# US 11,440,182 B2 · Expansion device and movable body

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- Number: US 11,440,182 B2
- Document ID: US11440182B2
- Status: Granted
- Kind: B2
- Application number: 16/493,428
- Filed: 2018-01-25
- Published: 2020-04-30
- Granted: 2022-09-13
- Earliest claimed: 2017-04-25
- Assignees: Sony Corporation
- Applicants: Sony Corporation
- Inventors: Yasunori Kawanami
- Web page: https://patentgrep.com/patent/US11440182B2

## CPC

- B25J 9/1045: {comprising tensioning means}
- B62D 57/032: with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid (B62D57/024 takes precedence)
- B25J 9/104: {with cables, chains or ribbons}
- B25J 9/1065: {with parallelograms}
- B25J 18/02: extensible
- F16H 21/10: all movement being in, or parallel to, a single plane
- F16H 21/16: for interconverting rotary motion and reciprocating motion
- B25J 17/00: Joints
- B25J 19/02: Sensing devices
- B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50})
- B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M)
- F16H: GEARING

## Abstract

To provide an expansion device and a movable body including a mechanism for quick deformation. An expansion device includes a main body and a limb portion attached to the main body, in which the limb portion includes a main link connected to the main body via a joint, an end link provided at a front end of the limb portion, at least one or more limb joints that are interposed between the main link and the end link and connect the main link and the end link, and a linear member of which both ends couple an end at the front end side of the limb portion of the end link and the main body and are retractable to one or both of the end link and the main body.

## Claims

### Claim 1

An expansion device, comprising:
a main body; and
a limb portion attached to the main body, wherein the limb portion includes:
a main link connected to the main body via a specific joint;
an end link at a front end of the limb portion;
at least one intermediate link between the main link and the end link;
a first limb joint;
a second limb joint, wherein
the first limb joint is between the end link and the at least one intermediate link,
the second limb joint is between the at least one intermediate link and the main link
the first limb joint and the second limb joint connect the main link and the end link,
the first limb joint is rotatable in a first direction, and
the second limb joint is rotatable in a second direction opposite to the first direction;
a first connection point on an end side of the end link, wherein the end side corresponds to a side of the end link opposite to the first limb joint;
a first guide at a midpoint position of the at least one intermediate link;
a second guide at a midpoint position of the main link;
a second connection point at a center position of the specific joint; and
a linear member that includes a first end and a second end, wherein
the first end and the second end of the linear member couple the main body to the end link,
the first end of the linear member is associated with the first connection point,
the second end of the linear member is associated with the second connection point,
the linear member passes through the first guide of the at least one intermediate link and the second guide of the main link, and
the first end and the second end of the linear member are retractable to at least one of the end link or the main body.

### Claim 2 (depends on 1)

The expansion device according to claim 1, wherein
the at least one intermediate link includes a first intermediate link and a second intermediate link.

### Claim 3 (depends on 2)

The expansion device according to claim 2, wherein
the first intermediate link has a shape extended in a third direction, and
the second intermediate link has a shape extended in the third direction.

### Claim 4 (depends on 1)

The expansion device according to claim 1, wherein
the first limb joint includes a first rotation shaft,
the second limb joint includes a second rotation shaft, and
the first rotation shaft is parallel to the second rotation shaft.

### Claim 5 (depends on 1)

The expansion device according to claim 1, wherein
an arrangement of the end link is parallel to the main link,
the end link is connected to the main link based on a plurality of intermediate links,
the plurality of intermediate links includes the at least one intermediate link,
the plurality of intermediate links faces each other, and
the end link is rotatable based on rotation of the main link.

### Claim 6 (depends on 1)

The expansion device according to claim 1, wherein the first end of the linear member is retractable to the main body.

### Claim 7 (depends on 6)

The expansion device according to claim 6, wherein the limb portion is in a bending state based on the retraction of the linear member to the main body.