JPH0760347B2 - Viscoelastic variable load transmission device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Field of Application] The present invention relates to a friction coefficient of viscous friction load, elastic load, etc.
The present invention relates to a viscoelastic variable load transmission device capable of continuously changing the elastic coefficient. The viscous and elastic variable load transmission device can be applied to, for example, training for strengthening muscle strength of a person in the medical field. It can also be applied to actuators in the robot field.

[Conventional technology]

Conventionally, this type of viscoelastic variable load transmission device does not exist, and a general-purpose clutch mechanism or a freewheel hub is connected to the output shaft of a rotating body such as a motor. The load transmission device has a discontinuous load transmission and has a uniform function.

Therefore, for example, in the case of a load device in a robot actuator, it has a function of gripping and moving a predetermined part or object at a predetermined pressure, but the gripping pressure is continuously changed or minutely changed under certain specific conditions. It was a structure that cannot be done.

[Problems to be solved by the invention]

The conventional technology has the following problems because it has an improved structure. That is, since the torque of the rotating body such as the motor is simply transmitted to the friction element and the clutch function, the load transmission function is discontinuous and the simple torque transmission is intended. Therefore, it cannot be applied to viscoelastic load and cannot be applied to, for example, a muscle training device for a patient or rehabilitation for a patient. Also in the field of robots, it is necessary to change the gripping force depending on the part or object gripped by the actuator, but there are various disadvantages such as not being able to cope with this.

The present invention is provided with a potentiometer, a tachogenerator, or the like for detecting physical quantities such as shaft torque, shaft angular velocity, shaft angle, etc. on the output side of a friction element such as a clutch mechanism. (EN) A viscoelastic variable load transmission device that feeds back to and controls the load control device to solve the problems existing in the conventional techniques.

[Means for solving problems]

The present invention adopts the following means in order to solve the problems existing in the prior art. That is, at least one rotary drive, at least one friction element connected to the rotary drive, a load transmission lever connected to the friction element, a physical quantity detector connected to the load transmission lever, A signal shaping circuit that takes out the output signal from the physical quantity detector as a viscosity signal and an elasticity signal, and a driver circuit that controls and drives the friction element with the output signal from the signal shaping circuit. (EN) Provided is a viscoelastic variable load transmission device characterized in that a viscoelastic load is changed by the use of the viscoelastic load to achieve an intended purpose.

Further, the present invention employs a means in which the physical quantity detector is an encoder or a potentiometer and a DA converter and a counter are provided in the output circuit of the physical quantity detector.

Furthermore, the present invention employs a means for transmitting positive and negative loads by providing a rotation direction discriminating circuit on the output side of the viscosity and elasticity signal forming circuit and having opposing rotating bodies having opposite rotation directions. It is intended to provide a technique that can be used for a human muscle strength training device or a robot actuator by achieving multifunctional load transmission by such means.

[Action]

Since the present invention is provided with the above-mentioned means, the output from the rotary driving body composed of a motor or the like is transmitted to the friction element, and is applied to, for example, a human muscle training lever or a robot actuator through the friction element. Is transmitted to the load transmission lever. This load transmission lever outputs physical quantities of shaft torque, shaft angular velocity and shaft angle to the detector. An output signal from the physical quantity detector is transmitted through a D-A converter and an amplifier, and is input to a signal shaping circuit for separately shaping as a viscous signal and an elastic signal, and an output signal from the signal shaping circuit is driver. The operation of the friction element is controlled by the driver circuit, and the viscous and elastic loads are continuously transmitted to the load transmission lever.

[First Embodiment] FIG. 1 shows a viscoelastic variable load transmission device according to a first embodiment of the present invention.
It is a circuit block diagram which shows an Example. This will be described below.

Reference numeral 1 denotes a rotary driving body, which is, for example, a motor or the like. Reference numeral 2 denotes a friction element connected to the output shaft of the rotary drive body 1, which is, for example, an electromagnetic powder clutch as shown in FIG. Torque is transmitted. 3 is a load transmission lever,
It is connected to the output shaft of the friction element 2. The load transmission lever 3 may be used as an arm gripping lever, for example, when applied to a human strength training device. Reference numeral 4 is a physical quantity detector for detecting physical quantities of the shaft torque, the shaft angular velocity and the shaft angle transmitted from the load transmission lever 3. The physical quantity detector 4 is, for example, a potentiometer, an encoder or a tachogenerator. Reference numeral 5 denotes a DA converter, which is connected to the output side of the physical quantity detector 4 and converts a digital signal into an analog signal, which is required when the physical quantity detector 4 is, for example, an encoder. It is not necessary in the case of potentiometer or tachogenerator. Reference numeral 6 is an amplifier, which is a physical quantity detector 4
Alternatively, the output signal from the DA converter 5 is amplified. Reference numeral 7 is a differentiating circuit, which introduces the signal from the amplifier 6 and shapes a differential waveform signal, which is taken out as a viscous signal. The signal from the differentiating circuit 7 is introduced into the selector 8.

On the other hand, since the viscosity signal is introduced from the external viscosity signal input terminal a to the selector 8, both viscosity signals are introduced to the selector 10 via the amplifier 9. The external viscosity signal input terminal a
Is connected to, for example, a potentiometer or tachogenerator, and introduces a predetermined viscous signal from the outside. On the other hand, the elastic signal is taken out from the amplifier 6 and introduced into the selector 11. Further, the selector 11 has an external elastic signal input terminal b
Introducing a predetermined elasticity signal from

Both elastic signals are introduced into the selector 11 via the amplifier 12. The amplifier 6, the differentiating circuit 7, the amplifier 9 and the amplifier 12 which are described above constitute a signal shaping circuit. Then, the selector 10 introduces a viscosity signal from one side and an elasticity signal from the other side, respectively, and the combined signal is transmitted to the driver circuit 13,
The driver circuit 13 introduces an output signal into the above-mentioned friction element 2 to control and drive the coupling degree of the friction element 2. The friction element 2 continuously changes the load according to the input viscous and elastic signals. Therefore, the variable physical quantities of the shaft torque, the shaft angular velocity and the shaft angle are transmitted to the load transmission lever 3.
Therefore, strength training for a patient or the like in a hospital can be automatically performed by the load transmission lever 3.

FIG. 3 shows the structure of, for example, an electromagnetic powder clutch used in the friction element 2 shown in FIG.

Reference numeral 21 is an input shaft, which is connected to the rotary drive body 1.
Reference numeral 22 is an output shaft, one end of which is connected to the load transmission lever 3. Reference numeral 21a is a U-shaped drive clutch body integrally formed with the input shaft 21.

22a is integrally formed with the output shaft 22 and has the drive clutch body 21a.
It is a T-shaped driven clutch body inserted inside.

Reference numeral 23 is a fixed clutch body disposed adjacent to the outside of the drive clutch body 21a. An electromagnetic coil 24 is housed inside the fixed clutch body 23. Reference numeral 25 denotes a magnetic flux cutoff ring, which is interposed in the drive clutch body 21a and magnetically separates its left and right parts.

The operation of the electromagnetic powder clutch shown in FIG. 3 will be described. A current signal is supplied from the driver circuit 13 to the electromagnetic coil 24 via the terminals 26a and 26b. Thus, the magnetic flux path is formed as shown by the broken line loop 27, the powder (magnetic material) 27 is solidified, the coupling degree between the driven clutch body 22a and the drive clutch body 21a is determined according to the amount of energization, and the input shaft 21 From output shaft 2
Torque is transmitted to 2. If the power supply to the terminals 26a, 26b is cut off, the driven clutch body 22a and the drive clutch body 21a are released and torque is not transmitted.

In the figure, 29 is a seal member.

Next, the operation of the first embodiment of the present invention shown in FIG. 1 will be described. When the load transmission lever 3 is, for example, a gripping lever in a human muscle strength training device, physical quantities of the axial torque, the axial angular velocity, and the axial angle are transmitted to the physical quantity detector 4 according to how to move the lever. It The output signal from the physical quantity detector 4 is amplified by the amplifier 6, and on the one hand, it is introduced from the differentiating circuit 7 to the selector 8 as a viscosity signal, and this viscosity signal is the same as the viscosity signal from the external viscosity signal input terminal a. They are combined and introduced into the selector 10 via the amplifier 9. On the other hand, it is introduced as an elastic signal from the amplifier 6 into the selector 11, and this elastic signal is combined with the elastic signal from the external elastic signal input terminal b and introduced into the selector 10 via the amplifier 12. Then, the viscous signal and the elastic signal are combined, and the combined signal, that is, the combined current is applied to the driver circuit 13.

The driver circuit 13 includes, for example, an operational amplifier 131 as shown in FIG. 4, the output side of which is connected to the base of an npn-type transistor 132, the emitter of which is the resistor 133 and the collector of which is the friction element 2. Connected, and one input terminal of operational amplifier 131 is selector 1
The other input terminal of 0 is connected to the connection point of the emitter of the transistor 132 and the resistor 133, respectively. Then, the operational amplifier 131 outputs the combined current, the transistor 132 becomes conductive, and the electromagnetic coil 24 of the friction element 2 is energized. Therefore, the rotational torque from the rotary drive body 1 is transmitted to the output shaft 22 of the friction element 2 according to the physical quantities from the load transmission lever 3. The load transmission lever 3 is continuously variable, and a person can use the load transmission lever 3 as a gripping lever to perform, for example, muscle training.

[Second Embodiment] FIG. 2 shows a viscoelastic variable load transmission device according to a second embodiment of the present invention.
It is a circuit block diagram which shows an Example, each component is substantially the same as that of the said 1st Example, and abbreviate | omits description about the same component. Reference numeral 30 is a counter connected to the output side of the physical quantity detector 4, and is required when the physical quantity detector 4 is a digital signal source such as an encoder. Reference numeral 31 is a rotation direction discriminating circuit connected to the output side of the physical quantity detector 4, and inputs this output signal to the selectors 32, 32 'to drive the driver circuit 1
Drive 3,13 '. Then, the normal rotation of the rotary driving bodies 1, 1 ',
It controls the reverse rotation. The rotary drives 1 and 1'have opposite directions of rotation, so that the transfer torques of the friction elements 2 and 2'also are opposite. Therefore, the load transmission lever 3 transmits each physical amount of the difference between the transmission amounts of the friction elements 2 and 2 ', and a positive or negative load is applied, for example. Thus, the physical quantity detector 4 detects the physical quantity of the difference between the shaft torque, the shaft angular velocity, and the shaft angle of the two, and feeds back this signal as shown in the first embodiment, whereby the load transmission lever is fed. The viscoelastic load is continuously varied and applied to No. 3. When the load transmission lever 3 is applied to a robot actuator, the movement of the actuator is, for example,
It is possible to control and transmit continuously contradictory torques such as strength of forward and backward gripping force.

〔The invention's effect〕

(1) In the invention described in claim (1), the physical quantities of the shaft torque, the shaft angular velocity, and the shaft angle according to the operation of the load transmission lever are detected by a physical quantity detector, and the output signal is viscous, The output signal is introduced into the friction element through the driver circuit by the signal shaping circuit that combines it with the signal of the elastic input terminal and outputs it as the viscous and elastic signal. It can be variably transmitted according to the signal.

(2) The invention according to claim (2) detects physical quantities of a plurality of shaft torques, shaft angular velocities, and differences in shaft angles according to the operation of a load transmission lever to which a positive or negative load is applied. The output signal from the rotation direction discriminating circuit whose operation is set by the output signal from the signal shaping circuit and the physical quantity detector that detects this output signal as a viscous and elastic signal is detected via a plurality of driver circuits. By introducing into the plurality of friction elements, positive and negative torques from the plurality of rotary driving bodies can be continuously transmitted to the load transmission lever so that positive and negative viscous and elastic loads can be variably transmitted.

(3) According to the inventions of claims (1) and (2), if the load transmission lever is applied to, for example, a gripping lever of a human muscle strength training apparatus for treatment, a remarkable effect can be achieved. Also, if the load transmission lever is applied to a robot actuator, by applying positive and negative torque,
The load can be continuously changed based on the viscosity and elasticity signals, and the actuator can be finely controlled.Therefore, it is possible to provide a device with significantly better performance than existing ones. is there.

[Brief description of drawings]

FIG. 1 is a circuit configuration diagram showing a first embodiment of a viscous and elastic variable load transmission device according to the present invention. FIG. 2 is a circuit configuration diagram showing a second embodiment of the viscous and elastic variable load transmission device according to the present invention. FIG. 3 is a sectional view showing an example of a friction element used in the device according to the present invention. FIG. 4 is an electric circuit showing an example of a driver circuit used in the device according to the present invention. 1,1 '... Rotary drive body, 2,2' ... Friction element, 3 ... Load transmission lever, 4 ... Physical quantity detector, 5 ... DA converter, 6,9,12 ... … Amplifier, 7 …… Differentiation circuit, 13,13 ′ ……
Driver circuit, 31 …… Rotation direction discrimination circuit.

Claims (2)

[Claims] 1. A rotary drive, a friction element connected to the rotary drive, a load transmission lever connected to the friction element, a physical quantity detector connected to the load transmission lever, and a physical quantity detection. A signal shaping circuit that combines the output signal from the container with the signal of the viscosity and elasticity input terminals and extracts it as a viscosity and elasticity signal,
A viscoelastic variable load transmission device comprising a driver circuit for controlling and driving a friction element by an output signal from the signal shaping circuit, and continuously changing viscous and elastic loads to the load transmission lever. 2. A rotary drive having a complicated and opposite rotation direction, a plurality of friction elements connected to the rotary drive and having opposite output shafts, and a load transmission lever connected to the friction elements. A physical quantity detector that operates according to physical quantities from the load transmission lever, a signal shaping circuit that extracts an output signal from the physical quantity detector as a viscous and elastic signal, the signal shaping circuit and the physical quantities. Composed of a plurality of driver circuits that control the friction element to be positive or negative by the output signal from the rotation direction determination circuit whose operation is set by the output signal from the detector, and positive and negative viscous continuously to the load transmission lever, A viscoelastic variable load transmission device characterized by changing an elastic load.