JP2011256982A - Adjustment unit - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an adjustment unit capable of achieving miniaturization of a unit and coping with large tension.SOLUTION: In the adjustment unit 10, pulleys 16, 16 forming a pair at an interval are provided in a case body 11. A wire W is disposed approximately along the pulleys 16, 16. A rotator 21 is rotatably provided at the case body 11. Pulleys 24 for bending the wire W engaged with guides 16, 16 between the pulleys 16, 16 are provided at the rotator 21. A compression coil spring 26 is provided, which rotates and biases the rotator 21 in a direction in which the pulleys 24 press the wire W when the wire W is pulled by prescribed force. When tension is applied to the wire W, rigidity of the wire W is adjusted by generating biasing force of the compression coil spring 26 in response to the tension to the wire W, and the rigidity may be applied to the wire W using the rotator 21. Accordingly, friction is reduced and smooth behavior is achieved.

Description

  The present invention relates to an adjustment unit.

  Conventionally, in various robots such as humanoid robots and pet robots, a drive motor is arranged in the apparatus main body, a wire interlocking with the drive motor is drawn around a pivotally connected joint unit, and the wire is pulled by the drive motor. Thus, a robot including a tendon drive mechanism that drives the joint unit is considered (for example, see Patent Document 1). Since such a tendon drive mechanism section can separate the drive motor from the joint unit and install the drive motor at a desired position, the joint unit itself can be reduced in size and weight. Have.

  In such a tendon drive mechanism, the joint unit can be smoothly driven by adjusting the rigidity of the wire. Therefore, the drive motor is controlled by software to adjust the rigidity, or it is provided on the wire. It is considered that the rigidity adjustment is performed by the rigidity adjustment unit (see, for example, Non-Patent Document 1 and Non-Patent Document 2).

  Furthermore, wrists capable of varying rigidity have been developed by mounting a nonlinear spring unit on the forearm of a robot (for example, Non-Patent Document 3). As shown in FIG. The unit main body 102 is provided with a pair of fixed pulleys 103 and 103 and a moving pulley 104 that moves in a crossing direction between the fixed pulleys 103 and 103, and a wire is provided on one side of the pair of fixed pulleys 103 and 103. 105, and the wire 105 is hooked on the other side of the moving pulley 104 in the pair of fixed pulleys 103, 103, and the moving pulley 104 is pulled to the other side by a coil spring 106. Tension is applied, and the non-linear spring unit 101 is incorporated in each of the two antagonistic muscles in the robot wrist and the forearm can be adjusted by maintaining the rigidity of the muscle (wire 105). I have to.

JP 7-96485 A

Hogan. N. Impedance control: An approach to manipulator, part1-3. Trans. ASME, Journal of Dynamic of Dynamic Systems, Measurement and Control, Vol. 107, pp. 1-24, 1985. Kazuhito Hyodo, Hiroaki Kobayashi. Research on tendon control wrist mechanism with nonlinear spring element. Journal of the Robotics Society of Japan, Vol. 11, No. 8, pp. 1244-1251, 1993. Muramatsu Naoya, Sodeyama Yoshinao, Mizuuchi Ikuo, Inaba Masayuki, Design of Forearm of Musculoskeletal Humanoid Kojiro with Non-Linear Spring. Proceedings of the 2008 JSME Conference on Robotics and Mechatronics, pp. 2P1-F02, 2007 .

  However, in the tendon drive mechanism that adjusts the rigidity by software control of the drive motor based on the tension sensor, there is a problem that the configuration becomes complicated by the provision of the sensor and the controller, and there is a limit to the responsiveness due to sensor feedback In addition, there are problems such as failure to function at all due to sensor failure.

  On the other hand, in the conventional nonlinear spring unit 101 in Non-Patent Document 3, since the tension applied to the wire 105 reaches the limit with a low value, the nonlinear spring unit 101 that can cope with high tension for fine rigidity adjustment like a human being. Is required.

  Further, as described above, in the case where the moving pulley 104 is provided on the unit main body 102 so as to be slidable in the linear direction, the contact area of the movable portion between the moving pulley 104 and the unit main body 102 is large. The unit rigidity cannot be adjusted. In addition, friction can be reduced by using a linear bearing or the like for the movable part, but miniaturization becomes difficult. Further, since the conventional unit uses a tension spring, the spring coefficient is small, and even if the tension applied to the wire 105 is small, the rigidity reaches a certain value, and it is difficult to finely adjust the rigidity. For this reason, in order to finely adjust the rigidity, a tension spring having a large spring coefficient is required, and there is a problem that it is difficult to reduce the size for incorporation into a robot.

  Therefore, the present invention has been made in consideration of the above points, and an object thereof is to provide an adjustment unit that can cope with downsizing of the unit and large tension.

  In order to solve such a problem, according to a first aspect of the present invention, in the adjustment unit for adjusting the tension of the stretched wire, a pair of guide portions that are spaced apart from each other are provided on the case body, and the guide portions are substantially along the guide portions. The wire is disposed, and a rotating body is rotatably provided on the case body, and a pressing member for bending the wire engaged with the guide portion between the guide portions is provided on the rotating body, and the wire has a predetermined force. When it is pulled, the urging means for urging the rotating body in a direction in which the pressing member presses the wire is provided.

  According to a second aspect of the present invention, a pair of the pressing members are provided on the rotating body, and the wires are bent along the other side and the other side of the pair of pressing members. It is.

  According to a third aspect of the present invention, the guide portion is a pulley provided rotatably on the case body, and the pressing member is a pulley provided rotatably on the rotating body.

  According to a fourth aspect of the present invention, the urging means is a compression coil spring.

Moreover, Claim 5 of this invention is equipped with the said some compression coil spring,
The end portions of the compression coil springs are rotatably connected to the case body and the rotating body, respectively.

  According to a sixth aspect of the present invention, the compression coil spring is externally mounted on a guide shaft.

  According to a seventh aspect of the present invention, a fixed mounting member is fixed to one end of the guide shaft, and a movable mounting member movable in the length direction of the guide shaft is provided on the other end side of the guide shaft. One of the attachment member and the movable attachment member is rotatably connected to the case body, and the other of the fixed attachment member and the movable attachment member is rotatably connected to the rotating body, and the fixed attachment member The compression coil spring is compressed by the moving attachment member.

  According to an eighth aspect of the present invention, the wire is stretched between a drive motor provided at a predetermined position and a predetermined movable part, and the movable part is moved according to the drive of the drive motor. It is used for adjusting the rigidity of the wire to be driven.

  According to the first aspect of the present invention, it is possible to cope with a high tension with respect to the wire, and it is possible to reduce the size of the unit with low friction by using the rotating body.

It is the schematic which shows a structure when the adjustment unit of Example 1 of this invention is attached to a wrist unit. It is a disassembled perspective view of an adjustment unit. It is a perspective view of the adjustment unit which omitted illustration of a wire. 4A and 4B are cross-sectional explanatory views of the adjustment unit in an initial state, in which FIG. 4A shows a wire drawing state, and FIG. 4B shows a mounting structure of an urging means. FIGS. 4A and 4B are cross-sectional explanatory views of the adjustment unit in a state where the wire is pulled out, FIG. 4A shows a state in which the wire is drawn, and FIG. 5B shows a mounting structure of the urging means. It is a graph which shows the relationship between the elongation of a wire and the tension | tensile_strength added to a wire. It is a graph which shows the relationship between the tension | tensile_strength of a wire, and elongation of a wire. It is a graph which shows the relationship between the tension | tensile_strength of a wire, and the rigidity of a wire. FIG. 9A shows an initial state of the stiffness adjusting unit according to the second embodiment of the present invention, FIG. 9A shows a wire routing state, and FIG. 9B shows a mounting structure of the urging means. It is a front view of the nonlinear spring unit of a prior art example.

  Hereinafter, an example of an embodiment of the present invention will be described in detail with reference to the drawings.

  In FIG. 1, reference numeral 1 denotes a wrist unit of a robot, and the wrist unit 1 is composed of a forearm block 2 and a hand block 3, and a front end of the forearm block 2 and a proximal end of the hand block 3 are connected to each other. The joint unit 4 is pivotably connected, and the hand block 3 can be pivotably moved with respect to the forearm block 2 by a tendon drive mechanism (not shown).

  Here, the tendon drive mechanism has a drive motor 5 installed in a trunk unit (not shown) and a wire W that pulls the hand block 3 in conjunction with the drive motor 5. The adjusting unit 10 is provided on the wire W stretched as shown in FIG. In FIG. 1, for convenience of explanation, attention is paid only to the tendon drive mechanism that drives the hand block 3, and only the wire W and the adjustment unit 10 of the tendon drive mechanism are shown.

  In practice, the wire W passes through the forearm block 2 from the drive motor 5 installed in the body unit, for example, and is fixed at a predetermined position on the hand block 3. The wire W is pulled in conjunction with the drive motor 5, and the hand block 3 can be rotated about the joint unit 4 as a rotation axis by this tensile force.

  In the case of this embodiment, the wire W for rotating the hand block 3 is provided with the adjustment unit 10 according to the present invention, and the rigidity of the wire W is adjusted by the adjustment unit 10. In the above-described embodiment, the case where the adjustment unit 10 is provided only on the wire W for rotating the hand block 3 by the drive motor 5 has been described. However, the present invention is not limited to this, and the forearm portion is provided. The adjusting unit 10 may be provided on various other wires such as a wire for rotating the block 2 by the drive motor 5.

  In practice, the adjustment unit 10 includes a case body 11 made of a metal material or the like as shown in FIGS. 2 to 5. The case body 11 includes a plate-like upper case 12 and the upper case 12. It consists of a lower case 13 incorporated in the lower part, and has a substantially rectangular parallelepiped shape whose plane and front are long in the lateral direction. The lower case 13 has a recess 14 in the center, and mounting portions 15 and 15 project from the left and right sides of the concave portion 14, and the upper case 12 having a plate shape is formed above the mounting portions 15 and 15. Fixed. The mounting portion 15 is provided with a concave portion 17 for attaching a pulley 16 as a guide portion. The concave portion 17 has a side surface opened, and the pulley 16 is rotatably provided in the concave portion 17 by a shaft 18. 4A and 5A, the pulley 16 is provided on both sides of the case body 11 on both sides of the wire W in the length direction. The mounting portion 15 is provided with a mounting recess 19 in which a compression coil spring, which will be described later, is disposed.

  In addition, a rotating body 21 is vertically arranged in the recess 14 so as to be rotatable. The rotating body 21 includes an upper rotating body 22 and a lower rotating body 23 that rotate integrally. A pair of pulleys 24 and 24, which are pressing members, are rotatably provided between the rotating bodies 22 and 23 by shafts 25 and 25. The shafts 25 and 25 are in point-symmetric positions with respect to the rotation center of the rotating body 21. Is provided. The pulley 24 is a pressing member that bends the wire W. Further, rotation center shafts 20 and 20 are integrally projected on the upper and lower rotating bodies 22 and 23, respectively, and these rotation center shafts 20 and 20 are rotated to the upper and lower cases 12 and 13 by bearings 20A and 20A. It is provided to be movable. Therefore, the pulley 24 that is a rotation pulley around the shaft 25 can rotate with respect to the rotating body 21, and the pulley 24 that is a revolving pulley revolves around the rotation center shaft 20 when the rotation body 21 rotates.

  Between the rotating body 21 and the left and right attachment portions 15, 15, compression coil springs 26, 26 as urging means are respectively disposed. The compression coil spring 26 has a rectangular cross section, is compact, A deformed wire compression spring having a large spring coefficient, which is made of, for example, a metal material. In addition, a guide shaft 27 is provided in the compression coil spring 26, and the guide shaft 27 prevents the compression coil spring 26 from buckling when contracted.

  A fixed mounting member 28 is fixed to one end of the guide shaft 27. The fixed mounting member 28 is connected to the mounting hole 29 for fixing the end of the guide shaft 27, and the compression coil spring. 26 has a storage hole 30 for storing one end side thereof, and mounting holes 32 for mounting bearings 31A and 31A on both sides, and one end of the compression coil spring 26 abuts the bottom 30A of the storage hole 30. The bearings 31A and 31A are inserted into both ends of the mounting hole 32, the shaft 31 is inserted into the bearings 31A and 31A, and the shaft 31 is fixed to the mounting recess 19 of the mounting portion 15. As a result, the fixed attachment member 28 is pivotally connected to the case body 11 around the shaft 31. Corresponding to the mounting recess 19, the lower rotating body 23 is provided with an mounting recess 33 whose side surface is open. The shafts 31 and 31 of the fixed mounting members 28 and 28 are provided at point-symmetric positions with respect to the rotation center of the rotating body 21. As shown in FIG. 2, the bearing 31A is integrally provided with a cylindrical portion 31B and a flange portion 31C, and the cylindrical portion 31B reduces friction during rotation with the mounted hole, Friction during rotation with the inserted shaft is reduced, the flange 31 acts as a thrust bearing, and friction during rotation between the surfaces sandwiching the flange 31 is reduced. All are provided with a cylindrical part and a collar part integrally.

  On the other hand, a movable attachment member 34 is slidably provided at the other end of the guide shaft 27, and an insertion hole 35 through which the guide shaft 27 is slidably inserted is provided in the movable attachment member 34. Further, the moving mounting member 34 has a storage hole 30 that is connected to the insertion hole 35 and stores the other end of the compression coil spring 26, and a mounting hole 32 for mounting the bearings 31A and 31A. The other end of the compression coil spring 26 abuts against the bottom 30A of the storage hole 30. Then, the bearings 31A and 31A are inserted into both ends of the mounting hole 32, and the upper and lower shafts 36 and 36 are inserted into the upper and lower bearings 31A and 31A, respectively. The mounting recess 33 is fixed above and below. As a result, the movable mounting member 34 is rotatably connected to the rotating body 21 around the shafts 36 and 36. The moving attachment members 34 are provided at point-symmetric positions with respect to the rotation center of the rotating body 21.

  As shown in FIG. 4B, the direction of the line connecting the shafts 31 and 36 is the direction of the guide shaft 26. In the initial state, the direction of the guide shaft 26 is the direction in which the wire W is stretched. And the guide shafts 26 and 26 are parallel to each other, and the orientation of the guide shaft 26 after the maximum amount of the wire W is drawn is in the initial state as shown in FIG. Is substantially parallel to the direction of the guide shaft 26. Such an arrangement contributes to downsizing of the adjustment unit 10.

  The left and right attachment portions 15 and 15 are provided with wire insertion bushings 37 and 37 corresponding to the height positions of the pulley 16 and the pulley 24, respectively. Further, the upper case 12 is provided with a rotary potentiometer 38 as rotation detecting means, and the rotary potentiometer 38 can detect the rotation angle of the rotating body 21 and calculate the angular displacement thereof.

  As shown in the plan view of FIG. 4A, in the case main body 11, one (left in the figure) pulley 16 is arranged on one side (lower side in the figure) in the orthogonal direction of the wire W, and the other (figure in the figure). (Middle right) Pulley 16 is arranged on the other side in the orthogonal direction of wire W (upper side in the figure), and in the state before the compression coil springs 26, 26 that are the initial positions are contracted (one in the figure) The other pulley 24 is disposed on the other side in the orthogonal direction of the wire W (upper side in the figure), and the other pulley 24 is disposed on one side in the orthogonal direction of the wire W (lower side in the figure). At this initial position, the wire W is inserted into the wire insertion bushes 37 on both sides, and the middle of the wire W is connected to the other side of the one pulley 16 (upper side in the figure) and one of the one pulley 24. On the other side (lower side in the figure), the other side of the other pulley 24 (upper side in the figure), and one side of the other pulley 16 (lower side in the figure). 24, the wire W is bent at two places, and the wire W is drawn in a substantially Z shape. The insertion hole of the wire insertion bush 37 is larger than the wire W, and the wire w is inserted through the wire W as shown in FIG. 4 (A) in a state where the wire W is hooked on the pulleys 16, 24, 24 and 16. Approach one side or the other side from the center of the bush 37.

  Next, the effect | action is demonstrated about the said structure. For example, as shown in FIG. 1, when a load F is applied to the hand block 3 while the hand block 3 is stopped, the upper adjustment unit 10 in FIG. 1 is pulled, and the wire W has a predetermined force. Is pulled, the wire W is pulled out from the adjustment unit 10, and the hand block 3 is bent.

  Here, the operation of the wire W in this case will be described with reference to FIGS. 4 and 5. FIG. 4 shows an initial state, and this initial state is a state before the compression coil spring 26 is compressed. When the wire W is pulled from the wire W and the tension of the wire W increases, the pulleys 16 and 16 are pushed by the wire W, the rotating body 21 rotates against the urging force of the compression coil springs 26 and 26, and the adjustment unit 10 Wire W is pulled out from Thus, when the wire W is pulled with a predetermined force, the compression coil spring 26 urges the rotating body 21 in a direction in which the pulleys 24 and 24 press the wire W. When the rotating body 21 rotates, the angle of the wire W passing between the pulleys 16, 24, 24, 16 changes, and the wire W stretches (the amount of movement of the wire W that is pulled out of the adjustment unit 10) and tension. Becomes non-linear. When the rotating body 21 rotates, as shown in FIG. 5B, the movable mounting member 34 moves to the fixed mounting member 28 side, and the compression coil spring 26 is compressed by the moving mounting member 34 and the fixed mounting member 28. Is done. In this case, since the compression coil spring 26 is externally mounted on the guide shaft 27 made of a hard material, the compression coil spring 26 can be contracted without causing buckling during compression.

  FIG. 6 is a graph showing the theoretical curve of the elongation of the wire W (the amount of movement of the wire W that is pulled out from the adjustment unit 10) and the tension applied to the wire W, with the horizontal axis extending and the vertical axis representing the tension. In addition, since the rigidity can be expressed by an inclination, it can be confirmed that the rigidity improves as the tension increases.

  Here, FIG. 7 is a graph showing the relationship between the tension of the wire W and the amount of movement of the wire W that is pulled out of the adjustment unit 10, and when the wire W is pulled, It shows that the wire W is pulled out from the adjustment unit 10. FIG. 8 shows the relationship between the tension of the wire W and the rigidity. 7 and 8 are theoretical values and show two types of graphs when the spring coefficient k is 0.60 kgf / mm and 0.13 kgf / mm. At this time, the rigidity increases to the same value as that of the wire W and reaches the limit. FIG. 8 shows the change, and it can be seen that the rigidity becomes maximum at a constant tension. However, since the graph shown in FIG. 8 is a theoretical value, it diverges to the maximum, but actually reaches the rigidity of the wire W itself and becomes a limit.

  As shown in FIG. 7, the larger the spring coefficient k, the greater the tension required until the amount of movement of the wire W in the adjustment unit 10 is maximized. Therefore, in FIG. It can be seen that the curve becomes gentler and finer stiffness adjustment is possible than when the spring coefficient k is low.

  As described above, in this embodiment, in the adjustment unit 10 that adjusts the tension of the stretched wire W, the case body 11 is provided with pulleys 16 and 16 that are paired with a gap at intervals, and the pulleys 16 and 16 The wire W is arranged along substantially the same direction, one pulley 16 restricts the movement of the wire W in one orthogonal direction, the other pulley 16 restricts the movement of the wire W in the other orthogonal direction, and the case body 11 A rotating body 21 is rotatably provided, and a pulley 24 as a pressing member for bending the wire W engaged with the guide portions 16 and 16 between the pulleys 16 and 16 is provided on the rotating body 21 so that the wire W has a predetermined force. When the wire W is pulled with a predetermined force, the pulley 24 is connected to the wire. When W is pressed and tension is applied to the wire W in this way, the wire W Since the urging force of the compression coil spring 26 is generated according to the force, the rigidity of the wire W can be adjusted, and the rigidity can be imparted to the wire W by using the rotating body 21, thereby reducing the friction. And smooth behavior can be realized.

  As described above, in this embodiment, the rotating body 21 is provided with the pulleys 24 and 24 as a pair of pressing members, and the wires W are arranged along one other side and the other side of the pair of pulleys 24 and 24. Since the wire W is bent, it is possible to lengthen the route for routing the wire W in a space-saving manner, thereby increasing the amount of movement of the wire W.

  Further, in this embodiment, since the guide portion is a pulley 16 provided rotatably on the case body 11, and the pressing member is a pulley 24 provided rotatably on the rotating body 21, the pulley 16, By using a rotating member of 24, friction can be reduced and the wire W can be pulled out smoothly.

  Further, in this embodiment, since the urging means is the compression coil spring 26, a high spring coefficient can be realized in a small space as compared with the case where the tension coil spring is used, and the unit can be downsized and the tension can be increased. Can be supported.

  In this way, in this embodiment, the plurality of compression coil springs 26 are provided, and the end portions of the compression coil springs 26 are rotatably connected to the case body 11 and the rotating body 21, respectively. The compression coil spring 26 can be smoothly swung by the movement.

  Further, in this embodiment, since the compression coil spring 26 is externally mounted on the guide shaft 27, buckling when the compression coil spring 26 contracts can be prevented.

  As described above, in this embodiment, the fixed mounting member 28 is fixed to one end of the guide shaft 27, and the movable mounting member 34 that is movable in the length direction of the guide shaft 27 is provided on the other end side of the guide shaft 27. The fixed mounting member 28, which is one of the fixed mounting member 28 and the movable mounting member 34, is rotatably connected to the case body 11, and the movable mounting member 34, which is the other of the fixed mounting member 28 and the moving mounting member 34, is rotated. Since the compression coil spring 26 is compressed by the fixed mounting member 28 and the movable mounting member 34, the movable mounting member 34 moves along the guide shaft 27 by the rotation of the rotating body 21. The compression coil spring 26 can be compressed by the mounting members 28 and 34.

  In this way, in this embodiment, the wire W is stretched between the drive motor 5 provided at a predetermined position and the hand portion block 3 which is a predetermined movable portion, and according to the drive of the drive motor 5. Since it is used for adjusting the rigidity of the wire W that drives the hand portion block 3, the hand portion block 3 can be gently brought into contact with the outside, and the impact applied to the hand portion block 3 can be absorbed.

  FIG. 9 shows a second embodiment of the present invention. The same reference numerals are given to the same parts as those in the first embodiment, and the detailed description thereof will be omitted. The figure corresponds to FIG. 4 of the first embodiment. A tension coil spring 41 is used instead of the compression coil spring, and one end of the tension coil spring 41 is rotatably connected to the shaft 31, and the other end of the tension coil spring 41 is connected to the rotating body by the shaft 42. In an initial state of FIG. 9, the tension coil spring 41 is a state before extension.

  Therefore, when the stretched wire W is pulled out, the rotator 21 rotates in the clockwise direction in the figure, and the tension coil spring 41 expands. The elastic restoring force of the tension coil spring 41 causes the pulley 24 to press the wire W. Thus, the rotating body 21 is urged to rotate.

  As described above, in this embodiment, in the adjustment unit 10 that adjusts the tension of the stretched wire W, the case body 11 is provided with pulleys 16 and 16 that are paired with a gap at intervals, and the pulleys 16 and 16 The wire W is arranged along substantially the same direction, one pulley 16 restricts the movement of the wire W in one orthogonal direction, the other pulley 16 restricts the movement of the wire W in the other orthogonal direction, and the case body 11 The rotating body 21 is provided rotatably, and the rotating body 21 is provided with pulleys 24 and 24 as pressing members for bending the wire W engaged with the guide portions 16 and 16 between the pulleys 16 and 16, and the wire W is predetermined. When the wire W is pulled with a predetermined force, the pulleys 24, 24 are provided with a tension coil spring 26 that is a biasing means for rotating and biasing the rotating body 21 in the direction of pressing the wire W. When the pulleys 24, 24 press the wire W and tension is applied to the wire W in this way, Since the urging force of the tension coil spring 26 is generated according to the tension applied to the ear W, the rigidity of the wire W can be adjusted, and the rigidity can be imparted to the wire W using the rotating body 21. , Can reduce friction and achieve smooth behavior.

  In addition, this invention is not limited to this embodiment, A various deformation | transformation implementation is possible within the range of the summary of this invention. For example, in the embodiment, the wire W is stretched between the hand block 3 that is a movable part and the drive motor 5 provided at a predetermined position, and the wire W is pulled according to the drive of the drive motor 5. Although the case where the adjustment unit 10 of the present invention is applied to the robot that drives the hand block 3 by the pulling force of the wire W has been described, the present invention is not limited to this, for example, between predetermined parts in various situations The adjustment unit 10 may be applied to the wire stretched around the wire to adjust the rigidity of the wire.

  In the above-described embodiment, a compression coil spring having a square cross section of the wire is shown as the biasing means, but the cross section of the wire may be circular. Furthermore, the adjustment unit of the present invention is not limited to a robot, and can be applied to various types of devices as long as a wire such as a building crane is stretched. In the embodiment, the pulley is shown as the guide portion, but it may be of a type that guides by inserting a wire like a wire insertion bush,

3 Hand block (movable part)
5 Drive motor
10 Adjustment unit (non-linear spring unit)
11 Case body
16 Pulley (Guide / Spinning pulley)
21 Rotating body
24 pulley (revolving pulley)
26 Compression coil spring (biasing means)
27 Guide shaft
28 Fixed mounting member
34 Moving mounting member

Claims (8)

In the adjustment unit that adjusts the tension of the stretched wire,
The case body is provided with a pair of guide portions spaced apart from each other, and the wires are arranged substantially along the guide portions.
A rotating body is rotatably provided in the case body,
The rotating body is provided with a pressing member that bends the wire engaged with the guide portion between the guide portions,
An adjustment unit, comprising: an urging unit that urges the rotating body to rotate in a direction in which the pressing member presses the wire when the wire is pulled with a predetermined force. A pair of the pressing members is provided on the rotating body,
The adjustment unit according to claim 1, wherein the wire is bent along the other side and the other side of the pair of pressing members. The guide is a pulley provided rotatably on the case body;
The adjustment unit according to claim 1 or 2, wherein the pressing member is a pulley rotatably provided on the rotating body. The adjustment unit according to any one of claims 1 to 3, wherein the biasing means is a compression coil spring. A plurality of the compression coil springs;
The adjustment unit according to any one of claims 1 to 4, wherein an end of the compression coil spring is rotatably connected to the case body and the rotating body. The adjustment unit according to claim 5, wherein the compression coil spring is mounted on a guide shaft. A fixed mounting member is fixed to one end of the guide shaft,
Provided on the other end side of the guide shaft is a movable mounting member movable in the length direction of the guide shaft,
One of the fixed mounting member and the movable mounting member is rotatably connected to the case body, and the other of the fixed mounting member and the movable mounting member is rotatably connected to the rotating body,
The adjustment unit according to claim 6, wherein the compression coil spring is compressed by the fixed attachment member and the movable attachment member. The wire is stretched between a drive motor provided at a predetermined position and a predetermined movable part, and is used for adjusting the rigidity of the wire that drives the movable part according to the drive of the drive motor. The adjusting unit according to any one of claims 1 to 6, wherein

Images