Extendable arm structure

BACKGROUND OF THE INVENTION

Field of the Invention

The present invention relates to extendable arm structures whose shape can be changed with extending and contracting movement of extendable arms.

Background Art

The applicant of the present application has filed some patent applications for extendable arm structures whose shape can be changed with extending and contracting movement of extendable arms.

Japanese Unexamined Patent Application Publication No. <patcit id="pcit0001" dnum="JP2014159070A"><text>2014-159070</text></patcit> (Patent Literature 1) discloses an extendable arm formed by arranging a plurality of X-shaped cross units in one direction and pivotally coupling the cross units.

Japanese Patent No. <patcit id="pcit0002" dnum="JP5996713B"><text>5,996,713</text></patcit> (Patent Literature 2) discloses a variable area frame whose area can be changed with extending and contracting movement of extendable arms and a variable volume three-dimensional structure whose volume can be changed with extending and contracting movement of extendable arms.

Japanese Unexamined Patent Application Publication No. <patcit id="pcit0003" dnum="JP2018025212A"><text>2018-25212</text></patcit> (Patent Literature 3) discloses a variable shape three-dimensional structure whose shape can be changed with extending and contracting movement of extendable arms.

Japanese Unexamined Patent Application Publication No. <patcit id="pcit0004" dnum="JP2018031391A"><text>2018-31391</text></patcit> (Patent Literature 4) discloses a variable shape frame whose shape can be changed with extending and contracting movement of extendable arms. <ul id="ul0001" list-style="none" compact="compact"><li>Patent Literature 1: Japanese Unexamined Patent Application Publication No. <patcit id="pcit0005" dnum="JP2014159070A"><text>2014-159070</text></patcit></li><li>Patent Literature 2: Japanese Patent No. <patcit id="pcit0006" dnum="JP5996713B"><text>5,996,713</text></patcit></li><li>Patent Literature 3: Japanese Unexamined Patent Application Publication No. <patcit id="pcit0007" dnum="JP2018025212A"><text>2018-25212</text></patcit></li><li>Patent Literature 4: Japanese Unexamined Patent Application Publication No. <patcit id="pcit0008" dnum="JP2018031391A"><text>2018-31391</text></patcit></li></ul>

Summary of Invention

The inventors further considered more effective use of extendable arms and found that extendable arm structures with higher use value are implemented by combining an extendable arm and a planar member.

It is an object of the present invention to provide an extendable arm structure with high use value.

An extendable arm structure according to the present invention includes: an upper extendable arm and a lower extendable arm which extend parallel in a same direction; and a vertical coupling member that couples the upper and lower extendable arms. Each of the extendable arms includes a plurality of X-shaped cross units each formed by pivotally coupling two rigid members via a middle coupling shaft, and two end coupling shafts that pivotally couple ends of adjacent ones of the cross units. The extendable arm structure further includes: a planar member that closes, in a planar fashion, a space between the rigid member of the upper extendable arm and the rigid member of the lower extendable arm which extends parallel to the rigid member of the upper extendable arm in a same direction.

In one embodiment, the vertical coupling member couples the middle coupling shafts or the end coupling shafts of the upper and lower extendable arms.

In one embodiment, the vertical coupling member includes a middle coupling bar that couples the middle coupling shafts of the upper and lower extendable arms, and two end coupling bars that couple the two end coupling shafts of the upper and lower extendable arms. The planar member is a flexible sheet material that extends in a zigzag pattern in a longitudinal direction of the extendable arms so as to be bent outward at a position of the end coupling bar located on one side and bent inward at a position of the middle coupling bar.

In one embodiment, the rigid members that form the cross unit include a first rigid member and a second rigid member, and the planar member connects an entire length of the second rigid member of the upper extendable arm and an entire length of the second rigid member of the lower extendable arm in a planar fashion.

In one embodiment, the vertical coupling member couples the upper and lower extendable arms at a variable interval therebetween. For example, the vertical coupling member is formed by arranging a plurality of X-shaped cross units in a vertical direction and coupling the plurality of X-shaped cross units. In another form, the vertical coupling member includes a bent unit having a first bent rigid member bent in a V-shape, a second bent rigid member bent in a V-shape that opens in an opposite direction from the V-shape of the first bent rigid member, and a bend part coupling shaft that pivotally couples a bend part of the first bent rigid member and a bend part of the second bent rigid member.

In the case of the extendable arm structure in which the interval between the upper extendable arm and the lower extendable arm is variable, the planar member has a variable vertical height. In order for the planar member to have a variable vertical height, the planar member is, e.g., a single flexible sheet material. In another form for the planar member to have a variable vertical height, the planar member is formed by, e.g., a plurality of plate materials, and the plurality of plate materials are configured so that the plurality of plate materials can be located at a folded position where the plurality of plate materials overlap each other and a deployed position where the plurality of plate materials are connected on a same plane.

In one embodiment, the extendable arm structure further includes: an upper frame formed by coupling ends of a plurality of the upper extendable arms; and a lower frame formed by coupling ends of a plurality of the lower extendable arms.

In one embodiment, the extendable arm structure further includes: an upper circular frame formed by coupling both ends of the upper extendable arm; and a lower circular frame formed by coupling both ends of the lower extendable arm.

In one embodiment, the extendable arm structure further includes: an upper circular frame formed by coupling both ends of the upper extendable arm; and a lower circular frame formed by coupling both ends of the lower extendable arm, and the planar member is a cylindrical member disposed between the upper circular frame and the lower circular frame and having a variable circumferential length.

The invention with the above configuration thus provides an extendable arm structure with high use value.

Brief Description of Drawings

<ul id="ul0002" list-style="none" compact="compact"><li><figref idref="f0001">FIG. 1</figref> is a perspective view of an embodiment of an extendable arm structure.</li><li><figref idref="f0001">FIG. 2</figref> is a partial enlarged perspective view of the extendable arm structure shown in <figref idref="f0001">FIG. 1</figref>.</li><li><figref idref="f0002">FIG. 3</figref> is a perspective view of an inwardly bent part of a planar member.</li><li><figref idref="f0002">FIG. 4</figref> is a perspective view of another embodiment of the extendable arm structure.</li><li><figref idref="f0003">FIG. 5</figref> is a perspective view of inwardly bent parts of planar members.</li><li><figref idref="f0003">FIG. 6</figref> is a perspective view of still another embodiment of the extendable arm structure.</li><li><figref idref="f0004">FIG. 7</figref> is a perspective view of the extendable arm structure of <figref idref="f0003">FIG. 6</figref> in a contracted state.</li><li><figref idref="f0004">FIG. 8</figref> is a perspective view of yet another embodiment of the extendable arm structure.</li><li><figref idref="f0005">FIG. 9</figref> is a perspective view of a cylindrical extendable arm structure formed by coupling both ends of the extendable arm structure shown in <figref idref="f0004">FIG. 8</figref>.</li><li><figref idref="f0005">FIG. 10</figref> is a plan view of the cylindrical extendable arm structure shown in <figref idref="f0005">FIG. 9</figref>.</li><li><figref idref="f0006">FIG. 11</figref> is a perspective view of the cylindrical extendable arm structure of <figref idref="f0005">FIG. 9</figref> in a fully extended state.</li><li><figref idref="f0006">FIG. 12</figref> is a plan view of the cylindrical extendable arm structure shown in <figref idref="f0006">FIG. 11</figref>.</li><li><figref idref="f0007">FIG. 13</figref> is a perspective view of a further embodiment of the extendable arm structure.</li><li><figref idref="f0007">FIG. 14</figref> is a plan view of the extendable arm structure shown in <figref idref="f0007">FIG. 13</figref>.</li><li><figref idref="f0008">FIG. 15</figref> is a perspective view of the extendable arm structure of <figref idref="f0007">FIG. 13</figref> in a slightly contracted state.</li><li><figref idref="f0008">FIG. 16</figref> is a plan view of the extendable arm structure shown in <figref idref="f0008">FIG. 15</figref>.</li><li><figref idref="f0009">FIG. 17</figref> is a perspective view of the extendable arm structure of <figref idref="f0007">FIG. 13</figref> in a fully collapsed state.</li><li><figref idref="f0009">FIG. 18</figref> is a plan view of the extendable arm structure shown in <figref idref="f0009">FIG. 17</figref>.</li><li><figref idref="f0010">FIG. 19</figref> is a perspective view of a corner of the extendable arm structure shown in <figref idref="f0007">FIG. 13</figref>.</li><li><figref idref="f0010">FIG. 20</figref> is a perspective view of a still further embodiment of the extendable arm structure.</li><li><figref idref="f0011">FIG. 21</figref> is a plan view of the extendable arm structure shown in <figref idref="f0010">FIG. 20</figref>.</li><li><figref idref="f0011">FIG. 22</figref> is a plan view of a yet further embodiment of the extendable arm structure.</li><li><figref idref="f0012">FIG. 23</figref> is a perspective view of a cylindrical planar member.</li><li><figref idref="f0012">FIG. 24</figref> is a plan view of combination of an extendable arm shown in <figref idref="f0011">FIG. 22</figref> and the cylindrical planar member shown in <figref idref="f0012">FIG. 23</figref>.</li><li><figref idref="f0013">FIG. 25</figref> is a perspective view of the cylindrical planar member shown in <figref idref="f0012">FIG. 23</figref> which has a reduced diameter.</li><li><figref idref="f0013">FIG. 26</figref> is a perspective view of a yet further embodiment of the extendable arm structure.</li><li><figref idref="f0014">FIGS. 27A to 27C</figref> show an example of a variable height planar member, where <figref idref="f0014">FIG. 27A</figref> shows three plate materials completely overlapping each other, <figref idref="f0014">FIG. 27B</figref> shows the three plate materials partially overlapping each other, and <figref idref="f0014">FIG. 27C</figref> shows the three plate materials connected on the same plane.</li><li><figref idref="f0015">FIG. 28</figref> is a perspective view of a polygonal extendable arm structure formed by using a plurality of the extendable arms shown in <figref idref="f0013">FIG. 26</figref>.</li><li><figref idref="f0016">FIG. 29</figref> is a perspective view of a yet further embodiment of the extendable arm structure.</li><li><figref idref="f0016">FIG. 30</figref> is a perspective view of a yet further embodiment of the extendable arm structure.</li></ul>

Description of Embodiments

Some embodiments will be described by way of example in order to explain features of the present invention. In each embodiment, elements having the same or similar function are denoted with the same reference characters and repetitive description may be omitted.

<figref idref="f0001 f0002">FIGS. 1 to 3</figref> show an extendable arm structure according to an embodiment of the present invention. An extendable arm structure 10 includes an upper extendable arm 11, a lower extendable arm 12, and a vertical coupling member. The upper and lower extendable arms 11, 12 extend parallel in the same direction, and the vertical coupling member couples the upper and lower extendable arms.

The upper extendable arm 11 includes a plurality of X-shaped cross units and two end coupling shafts 11d. Each cross unit is formed by pivotally coupling a first rigid member 11a and a second rigid member 11b via a middle coupling shaft 11c. The end coupling shafts 11d pivotally couple the ends of adjacent ones of the cross units. Similarly, the lower extendable arm 12 includes a plurality of X-shaped cross units and two end coupling shafts 12d. Each cross unit is formed by pivotally coupling a first rigid member 12a and a second rigid member 12b via a middle coupling shaft 12c. The end coupling shafts 12b pivotally couple the ends of adjacent ones of the cross units.

As can be seen from <figref idref="f0001">FIGS. 2</figref> and <figref idref="f0002">3</figref>, the vertical coupling member includes a middle coupling bar 14 and two end coupling bars 15. The middle coupling bar 14 couples the middle coupling shafts 11c, 12c of the upper and lower extendable arms 11, 12. Each end coupling bar 15 couples the end coupling shafts 11d, 12d of the upper and lower extendable arms 11, 12.

The extendable arm structure 10 further includes a planar member 13. The planar member 13 closes, in a planar fashion, the space between the rigid members 11a, 11b of the upper extendable arm 11 and the rigid members 12a, 12b of the lower extendable arm 12 which extend parallel to the rigid members 11a, 11b of the upper extendable arm 11. In the illustrated embodiment, the planar member 13 is a single flexible sheet material that extends in a zigzag pattern in the longitudinal direction of the extendable arms 11, 12 so as to be bent outward at the position of the end coupling bar 15 located on one side and bent inward at the position of the middle coupling bar 14. Specifically, the planar member 13 is bent inward in contact with the outer peripheral surface of the middle coupling bar 14 and is bent outward in contact with the outer peripheral surface of the end coupling bar 15. The bend angle of the planar member 13 changes with expanding and contracting movement of the upper and lower extendable arms 11, 12.

In the embodiment shown in <figref idref="f0001 f0002">FIGS. 1 to 3</figref>, the planar member 13 is located only on one side (in the figures, on the side closer to the viewer) of inward bending points, namely the idle coupling shafts 11c, 12c of the upper and lower extendable arms 11, 12.

An extendable arm structure 20 according to an embodiment shown in <figref idref="f0002">FIGS. 4</figref> and <figref idref="f0003">5</figref> includes two planar members 13, 21. As shown in <figref idref="f0003">FIG. 5</figref>, the extendable arm structure 20 includes two shaft bars 22, 23 near each middle coupling bar 14. The planar member 13 located on one side, namely on the side closer to the viewer, is a flexible sheet material that extends in a zigzag pattern in the longitudinal direction of the extendable arms 11, 12 so as to be bent outward in contact with the outer peripheral surface of the end coupling bar 15 located on the one side and bent inward in contact with the outer peripheral surface of the shaft bar 22 located on the one side. The planar member 13 located on the other side, namely on the side farther away from the viewer, is a flexible sheet material that extends in a zigzag pattern in the longitudinal direction of the extendable arms 11, 12 so as to be bent outward in contact with the outer peripheral surface of the end coupling bar 15 located on the other side and bent inward in contact with the outer peripheral surface of the shaft bar 23 located on the other side.

<figref idref="f0003">FIGS. 6</figref> and <figref idref="f0004">7</figref> show an extendable arm structure 30 according to still another embodiment. <figref idref="f0003">FIG. 6</figref> shows the extendable arm structure 30 in a fully extended state, and <figref idref="f0004">FIG. 7</figref> shows the extendable arm structure 30 in a fully collapsed state. In the illustrated embodiment, each planar member 31 connects the entire length of the second rigid member 11b of the upper extendable arm 11 and the entire length of the second rigid member 12b of the lower extendable arm 12 in a planar fashion. The planar member 31 is, e.g., a rigid plate material or a rigid quadrilateral frame with a sheet material fitted therein, and is integral with the upper and lower second rigid members 11b, 12b.

In the deployed state shown in <figref idref="f0003">FIG. 6</figref> and the contracted state shown in <figref idref="f0004">FIG. 7</figref>, each planar member 31 has a bent front end 31a and a bent rear end 31b in order to close the clearance between adjacent ones of the planar members 31. The bent front end 31a is formed by bending the front end of the planar member 31, and the bent rear end 31b is formed by bending the rear end of the planar member 31. The bent front end 31a and the bent rear end 31b are bent in opposite directions. When the extendable arm structure 30 is in the deployed state and in the contracted state, the bent front end 31a of each planar member 31 contacts a planar portion of an adjacent planar member 31 located closer to the front of the extendable arms 11, 12 in the longitudinal direction of the extendable arms 11, 12, and closes the clearance between these two planar members 31. The bent rear end 31b of each planar member 31 contacts a planar portion of an adjacent planar member 31 located closer to the rear of the extendable arms 11, 12 in the longitudinal direction of the extendable arms 11, 12, and closes the clearance between these two planar members 31.

<figref idref="f0004 f0005 f0006">FIGS. 8 to 12</figref> show an extendable arm structure 40 according to yet another embodiment. In the embodiments shown in <figref idref="f0001 f0002 f0003 f0004">FIGS. 1 to 7</figref>, the first rigid members 11a, 12a and the second rigid members 11b, 12b, which are components of the cross units, have a linear shape. On the other hand, rigid members, which are components of cross units of the extendable arm structure 40 shown in <figref idref="f0004 f0005 f0006">FIGS. 8 to 12</figref>, have a curved shape.

The extendable arm structure 40 shown in <figref idref="f0004 f0005 f0006">FIGS. 8 to 12</figref> includes upper curved rigid members 43 located at upper positions, intermediate curved rigid members 44 located at intermediate positions, and lower curved rigid members 45 located at lower positions. Each curved rigid member 43, 44, 45 has a curved shape with both end coupling shafts 11d being offset to one side with respect to a longitudinal axis passing through the middle coupling shaft 11c. Each curved rigid member 43, 44, 45 may be formed by a rigid quadrilateral plate material or may be formed by a rigid quadrilateral frame. In the case where a quadrilateral frame is used, a sheet material, glass, etc. may be fitted in the frame.

A cross-link is formed by the upper and lower curved rigid members 43, 45 that are pivotally coupled via the middle coupling shaft 11c. In the illustrated embodiment, the plurality of upper curved rigid members 43 and the plurality of intermediate curved rigid members 44 form an upper extendable arm 41, and the plurality of intermediate curved rigid members 44 and the plurality of lower curved rigid members 45 form a lower extendable arm 42. The intermediate curved rigid members 44 serve as planar members that close the space between the upper and lower extendable arms 41, 42. In terms of shape, all of the curved rigid members 43, 44, 45 are planar members.

Since the upper and lower extendable arms 41, 42 are formed by using the curved rigid members, the extendable arms 41, 42 extend and contract in a curved path. An upper circular frame and a lower circular frame can be formed by increasing the number of curved rigid members 43, 44, 45, coupling both ends of the upper extendable arm 41, and coupling both ends of the lower extendable arm 42.

<figref idref="f0005 f0006">FIGS. 9 to 12</figref> show a cylindrical extendable arm structure formed by coupling both ends of the extendable arm structure shown in <figref idref="f0004">FIG. 8</figref>. <figref idref="f0005">FIG. 9</figref> is a perspective view of the cylindrical extendable arm structure in a fully collapsed state, and <figref idref="f0005">FIG. 10</figref> is a plan view thereof. <figref idref="f0006">FIG. 11</figref> is a perspective view of the cylindrical extendable arm structure in a fully extended state, and <figref idref="f0006">FIG. 12</figref> is a plan view thereof. As can be seen from these figures, a columnar space surrounded by a cylindrical surface (<figref idref="f0006">FIGS. 11, 12</figref>) can be formed by using planar members that are curved in the lateral direction as the rigid members 43, 44, 45 that form the extendable arms.

<figref idref="f0007 f0008 f0009 f0010">FIGS. 13 to 19</figref> show an extendable arm structure 50 according to a further embodiment. <figref idref="f0007">FIGS. 13 and 14</figref> show the extendable arm structure 50 in an extended state. <figref idref="f0008">FIGS. 15 and 16</figref> show the extendable arm structure 50 contracted to an intermediate state. <figref idref="f0009">FIGS. 17 and 18</figref> show the extendable arm structure 50 in a fully collapsed state. <figref idref="f0010">FIG. 19</figref> shows a corner of the polygonal extendable arm structure.

The extendable arm structure 50 shown in <figref idref="f0007 f0008 f0009 f0010">FIGS. 13 to 19</figref> include a quadrilateral upper frame, a quadrilateral lower frame, and planar members 53. The quadrilateral upper frame is formed by coupling the ends of four upper extendable arms 51. The quadrilateral lower frame is formed by coupling the ends of four lower extendable arms 52. Each planar member 53 connects the entire length of the second rigid member 11b of the upper extendable arm 51 and the entire length of the second rigid member 12b of the lower extendable arm 52 in a planar fashion.

The extendable arm structure 50 further includes coupling mechanisms 54 in order to allow adjoining ones of the sides of the polygon to extend and contract together. Each coupling mechanism 54 couples two of the extendable arms 51, 52 which adjoin each other at a corner of the polygonal frame so that the two adjoining extendable arms 51, 52 can extend and contract together. In the illustrated embodiment, each coupling mechanism 54 includes a first bent member 55, a second bent member 56, and a corner coupling shaft 57 at a corner of the polygonal frame. The first bent member 55 has a bent shape and rotatably couples the inner end coupling shaft 11d, 12d of the extendable arm 51, 52 extending along one of adjoining two sides of the polygonal frame and the outer end coupling shaft 11d, 12d of the extendable arm 51, 52 extending along the other side. The second bent member 56 has a bent shape and rotatably couples the outer end coupling shaft 11d, 12d of the extendable arm 51, 52 extending along the one of the adjoining two sides of the polygonal frame and the inner end coupling shaft 11d, 12d of the extendable arm 51, 52 extending along the other side. The corner coupling shaft 57 rotatably couples the first bent member 55 and the second bent member 56 at their intersection.

As shown in <figref idref="f0010">FIG. 19</figref>, a planar member 58 is disposed between the upper and lower second bending members 56.

In the embodiment shown in <figref idref="f0007 f0008 f0009 f0010">FIGS. 13 to 19</figref>, the bend angle of the first bent members 55 and the second bent members 56 needs to be 90 degrees in order to increase or reduce the area of the quadrilateral without distorting the shape of the quadrilateral, namely in order to increase or reduce the area of the quadrilateral so that the enlarged or reduced quadrilateral is similar to the original quadrilateral.

<figref idref="f0007 f0008 f0009 f0010">FIGS. 13 to 19</figref> show an example of a quadrilateral extendable arm structure. However, other polygons such as a triangle, a pentagon, and a hexagon can be formed by changing the number of extendable arms that are connected to each other. In this case, the first and second bent members need to have a predetermined bend angle in order to increase or reduce the area of the polygon without distorting the shape of the polygon, namely in order to increase or reduce the area of the polygon so that the enlarged or reduced polygon is similar to the original polygon. Specifically, the first and second bent members need to have a bend angle of A/n, where A represents the sum of interior angles of an n-gon. For example, the bend angle of the first and second bent members is 90 degrees for a quadrilateral frame, 60 degrees for an equilateral triangular frame, 108 degrees for a regular pentagonal frame, and 120 degrees for a regular hexagonal frame.

An embodiment shown in <figref idref="f0010">FIGS. 20</figref> and <figref idref="f0011">21</figref> is the same as that shown in <figref idref="f0007 f0008 f0009 f0010">FIGS. 13 to 19</figref> except for the shape of the planar members. Each planar member 61 of an extendable arm structure 60 shown in <figref idref="f0010">FIGS. 20</figref> and <figref idref="f0011">21</figref> has a bent front end and a bent rear end as in the embodiment of <figref idref="f0003">FIGS. 6</figref> and <figref idref="f0004">7</figref>.

<figref idref="f0011 f0012 f0013">FIGS. 22 to 25</figref> show an extendable arm structure according to a yet further embodiment. An extendable arm structure 70 shown in the figures includes an upper circular frame and a lower circular frame. The upper circular frame is formed by coupling both ends of an upper extendable arm, and the lower circular frame is formed by coupling both ends of a lower extendable arm. In the present embodiment, a planar member is a cylindrical member 71 disposed between the upper circular frame and the lower circular frame and having a variable circumferential length. In order for the cylindrical member 71 to have a variable circumferential length, one end and the other end in the circumferential direction of the cylindrical member 71 are not connected but overlap each other. As the extendable arm structure 70 is changed from an extended state shown in <figref idref="f0011">FIG. 22</figref> to a contracted state shown in <figref idref="f0012">FIG. 24</figref>, the cylindrical member 71 is changed from the state where the cylindrical member 71 has a larger diameter as shown in <figref idref="f0012">FIG. 23</figref> to the state where the cylindrical member 71 has a smaller diameter as shown in <figref idref="f0013">FIG. 25</figref>.

<figref idref="f0013">FIG. 26</figref> shows a yet further embodiment of the extendable arm structure. An extendable arm structure 80 shown in the figure includes an upper extendable arm 11, a lower extendable arm 12, vertical coupling members 81, and planar members, not shown. The upper extendable arm 11 is formed by coupling a plurality of cross units. The lower extendable arm 12 is formed by coupling a plurality of cross units. The vertical coupling members 81 couple the upper and lower extendable arms 11, 12 at a variable interval therebetween.

Each vertical coupling member 81 is an extendable arm formed by coupling a plurality of X-shaped cross units. One end of the vertical coupling member 81 is coupled to the end coupling shaft 11d of the upper extendable arm 11, and the other end thereof is coupled to the end coupling shaft 12d of the lower extendable arm 12.

The extendable arm structure 80 further includes upper guide members 82 and lower guide members 83 in order to allow the vertical extendable arms forming the vertical coupling members 81 to extend and contract linearly in the vertical direction. The upper guide members 82 extend downward in the vertical direction from the end coupling shafts 11d of the upper extendable arm 11. The lower guide members 83 extend upward in the vertical direction from the end coupling shafts 12d of the lower extendable arm 12. Each upper guide member 82 has a guide groove that receives the middle coupling shaft 11c located immediately below the upper guide member 82, and guides the middle coupling shaft 11c so that the middle coupling shaft 11c moves linearly in the vertical direction. Each lower guide member 83 guides the middle coupling shaft 11c located immediately above the lower guide member 83 so that the middle coupling shaft 11c moves linearly in the vertical direction.

Each of the planar members, not shown, connects the entire length of the second rigid member 11b of the upper extendable arm 11 and the entire length of the second rigid member 12b of the lower extendable arm 12 in a planar fashion. In the illustrated embodiment, since the interval between the upper and lower extendable arms 11, 12 is variable, the planar members also have a variable vertical height. As an example of the structure for the planar member to have a variable vertical height, the planar member may have an accordion shape. Alternatively, a sheet take-up roll may be attached along the upper or lower second rigid member 11b, 12b so that a flexible sheet is pulled out from or taken up by the take-up roll.

As another example, as shown in <figref idref="f0014">FIG. 27</figref>, the planar member may be formed by a plurality of plate materials 84, 85, 86. In this case, the plurality of plate materials 84, 85, 86 can be located at a folded position (<figref idref="f0014">FIG. 27A</figref>) where the plurality of plate materials 84, 85, 86 completely overlap each other and a deployed position (<figref idref="f0014">FIG. 27C</figref>) where the plurality of plate materials 84, 85, 86 are connected on the same plane. <figref idref="f0014">FIG. 27B</figref> shows an intermediate position between the folded position and the deployed position. In order to smoothly move the plurality of plate materials 84, 85, 86 from the folded position to the deployed position, it is preferable that the plate materials 84, 85, 86 have chamfered ends.

<figref idref="f0015">FIG. 28</figref> is a perspective view of a polygonal extendable arm structure formed by using a plurality of the extendable arms shown in <figref idref="f0013">FIG. 26</figref>. An extendable arm structure 90 shown in <figref idref="f0015">FIG. 28</figref> is the same as the extendable arm structure 50 shown in <figref idref="f0007">FIG. 13</figref> except that the vertical coupling members and the planar members have a variable height.

<figref idref="f0016">FIG. 29</figref> shows an extendable arm structure according to a yet further embodiment. An extendable arm structure 100 shown in the figure is configured so that the interval between an upper extendable arm 101 and a lower extendable arm 102 changes as the upper extendable arm 101 and the lower extendable arm 102 extend and contract. In order to implement this configuration, the extendable arm structure 100 includes a first vertical extendable arm 103 as a vertical coupling member that couples the upper and lower extendable arms 101, 102.

The upper extendable arm 101 includes cross units each formed by a first rigid member 101a and a second rigid member 101b which are pivotally coupled via a middle coupling shaft 101c. Adjacent two of the cross units are pivotally coupled via two end coupling shafts 101d.

Similarly, the lower extendable arm 102 includes cross units each formed by a first rigid member 102a and a second rigid member 102b which are pivotally coupled via a middle coupling shaft 102c. Adjacent two of the cross units are pivotally coupled via two end coupling shafts 102d.

The first vertical extendable arm 103 is an extendable arm including X-shaped cross units. The upper end of the first vertical extendable arm 103 is pivotally coupled to the two end coupling shafts 101d of the upper extendable arm 101, and the lower end of the first vertical extendable arm 103 is pivotally coupled to the two end coupling shafts 102d of the lower extendable arm 102.

The extendable arm structure 100 according to the illustrated embodiment further includes second vertical extendable arms 104. Each second vertical extendable arm 104 supports the second rigid member 101b of the upper extendable arm 101 and the second rigid member 102b of the lower extendable arm 102 such that these second rigid members 101b, 102b are parallel to each other. Each second vertical extendable arm 104 also makes the interval between the second rigid member 101b and the second rigid member 102b variable.

The second vertical extendable arm 104 is an extendable arm including X-shaped cross units each formed by a first rigid member 104a and a second rigid member 104b. The upper ends of the first rigid member 104a and the second rigid member 104b of the upper cross unit are coupled to the second rigid member 101b of the upper extendable arm 101. The lower ends of the first rigid member 104a and the second rigid member 104b of the lower cross unit are coupled to the second rigid member 102b of the lower extendable arm 102. This coupling will be described below.

The upper end of the upper first rigid member 104a of the second vertical extendable arm 104 is pivotally coupled to the second rigid member 101b of the upper extendable arm 101 at a fixed point. The upper end of the upper second rigid member 104b of the second vertical extendable arm 104 is pivotally coupled to the second rigid member 101b of the upper extendable arm 101 such that the upper end of the upper second rigid member 104b can slide along the second rigid member 101b. The lower end of the lower second rigid member 104b of the second vertical extendable arm 104 is pivotally coupled to the second rigid member 102b of the lower extendable arm 102 at a fixed point. The lower end of the lower first rigid member 104a of the second vertical extendable arm 104 is pivotally coupled to the second rigid member 102b of the lower extendable arm 102 such that the lower end of the lower first rigid member 104a can slide along the second rigid member 102b.

Although not shown in the figure, a variable height planar member is disposed between the entire length of the second rigid member 101b of the upper extendable arm 101 and the entire length of the second rigid member 102b of the lower extendable arm 102. For example, the variable height planar member may be an accordion-shaped sheet member, a sheet member on a roll, a structure formed by a plurality of plate materials, etc.

The extendable arm structure 100 of <figref idref="f0016">FIG. 29</figref> operates as follows. As the upper and lower extendable arms 101, 102 extend, the first vertical extendable arm 103 extends with the upper and lower extendable arms 101, 102, and the second vertical extendable arms 104 also extend accordingly. As the upper and lower extendable arms 101, 102 contract, the first vertical extendable arm 103 contracts with the upper and lower extendable arms 101, 102, and the second vertical extendable arms 104 also contract accordingly.

In the embodiment of <figref idref="f0016">FIG. 29</figref>, the upper and lower extendable arms and the vertical extendable arms extend and contract together. However, in the case where the upper and lower ends of the vertical extendable arm are coupled to two middle coupling shafts or two end coupling shafts which are adjacent to each other in the longitudinal direction of the upper and lower extendable arms, the vertical extendable arm contracts as the upper and lower extendable arms extend, and the vertical extendable arm extends as the upper and lower extendable arms contract.

<figref idref="f0016">FIG. 30</figref> shows an extendable arm structure 110 according to a yet further embodiment. The extendable arm structure 110 shown in <figref idref="f0016">FIG. 30</figref> is the same as the extendable arm structure 110 shown in <figref idref="f0016">FIG. 29</figref> except for the shape of the first vertical extendable arm.

A first vertical extendable arm 120 of the extendable arm structure 110 shown in the figure includes two bent units. Each bent unit has a first bent rigid member 121 bent in a V-shape, a second bent rigid member 122 bent in a V-shape that opens in the opposite direction from the V-shape of the first bent rigid member 121, and a bend part coupling shaft 123 that pivotally couples the bend part of the first bent rigid member 121 and the bend part of the second bent rigid member 122. The ends of the two bent units are pivotally coupled to each other.

The upper end of the first vertical extendable arm 120 is pivotally coupled to two middle coupling shafts 101c that are adjacent to each other in the longitudinal direction of the upper extendable arm 101. The lower end of the first vertical extendable arm 120 is pivotally coupled to two middle coupling shafts 102c that are adjacent to each other in the longitudinal direction of the lower extendable arm 102.

According to the extendable arm structure 110 shown in <figref idref="f0016">FIG. 30</figref>, the upper and lower extendable arms and the vertical coupling member extend and contract together, as in the extendable arm structure 100 shown in <figref idref="f0016">FIG. 29</figref>.

Although some embodiments of the present invention are described above with reference to the drawings, the present invention is not limited to the illustrated embodiments. Various modifications or variations can be made to the illustrated embodiments without departing from the spirit and scope of the present invention.

For example, the first vertical extendable arm 103 shown in <figref idref="f0016">FIG. 29</figref> or the first vertical extendable arm 120 shown in <figref idref="f0016">FIG. 30</figref> may be applied to the embodiment of <figref idref="f0013">FIG. 26</figref> or <figref idref="f0015">28</figref>.

The extendable arm structure according to the present invention has high use value in various applications of the industry. For example, the extendable arm structure according to the present invention can be advantageously used in many applications such as partitions, architectural structures, containers, exhibits, pavilions, play equipment, assembling toys, learning materials, decorations, art objects, furniture, enclosures for animals such as pets, bathroom stalls, dressing stalls, shower stalls, above-ground buildings, underground buildings, underwater buildings, aerial buildings, temporary houses, warehouses, vegetable factories, tents, zoos and botanical gardens, space stations, various facilities on planets, satellites, antennae, and solar array wings.