34748799 A JP 34748799A JP 2001165217 A JP2001165217 A JP 2001165217A
- Authority
- JP
- Japan
- Prior art keywords
- arc
- section
- spring
- cross
- close
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、例えば、直動シス
テムの駆動，自動倉庫や加工システムにおける昇降およ
び水平搬送，作業ロボット用アーム駆動，撮影・通信・
検査・計測システムにおけるカメラ・アンテナ・ライト
・測定機器の長ストロークの移動等に使用する簡単，軽
量，コンパクトでストロークの大きな伸縮アクチュエー
タに関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to, for example, the drive of a linear motion system, the lifting and lowering and horizontal transfer in an automatic warehouse and a processing system, the driving of an arm for a work robot, the photographing, communication,
The present invention relates to a simple, lightweight, compact and long-stroke telescopic actuator used for moving a long stroke of a camera, an antenna, a light, and a measuring device in an inspection / measurement system.
【０００２】[0002]
【従来の技術】従来の油圧や空気圧を利用する流体圧方
式のアクチュエータはストローク制御精度が悪くポンプ
やコンプレッサー，タンク等の付属機器を必要とし、保
守に手間がかかる等の難点があった、また、リニアモー
タ方式やソレノイド方式は比較的重量が嵩み、高価でス
トローク長にも問題があった。また、スクリュー式，ラ
ックピニオン式，ワイヤ式などの機械方式はストローク
長，伸縮比，荷重力，作動の円滑性，伸縮速度，コンパ
クト性，重量等のいずれかに問題があり、用途が限定さ
れ、本発明の利用分野におけるニーズを満足させるのに
不十分である。2. Description of the Related Art Conventional fluid pressure type actuators utilizing hydraulic pressure or pneumatic pressure have disadvantages such as poor stroke control accuracy, necessitating additional equipment such as pumps, compressors, tanks, etc., and requiring time and labor for maintenance. However, the linear motor system and the solenoid system are relatively heavy, expensive, and have a problem in stroke length. Also, mechanical methods such as screw type, rack and pinion type, and wire type have problems in stroke length, expansion / contraction ratio, load force, smoothness of operation, expansion / contraction speed, compactness, weight, etc., and their applications are limited. Is not sufficient to satisfy the needs in the field of use of the present invention.
【０００３】[0003]
【発明が解決しようとする課題】本発明は従来方式のア
クチュエータの欠点をカバーする簡単，軽量，コンパク
トでストローク，伸縮比，伸縮速度が大きく、作動円滑
で制御容易かつ安価な伸縮アクチュエータを実現するこ
とを課題とするものである。SUMMARY OF THE INVENTION The present invention realizes an inexpensive telescopic actuator that is simple, lightweight, compact, has a large stroke, expansion and contraction ratio, and expansion and contraction speed, is smooth in operation, is easy to control, and covers the disadvantages of conventional actuators. That is the task.
【０００４】[0004]
【課題を解決するための手段】上記課題を解決すること
を目的としてなされた本発明の主な構成は、伸長時に幅
方向の断面が円弧状をなす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
り構成される伸長時断面円弧状の密着巻バネを利用した
ことを特徴とするものである。SUMMARY OF THE INVENTION An object of the present invention, which has been made to solve the above-mentioned problems, is to provide a contact wound spring having a circular cross section in a width direction when extended, and a feed mechanism of the contact wound spring. And a contact winding spring having an arc-shaped cross section at the time of extension constituted by a winding mechanism of the contact winding spring.
【０００５】本発明は、伸縮アクチュエータに、伸長時
断面円弧状の密着巻バネを利用するところに最大の特長
がある。この密着巻バネの材料は加工硬化の特性があれ
ば鉄鋼に限らない、例えば、銅−亜鉛系合金，チタニウ
ム・アルミニウム−コバルト系合金などでもよいが、以
後の説明は鉄鋼を例として行なう。周知のように、円弧
状断面の鋼帯は平断面の鋼帯に較べて断面二次モーメン
トが桁違いに大きいので軸圧縮に対する座屈荷重が格段
に大きく、これはアクチュエータとして非常に好ましい
特性である。しかしながら、断面円弧状の鋼帯は、これ
を巻き取るのに非常に大きなトルクを必要とし、小さな
直径に巻き取ることが困難であるという難点がある。The greatest advantage of the present invention resides in the use of a tightly wound spring having an arc-shaped cross section when extended as an extendable actuator. The material of the close-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, or the like may be used, but the following description will be made using steel as an example. As is well known, a steel strip having an arc-shaped cross section has an order of magnitude greater moment of inertia than a steel strip having a flat cross section, so that the buckling load against axial compression is extremely 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 it is difficult to wind it to a small diameter.
【０００６】そこで本発明では、この難点を克服するた
めに伸長時には幅方向の断面が円弧状をなすが、自力で
巻き納まるので、巻取りに外力を必要としない密着巻バ
ネを伸縮アクチュエータに利用する発想を得て完成をみ
たものである。Therefore, in the present invention, in order to overcome this difficulty, the cross section in the width direction at the time of extension is an arc shape, but it is wound up by itself, so that a close-wound spring that does not require an external force for winding is used for the telescopic actuator. The idea is to get the idea of completion.
【０００７】即ち、この密着巻バネは、伸長状態におい
ては断面円弧状の剛性の大きな真直の板であるが、一端
が弯曲すると平断面となり自力で回転しながら円筒状に
巻き納まる特性がある。また、完全に伸長した状態から
巻き始めるときと、完全に巻き納まった状態から伸長さ
せ始めるときに、比較的大きな変形トルクを必要とする
が、一端を伸長状態に保ちながら他端を円筒状に保って
おくと、この中間を伸長させたり巻き戻したりする場合
は巻き戻しが自力で行なわれ、引き伸しも比較的小さな
トルクで行なうことができ、しかも、この動作は連続的
にスムースに行なわれるという特長がある。[0007] That is, the close-wound spring is a straight plate having a large rigidity in an arcuate cross section in the extended state, but has a characteristic that when one end is bent, it becomes a flat cross section and turns into a cylindrical shape while rotating by itself. In addition, a relatively large deformation torque is required when starting to wind from a fully expanded state and when starting to expand from a completely unwound state, but the other end is cylindrical while keeping one end in the expanded state. Keeping this in mind, when extending or rewinding the middle, the rewinding is performed by itself, and the stretching can be performed with a relatively small torque, and this operation is performed continuously and smoothly. There is a feature that it is.
【０００８】本発明は、伸長時断面円弧状の密着巻バネ
の一端を送り機構によって伸長状態におき、他端を巻き
納め機構に巻かれた状態において、送り機構により送り
出しと引き戻しを行なうことにより、この密着巻バネの
前記の特性を活かした、伸縮アクチュエータとしてのス
ムースな作動を実現することができた。According to the present invention, one end of a contact wound spring having an arc-shaped cross section at the time of extension is set in an extended state by a feed mechanism, and the other end is wound around a winding mechanism, and then sent out and pulled back by the feed mechanism. A smooth operation as a telescopic actuator utilizing the above-mentioned characteristics of the close-wound spring could be realized.
【０００９】本発明の眼目である伸長時断面円弧状の密
着巻バネは、前記のように伸長状態においてはできる限
り高い剛性を保つ一方で、自力で可及的に小さな直径に
巻き納められることが望ましい。The close-contact wound spring having an arc-shaped cross section at the time of extension of the present invention, while maintaining the rigidity as high as possible in the extended state as described above, can be wound by itself to a diameter as small as possible. Is desirable.
【００１０】しかしながら、これらは本質的には相反す
る性質であって加工上の制約があり、また伸長と巻取り
の繰返しに対する寿命等も考慮する必要がある。そこ
で、本発明は請求項２に示す密着巻バネの板厚と断面形
状を採用することにより、これらの問題を実用的に解決
することができたのである。[0010] However, these are essentially contradictory properties and have limitations in processing, and it is necessary to consider the life and the like against repeated elongation and winding. Therefore, the present invention can solve these problems practically by adopting the plate thickness and the sectional shape of the close-wound spring described in claim 2.
【００１１】請求項３の発明は、本発明の伸長時断面円
弧状の密着巻バネ（以後、ＣＶ密着バネと略称する）が
伸長状態において凸面側と凹面側が曲げに関して異なる
特性を持つので、これを補完するため複数のＣＶ密着巻
バネを凹面が対面するようにセットし、剛性の強化を図
ったものである。According to a third aspect of the present invention, the contact wound spring having an arc-shaped cross section at the time of extension (hereinafter abbreviated as CV contact spring) of the present invention has different characteristics in bending between the convex side and the concave side in the extended state. In order to complement the above, a plurality of CV close-wound springs are set so that the concave surfaces face each other to enhance the rigidity.
【００１２】請求項４の発明は、複数のＣＶ密着巻バネ
の堅固な一体化を実現するために、円弧で囲まれた断面
の内幅より直径が僅かに大きい円柱状または円筒状のブ
ロックを一定間隔で内側に配置し、外側には一定間隔で
リングを嵌めて締めつけるように工夫したものである。
この場合、ブロックの材質は、ゴムのような弾性体が好
ましい。According to a fourth aspect of the present invention, a columnar or cylindrical block having a diameter slightly larger than the inner width of a section surrounded by an arc is provided in order to realize a solid integration of a plurality of CV close-wound springs. It is arranged so that it is arranged inside at regular intervals and the ring is fitted and tightened at regular intervals outside.
In this case, the material of the block is preferably an elastic body such as rubber.
【００１３】本発明では、請求項１の基本構成により伸
縮アクチュエータの機能を発揮させるが、大きなストロ
ークを必要とする場合や大きな荷重に対抗する場合に
は、請求項５，６，７，８のように、横荷重に対抗する
機構と組合わせることにより、軸圧縮に対する座屈強度
を格段に強化し、長ストロークで荷重力の大きな伸縮ア
クチュエータを実現することができた。According to the present invention, the function of the telescopic actuator is exerted by the basic structure of claim 1. However, when a large stroke is required or when a large load is to be countered, the structure of claims 5, 6, 7 and 8 is adopted. As described above, by combining with a mechanism against a lateral load, the buckling strength against axial compression is remarkably enhanced, and a telescopic actuator having a long stroke and a large load force can be realized.
【００１４】ＣＶ密着巻バネの座屈荷重は式(1)に示す
オイラー式に従うが、請求項５の発明では、ＣＶ密着巻
バネの先端がブロックに取付けられ、このブロックが剛
性の大きなガイドに拘束されて直動する構造にしたか
ら、(1)式におけるｎ値はＣＶ密着巻バネ単独の場合の
１／４が１〜２に変わり座屈荷重は大幅に増大する。請
求項６の発明の場合は、ｎ値が上がることによる座屈荷
重の増大に加えて、ｌ値がＣＶ密着巻バネの実長を円弧
状スリット付のブロックの数で除した値とほぼ等しくな
るので、座屈荷重は更に飛躍的に増大する。The buckling load of the CV contact wound spring complies with the Euler equation shown in the equation (1). In the invention of claim 5, the tip of the CV contact wound spring is attached to a block, and this block is connected to a guide having a large rigidity. Since the structure is such that it is constrained and moves linearly, the value of n in equation (1) is changed from 1/4 in the case of the CV close-wound spring alone to 1 to 2, and the buckling load is greatly increased. In the case of the invention of claim 6, in addition to the increase of the buckling load due to the increase of the n value, the l value is substantially equal to the value obtained by dividing the actual length of the CV close-wound spring by the number of blocks having the arc-shaped slits. Therefore, the buckling load further increases dramatically.
【００１５】[0015]
【数１】 (Equation 1)
【００１６】請求項７および請求項８の発明も、請求項
５および請求項６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。According to the seventh and eighth aspects of the invention, the buckling load of the CV close-wound spring is increased based on the same idea as in the fifth and sixth aspects of the invention. In contrast, the former has a difference in that the length of the guide expands and contracts in synchronism with the feeding and retraction of the CV contact wound spring, and a long stroke can be realized.
【００１７】請求項７の場合は、筒体が請求項５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
８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。In the case of claim 7, since the cylindrical body corresponds to the guide of claim 5, and the bottom plate with the arc-shaped slit is attached to each cylindrical body, the l value when the length of the cylindrical body is the same is set. Is almost equal to the value obtained by dividing the actual length of the CV contact wound spring by the number of cylinders,
Significant improvements can be achieved in both the n value and the l value. According to the eighth aspect, the use of the guide plate has the same effect as that when the number of bottom plates is further increased, and the buckling load is further increased.
【００１８】請求項10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11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。According to a tenth aspect of the present invention, a CV close-wound spring having holes at equal intervals in the longitudinal direction is used, and the CV close-wound spring is sent out and pulled back by sprockets having the same pitch. In the case where a large load force is required, the CV contact wound spring is sandwiched between a twin support block or a plate having an inner concave arc shape and an inner convex arc shape, or one of the two is not shown. Of the CV close-wound spring by the sprocket. This block or plate has an elongated hole or groove at the position of the sprocket, and is fixed to the frame of the feed mechanism.
【００１９】請求項12，13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Ｃ
Ｖ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。（図15，図
16参照）The inventions of claims 12 and 13 also relate to a feed mechanism of a CV close-wound spring. One or more twin rotating rolls with concave arcuate cross section and convex arcuate cross section C
The V-contact wound spring is sandwiched, and the CV-contact wound spring is sent out and pulled back by the rotation of the roll. The rotating radius of the rotating roll differs depending on the position in the axial direction. Accordingly, there is a problem that the speed at which the CV contact wound spring is brought into contact with the contact varies depending on the contact point, causing friction. (Fig. 15, Fig.
16)
【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。In order to solve this problem, for example, the CV contact wound spring may be crushed into a flat plate shape by sandwiching the CV contact wound spring with a cylindrical or cylindrical twin roll. When flattening beyond the limit, both sides have the characteristic of inverting and deforming. Therefore, it is necessary to flatten within this limit, and the above-mentioned problem cannot be completely solved even if it is alleviated.
【００２１】請求項13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。The invention according to claim 13 is characterized in that the roll is formed of a material having elastic deformation characteristics such as rubber, for example, while using a roll of uneven twins having a flattened arc-shaped cross section from a CV contact wound spring. The problem could be solved practically. In the case of rubber, the contact surface is wrinkled,
There is a phenomenon (Charmac wave) in which this moves like a wave from the front part to the rear part, and thereby the influence of the speed different for each contact point is absorbed. Although this phenomenon is related to the type of rubber, hardness, pressing pressure, roll rotation speed, and the like, it brings about an appropriate amount of dynamic friction required for driving the CV close-wound spring.
【００２２】ツインの回転ロールを使用する請求項12お
よび請求項13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14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。In the case of the twelfth and thirteenth embodiments using twin rotating rolls, the invention according to the fourteenth embodiment prevents the slip due to the movement of the Charmac wave in the opposite direction due to the load when the driving is stopped. A brake for holding the CV tightly wound spring is provided in series with the twin rotary rolls.
【００２３】請求項15，16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。According to a fifteenth or sixteenth aspect of the present invention, as the feed mechanism for the CV close-wound spring, the CV close-wound spring is sandwiched and driven by a parallel portion of a belt such as a rotating roll having a different feed speed for each contact. It is the idea of doing. In this case, if the whole surface is formed as an integral belt having a concave arcuate cross section or a convex arcuate cross section, cracks are likely to occur in the radial direction when passing through the pulley, so that the concave arcuate cross section and the convex cross section are provided on the back at regular intervals. Use a twin rotating belt with an arc-shaped base.
【００２４】請求項15の場合は、摩擦力でＣＶ密着巻バ
ネを駆動するが、請求項16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。In the case of claim 15, the CV contact wound spring is driven by a frictional force. In the case of claim 16, a belt having projections on a pedestal having a concave arcuate cross section and a convex arcuate cross section is used,
A CV close-wound spring having holes at regular intervals in the longitudinal direction is driven by sprockets having the same pitch as the holes.
【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され
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。As a member of the basic configuration of the telescopic actuator using the CV contact wound spring of the present invention, there is a winding mechanism of the CV contact wound spring. This is a mechanism for holding in a slid state, and is usually housed in a feed mechanism and a single casing. Since the CV close-wound spring pulled back by the feed mechanism is automatically wound up by its own spring force,
Although the winding mechanism may be a simple cylindrical case, it is usually provided with a column or a cylindrical shaft at the center so that the position of the winding core does not shift.
【００２６】[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。DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will now be described with reference to the drawings by taking examples. FIG. 1 is a perspective view showing an extended state of an example of a "CV close-wound spring" (reference numeral 1) used in the actuator of the present invention. FIG. 2 is a view showing the CV close-wound spring 1 of FIG. FIG. 3 is a perspective view showing a state in which the CV is wound into a natural state. FIG. Immediately after, it is wound up as shown in FIG.
【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３および
請求項４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６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７
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12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。FIG. 4 is a perspective view showing an embodiment of the basic structure of the actuator of the present invention, FIG. 5 is a perspective view of an embodiment of the actuator of the present invention according to claims 3 and 4, and FIG. FIG. 7 is a plan view showing the lower portion of the actuator.
5 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 according to claim 6, and FIG.
9 is a front sectional view of the telescopic actuator according to an embodiment of the present invention in an extended state, FIG. 10 is a view taken along a line BB in FIG. 9, FIG. 11 is a view taken along a line CC in FIG. 9, and FIG. FIG. 13 is a right side view of the actuator of FIG. 13, FIG. 13 is a plan view of an example of an embodiment of a feed mechanism of the CV contact wound spring of the actuator of the present invention, and FIG.
FIG. 14 is a front view of FIG.
【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。The telescopic actuator of the present invention is characterized by utilizing the CV contact wound spring 1 having an arc-shaped cross section when extended. The cross-sectional shape of this coil spring when extended is represented by a plate thickness t, an arc radius shown in FIG. r and the opening angle 円 of the arc, and the diameter when this close-wound spring is wound by itself is D shown in FIG.
【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２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。As a characteristic of the CV contact wound spring 1, when the plate width is equal, the buckling load increases as the plate thickness t increases, and the arc radius r increases.
Is smaller, that is, the larger the t / r, and the larger the opening angle ψ, the larger the difficulty. In proportion to this, the difficulty of manufacturing increases and the diameter D also increases. Therefore, these form factors have a practical range as described in claim 2, and appropriate values are selected within this range according to the purpose of use.
【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-0.5
mm，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。An example of the embodiment of the present invention is as follows.
When t = 0.4 mm, r = 45 mm, and ψ = 63 °, D = 114 mm, and the buckling load at a fulcrum distance of 700 mm was 68 kgf. In another example, the plate width is 90 mm, t = 0.6 mm, r = 95 mm, ψ = 55.
Buckling load at D = 185mm and fulcrum distance 700mm
It was 163 kgf. In still another example, the plate width is 90 mm, t-0.5
mm, r = 59.5 mm, D = 114 mm when ψ = 87 °, and the buckling load was 245 kgf at a fulcrum distance of 1,100 mm.
【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
ドルで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10の実施の一例でもある。FIG. 4 shows an embodiment of the basic structure of the actuator according to the present invention. In FIG. 4, reference numeral 1 denotes a CV close-wound spring in which small holes 1h are formed at equal intervals at equal intervals.
Is a feed mechanism for the coil spring 1 and is composed of a sprocket 2s having the same pitch as the hole 1h of the close contact coil spring 1 and a handle 2h for rotating the sprocket 2s. A motor may be used instead of the handle 2h. Reference numeral 3 denotes a drum for winding the winding spring 1, and reference numeral 4 denotes a casing of a driving unit, which forms an example of a mechanism for winding the spring 1. Reference numeral 5 denotes a head block of an actuator.
If it is used to mount a sensor, work, etc., or to open and close a sliding door, attach it to the sliding door. This feed mechanism is also an example of the embodiment of claim 10.
【００３２】図５は請求項３および請求項４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５1，５2，５
3が同様に一定間隔で配置されている。スプロケット2
b，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10の発明の実施の他の一例でもある。FIG. 5 shows an embodiment of the third and fourth aspects of the present invention. Four CV contact wound springs 1a, 1b, 1c,
1d is arranged with the concave side facing inward, and the top is integrated with the crown 6. The wound springs 1b and 1d have equally spaced holes as in the case of FIG. 4, and the sprockets 2b and
It is driven to expand and contract by 2d. 2b 'is a handle for driving the sprocket 2b, which may be replaced by a motor. In FIG.
2d ′ and 2d ″ use sprockets for rotation by handle 2b ′
Belt and gear for transmitting to 2d. The CV close-wound springs 1a, 1b, 1c and 1d are drums 3a, 3b, 3c and
Wound in 3d. As shown in FIGS. 5 and 7,
The inside surrounded circularly four CV adhesion coil spring 1 a to 1 d, string cylindrical block 4 1 connected (not shown), 4 2, 4 3 are arranged at regular intervals, the outer Have rings 5 1 , 5 2 , 5 connected by strings (not shown)
3 are likewise arranged at regular intervals. Sprocket 2
b, in accordance with a cylinder composed of four CV adhesion winding spring 1a~1d is expanded 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 Are arranged at regular intervals. Sprocket 2b, in accordance with a cylinder made of a CV adhesion winding spring 1a~1d by reverse rotation of 2d is shortened, block 4 1 and ring 51 to the accumulated sequentially in a lower portion, each winding spring 1a~1d are each drum 3a Wrapped around ~ 3d. Depending on the purpose, the crown 6 may be equipped with video equipment, inspection probes,
Attach an antenna, anemometer, etc. This feed mechanism is another example of the embodiment of the invention of claim 10.
【００３３】図８は請求項５および請求項６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，6
b，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。FIG. 8 shows an embodiment of the invention according to claims 5 and 6. Blocks 6a, 6 with bearings over two rails 7a and 7b attached to channel 8
b and 6c move directly. Plates 5a to 5c having arcuate slits are attached to the blocks 6a to 6c. A plate 5d with a similar slit is also fixed to the drive unit casing 4.
【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。The distal end of the CV contact wound spring 1 shown in FIG. 8 is fixed to the block 6a, passes through the slits of the plates 5b, 5c, 5d, and is wound around the drum 3 via the sprocket 2. The wound spring 1 has holes 1h at equal intervals, and the sprocket 2 having pins of the same pitch on its circumference is rotated forward and backward to feed and retract. 2 'is a motor for driving the sprocket. In the blocks 6a to 6c, a work for processing, a tool unit of a machine tool, an article to be delivered and received from an automatic warehouse, and the like can be placed according to the purpose. The actuator of this embodiment uses a conventional ball screw, rack /
Compared to pinions, belts, linear motors, etc., it has the major feature of being inexpensive and achieving a long stroke.
【００３５】図９および図12は請求項７および請求項８
の発明の実施の一例である。テレスコピックな筒体17
a，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，16
b，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12および請求項13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。FIGS. 9 and 12 show claims 7 and 8.
It is an example of the embodiment of the invention of the present invention. Telescopic cylinder 17
The bottom plates 16a, 16b, 16c, and 16d with slits as shown in FIGS. 10 and 11 are attached to a, 17b, 17c, and 17d, respectively. Bottom plate 16a, 16
After passing through the slits of b, 16c and 16d, it is wound around the drum 3 via the holding brake 8 and the feed rolls 2a and 2b of the uneven twin. Reference numeral 9 in FIG. 12 is a motor for rotating the feed roll. Imaging equipment, inspection probes,
Antenna, lighting, work robot, etc. can be installed. 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 embodiment of the inventions of claims 12 and 13. Reference numeral 15 denotes a drive unit casing.
【００３６】図13および図14は、請求項12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。FIGS. 13 and 14 show an embodiment of the present invention. 13 and 14, reference numeral 1 denotes a CV close-wound spring, 2a and 2b denote rubber rolls having a convex cross section and a concave arc cross section made of rubber, respectively, and 3a and 3b denote rotating shafts. FIG. 13 is a plan view of twin rotary rolls 2a and 2b that sandwich and feed the winding spring 1, and FIG. 14 is a front view of the roll shown in FIG. In this embodiment, the radius of the center circular arc of the twin rotary roll and the radius of the cross-sectional circular arc when the winding spring is extended are equal to r.
【００３７】請求項13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。Although an embodiment of the invention of claim 13 is not shown,
In this case, the radius of the center arc of the twin rotating roll is CV
The radius of the cross-sectional arc at the time of extension of the close-wound spring is made larger, and this winding spring is pressed by twin rolls to flatten the arc and perform the feeding operation.
【００３８】請求項15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。Although the embodiment of the feed mechanism according to the fifteenth aspect is not shown, when the twin belt is used, it is perpendicular to the longitudinal direction of the CV contact wound spring as compared with the case where the twin roll is used. Since the feeding speed at each contact point is the same, and the contact area in the longitudinal direction is large, there is a great advantage that slip does not easily occur.
【００３９】請求項16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10の送り機構と比較して、Ｃ
Ｖ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。Although the embodiment of the feed mechanism according to the sixteenth aspect is not shown, the C mechanism is different from the feed mechanism according to the tenth aspect.
Since the number of projections that mesh with the holes of the V-contact wound spring is large, there is a great advantage that powerful feeding is possible.
【００４０】[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。As described above, the present invention is directed to a telescopic actuator in which a cross-section in the width direction at the time of extension is an arc-shaped contact wound spring, a feed mechanism of the contact wound spring, and a retracting mechanism of the contact wound spring. The structure is extremely simple, the operation is smooth, and the close-wound spring, which exhibits a large buckling strength if supported at an appropriate span, is used alone or in combination according to the purpose. Or can be moved linearly along a guide with high rigidity, or even assembled into a telescopically expanding or contracting cylinder or channel, so that it can be used reasonably as a telescopic actuator. Poles and lifting equipment,
It is extremely useful as an actuator such as an arm that expands and contracts horizontally, a linear motion mechanism, or a suspension mechanism.
【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。FIG. 1 is a perspective view showing an extended state of an example of a “CV contact wound spring” used in the actuator of the present invention.
【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。FIG. 2 is a perspective view showing a state in which the CV close-wound spring shown in FIG. 1 is naturally wound up by its own spring force.
【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。FIG. 3 is a perspective view of a state at the moment when the CV close-wound spring in FIG.
【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。FIG. 4 is a perspective view showing an example of an embodiment according to the basic configuration of the actuator of the present invention.
【図５】請求項３および請求項４の本発明アクチュエー
タの実施の一例の斜視図。FIG. 5 is a perspective view of an embodiment of the actuator according to the third and fourth aspects of the present invention.
【図６】図５の平面図。FIG. 6 is a plan view of FIG. 5;
【図７】図５のＡ−Ａ線矢視図。FIG. 7 is a view taken along line AA of FIG. 5;
【図８】請求項６の本発明アクチュエータの実施の一例
の斜視図。FIG. 8 is a perspective view of an embodiment of the actuator of the present invention according to claim 6;
【図９】請求項７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。FIG. 9 is a front sectional view of an extended state of an embodiment of the telescopic actuator of the present invention according to claim 7;
【図10】6aのＢ−Ｂ線矢視図。FIG. 10 is a view taken along line BB of 6a.
【図11】6cのＣ−Ｃ線矢視図。FIG. 11 is a view taken along line CC of 6c.
【図12】図９の側断面図。FIG. 12 is a side sectional view of FIG. 9;
【図13】請求項12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。FIG. 13 is a plan view of an embodiment of a feed mechanism of a CV close-wound spring of the actuator according to claim 12;
【図14】図13の正面図。FIG. 14 is a front view of FIG. 13;
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1 CV contact wound spring 2 Sprocket of feed mechanism of wound spring,
Roll, handle, drum 4 the casing 4 1 pay up the motor 3 Volume spring, 4 2, 4 3 head block 5 1 of a cylindrical block 5 actuator, 5 2, 5 3 linked ring 6 Crown
Claims (16)
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される伸長時断面円弧状の
密着巻バネを利用したことを特徴とする伸縮アクチュエ
ータ。1. A contact wound spring having an arc-shaped cross section at the time of extension comprising a contact wound spring having an arc-shaped cross section in the width direction at the time of extension, a feed mechanism of the contact wound spring, and a retracting mechanism of the contact wound spring. A telescopic actuator, characterized by utilizing a.
至約0.013程度で、円弧の開き角が約50°乃至約105°程
度の断面形状である請求項１の伸長時断面円弧状の密着
巻バネを利用した伸縮アクチュエータ。2. An arc-shaped cross-section at the time of extension according to claim 1, wherein a ratio of a thickness to an arc radius is about 0.006 to about 0.013, and an opening angle of the arc is about 50 ° to about 105 °. A telescopic actuator that uses a coil spring.
状断面の凹側が対面するように巻き納め機構にセットし
てその先端を一体化し、これら巻バネを同期駆動するこ
とを特徴とする伸長時断面円弧状の密着巻バネを利用し
た伸縮アクチュエータ。3. A method in which a plurality of close-fitting springs having the same cross-sectional shape are set on a winding-in mechanism so that the concave sides of the arc-shaped cross sections face each other, the ends thereof are integrated, and these winding springs are synchronously driven. A telescopic actuator that uses a tightly wound spring with a circular cross section when extended.
状断面の凹側を対面させてセットし、これら巻バネを同
期させて伸長するとき、密着巻バネの内側には、ストリ
ングで連結された柱状または筒状のブロックが外側には
ストリングで連結された密着巻バネセットの外形に適合
するリングが、それぞれ一定間隔で配置されるようにし
た請求項１〜３のいずれかの伸長時断面円弧状の密着巻
バネを利用した伸縮アクチュエータ。4. A plurality of close-contact wound springs having the same cross-sectional shape are set with the concave side of the arc-shaped cross section facing each other, and when these wound springs are extended in synchronization with each other, a string is connected to the inside of the close-contact wound springs. 4. A cross-section at the time of extension according to any one of claims 1 to 3, wherein rings adapted to the outer shape of the close-wound spring set in which the formed columnar or cylindrical blocks are connected by strings are arranged on the outside at regular intervals. A telescopic actuator that uses an arc-shaped close-wound spring.
のあるパイプあるいはレール，ワイヤー等で構成される
ガイド，このガイドに沿って移動可能な単数または複数
のブロック，このブロックを駆動するための密着巻バネ
およびこの巻バネの送り機構と巻き納め機構から成る請
求項１又は２の伸長時断面円弧状の密着巻バネを利用し
た伸縮アクチュエータ。5. A guide comprising a pipe or rail, a wire, or the like having a channel or a vertical groove having an arbitrary cross-sectional shape, one or more blocks movable along the guide, and a close contact for driving the block. 3. The expansion / contraction actuator according to claim 1 or 2, comprising a winding spring and a feeding mechanism and a winding-in mechanism for the winding spring.
複数のブロックをストリングまたはスプリングで所定間
隔に連結し、その一端は密着バネ先端に固定されている
ブロックに、他端は密着バネの巻き納め機構に取付け、
これらブロックが適宜設けたガイドに沿って密着巻バネ
の送り出しと引き戻しに連動するようにした請求項１，
２及び５のいずれかの伸長時断面円弧状の密着巻バネを
利用した伸縮アクチュエータ。6. A plurality of blocks each having an arcuate slit for loose insertion of a close contact spring are connected at predetermined intervals by a string or a spring, and one end of the block is fixed to a tip of the close contact spring and the other end is connected to a close contact spring. Attached to the winding mechanism
Claim 1 wherein these blocks are linked to the feeding and retraction of the close-wound spring along a guide provided appropriately.
An expansion / contraction actuator using a close-wound spring having an arc-shaped cross section at the time of extension of any of 2 and 5.
称的に２つあるいは円形の孔のある底板付きで抜け止め
のあるテレスコピックな複数の筒体またはチャンネルの
円弧状スリットまたは孔を１本または複数の密着巻バネ
が伸長状態で遊挿可能とし、この密着巻バネの一端を最
小断面の筒体またはチャンネルに固定し、他端は各底板
のスリットまたは孔を貫通し、送り機構を経て巻き納め
機構に収納し、送り機構と巻き納め機構は最大断面の筒
体またはチャンネル下部に固定して、この密着巻バネの
送り出しと引き戻しによりテレスコピックな複数の筒体
またはチャンネルを伸縮自在とした請求項１又は２の伸
長時断面円弧状の密着巻バネを利用した伸縮アクチュエ
ータ。7. An arc-shaped slit or hole of a plurality of telescopic cylinders or channels having a bottom plate having one or symmetrically two or circular holes in a central portion and having a retaining hole. Or, a plurality of contact wound springs can be freely inserted in an extended state, and one end of the contact wound spring is fixed to a cylinder or a channel having a minimum cross section, and the other end passes through a slit or a hole of each bottom plate, and passes through a feed mechanism. The retracting mechanism is housed in the retracting mechanism, and the feeding mechanism and the retracting mechanism are fixed to the lower part of the cylinder or channel having the largest cross section. Item 3. An expansion / contraction actuator using a close-wound spring having an arc-shaped cross section at the time of elongation.
ンネルの底板と底板の中間に底板と同様の円弧状スリッ
トまたは円弧で囲まれた孔付の単数または複数のガイド
板を設け、このガイド板は前後の底板と連結し、筒体ま
たはチャンネルの内面を摺動可能とした請求項１，２，
７のいずれかの伸長時断面円弧状の密着巻バネを利用し
た伸縮アクチュエータ。8. A plurality of telescopic cylinders or one or more guide plates with holes surrounded by arc-shaped slits or arcs similar to the bottom plate are provided between the bottom plate and the bottom plate of the plurality of tubular bodies or channels. The inner surface of the cylindrical body or the channel is slidable.
7. An expansion-contraction actuator using a close-wound spring having an arc-shaped cross section at the time of extension.
任意の段数だけテレスコピックな複数の筒体またはチャ
ンネルの断面の大きさに応じて、先端に向けて連続的ま
たは段階的に小さくした請求項１，２，７，８のいずれ
かの伸長時断面円弧状の密着巻バネを利用した伸縮アク
チュエータ。9. The width of the contact wound spring having an arc-shaped cross section at the time of extension,
9. The cross-section circle at the time of extension according to any one of claims 1, 2, 7, and 8, wherein said cross-section is reduced continuously or stepwise toward the tip according to the cross-sectional size of a plurality of cylinders or channels telescopic by an arbitrary number of steps. A telescopic actuator that uses an arc-shaped close-wound spring.
断面円弧状の密着巻バネを、この孔と同一ピッチの単数
または複数のスプロケットの回転により送り出しと引き
戻しを行なう請求項１〜９のいずれかの伸長時断面円弧
状の密着巻バネを利用した伸縮アクチュエータ。10. A stretched and wound contact spring having an arc-shaped cross section having holes at regular intervals in the longitudinal direction is fed and retracted by rotation of one or more sprockets having the same pitch as the holes. An expansion / contraction actuator using a close-wound spring having an arc-shaped cross section when extended.
一面凹型円弧状と一面凸型円弧状でスプロケットの位置
に長孔または溝のあるブロックのペアまたは片方で有孔
の密着巻バネをガイドしながらスプロケットで駆動する
請求項１〜10のいずれかの伸長時断面円弧状の密着巻バ
ネを利用した伸縮アクチュエータ。11. A pair of a single-sided concave arc and a single-sided convex arc-shaped block having a long hole or a groove at a position of the sprocket, and a perforated tightly wound spring is guided by one side, centering on the position of the sprocket. A telescopic actuator using a close-wound spring having an arc-shaped cross section at the time of extension according to any one of claims 1 to 10, while being driven by a sprocket.
を、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挟持し、ロールの正逆転に
よりこの巻バネの送り出しと引き戻しを行なう請求項１
〜９のいずれかの伸長時断面円弧状の密着巻バネを利用
した伸縮アクチュエータ。12. A contact wound spring having an arc-shaped cross section in an extended state is sandwiched between one or a plurality of twin rotary rolls having a concave cross-section arc and a cross-section convex arc, and the roll spring is rotated by forward / reverse rotation of the roll. 2. Sending and pulling back
A telescopic actuator using a close-wound spring having an arc-shaped cross section at the time of extension.
状の回転ロールは、弾性変形可能に形成され、その断面
円弧の高さを、伸長状態の断面円弧状の密着巻バネの円
弧の高さより低く、且つ、この巻バネが湾曲変形する限
度の高さより高くした請求項１〜９，12のいずれかの伸
長時断面円弧状の密着巻バネを利用した伸縮アクチュエ
ータ。13. A rotating roll having one or more uneven twins having a circular arc cross section is formed so as to be elastically deformable, and the height of the circular cross section is set to be greater than the height of the circular arc of a contact wound spring having a circular cross section in an extended state. 13. The telescopic actuator according to claim 1, which is lower and higher than a height at which the winding spring bends and deforms.
密着巻バネ保持用のブレーキを設ける請求項１〜９，1
2，13のいずれかの伸長時断面円弧状の密着巻バネを利
用した伸縮アクチュエータ。14. A brake for holding a tightly wound spring in an extended state in series with a twin rotary roll.
An expansion / contraction actuator that uses a close-wound spring with an arc-shaped cross-section when it is extended.
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
ベルトで伸長状態の断面円弧状の密着巻バネを挟持し、
このベルトの正逆転によりこの巻バネの送り出しと引き
戻しを行なう請求項１〜９のいずれかの伸長時断面円弧
状の密着巻バネを利用した伸縮アクチュエータ。15. A tightly wound spiral spring having an arc-shaped cross section in an extended state sandwiched between twin rotary belts having concave pedestal cross sections and convex pedestal cross-section pedestals on the back surface at regular intervals,
10. The telescopic actuator according to claim 1, wherein the winding spring is sent out and pulled back by forward and reverse rotation of the belt.
断面円弧状の密着巻バネの孔に見合う突起が何れか片側
または両側に交互に付いたそれぞれ等間隔で内面凹型円
弧状および内面凸型円弧状の台座のあるツインの回転ベ
ルトで挟持し、このベルトの正逆転により、この巻バネ
の送り出しと引き戻しを行なう請求項１〜９のいずれか
の伸長時断面円弧状の密着巻バネを利用した伸縮アクチ
ュエータ。16. A concave arcuate inner surface and an inner surface at an equal interval, respectively, in which protrusions corresponding to the holes of a contact wound spring having an arc-shaped cross section in an elongated state having holes at regular intervals in the longitudinal direction are alternately provided on one or both sides. 10. A contact wound spring having an arc-shaped cross section at the time of extension according to any one of claims 1 to 9, wherein the winding spring is sandwiched between twin rotating belts having a convex arc-shaped pedestal, and the winding spring is fed and retracted by forward / reverse rotation of the belt. Telescopic actuator using
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP34748799A JP4428592B2 (en) | 1999-12-07 | 1999-12-07 | Closely wound spring type telescopic actuator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP34748799A JP4428592B2 (en) | 1999-12-07 | 1999-12-07 | Closely wound spring type telescopic actuator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JP2001165217A true JP2001165217A (en) | 2001-06-19 |
| JP4428592B2 JP4428592B2 (en) | 2010-03-10 |
Family
ID=18390563
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP34748799A Expired - Fee Related JP4428592B2 (en) | 1999-12-07 | 1999-12-07 | Closely wound spring type telescopic actuator |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP4428592B2 (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006177385A (en) * | 2004-12-20 | 2006-07-06 | Nippon Technica Kk | Spiral spring structure |
| JP2006194359A (en) * | 2005-01-13 | 2006-07-27 | Nippon Technica Kk | Spiral spring |
| JP2013056427A (en) * | 2011-09-07 | 2013-03-28 | Ricoh Co Ltd | Image forming apparatus |
| JP2014006947A (en) * | 2012-06-25 | 2014-01-16 | Nec Corp | Housing case |
| JP2018188846A (en) * | 2017-05-01 | 2018-11-29 | ライフィット有限会社 | Actuator device for moving object |
| CN109514613A (en) * | 2018-11-26 | 2019-03-26 | 安徽起林芦笋种植有限公司 | A kind of bamboo shoots slicer |
| WO2022009816A1 (en) * | 2020-07-08 | 2022-01-13 | ファナック株式会社 | Linear motion mechanism |
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| JP2018188846A (en) * | 2017-05-01 | 2018-11-29 | ライフィット有限会社 | Actuator device for moving object |
| CN109514613A (en) * | 2018-11-26 | 2019-03-26 | 安徽起林芦笋种植有限公司 | A kind of bamboo shoots slicer |
| WO2022009816A1 (en) * | 2020-07-08 | 2022-01-13 | ファナック株式会社 | Linear motion mechanism |
| JP7481449B2 (en) | 2020-07-08 | 2024-05-10 | ファナック株式会社 | Linear motion mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| JP4428592B2 (en) | 2010-03-10 |
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