WO2018037785A1 - Force transmission device and operation auxiliary device - Google Patents

Force transmission device and operation auxiliary device Download PDF

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Publication number
WO2018037785A1
WO2018037785A1 PCT/JP2017/026325 JP2017026325W WO2018037785A1 WO 2018037785 A1 WO2018037785 A1 WO 2018037785A1 JP 2017026325 W JP2017026325 W JP 2017026325W WO 2018037785 A1 WO2018037785 A1 WO 2018037785A1
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WO
WIPO (PCT)
Prior art keywords
pulley
force transmission
transmission device
relative rotation
rotation
Prior art date
Application number
PCT/JP2017/026325
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French (fr)
Japanese (ja)
Inventor
ダメラウ・ヨッヘン
真崇 鈴木
峰生 渡邉
マウフロイ・クリストフ
スイ・マイク
ヤコブス・セオ
Original Assignee
ボッシュ株式会社
フラウンホーファーゲゼルシャフト・ツール・フォルデルング・デル・アンゲヴァンテン・フォルシユング・エー・フアー．
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Application filed by ボッシュ株式会社, フラウンホーファーゲゼルシャフト・ツール・フォルデルング・デル・アンゲヴァンテン・フォルシユング・エー・フアー． filed Critical ボッシュ株式会社
Publication of WO2018037785A1 publication Critical patent/WO2018037785A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H19/00—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion
    • F16H19/02—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion

Definitions

  • the present invention relates to a force transmission device using a pulley mechanism and an operation assisting device including such a force transmission device.
  • a human-mounted robot has been known as a motion assist device that supports or assists the motion of a healthy person or a disabled person.
  • the human body-mounted robot includes, for example, a joint portion to be worn by a user, a sensor for detecting the user's intention or state, or a surrounding situation, an actuator that applies rotational torque to the joint portion, and a control device. It is configured with.
  • an actuator includes a motor and a transmission that converts high-speed rotation of the motor into low-speed rotation suitable for human movement.
  • the transmission transmits the rotation of the motor to the joint at a gear ratio of 1/50 to 1/200, for example.
  • the actuator is configured by combining, for example, a harmonic drive (registered trademark) or a worm gear and a DC motor.
  • a robot that uses a force transmission device having a plurality of pulleys and a flexible force transmission member such as a cable, a wire, or a belt for rotationally driving a joint portion.
  • a force transmission device having a pulley and a flexible force transmission member has an advantage that the degree of freedom in the layout of the actuator can be increased.
  • such a force transmission device needs to be adjusted so that the tension of the force transmission member is kept high to a predetermined level so that the flexible force transmission member does not come off the pulley.
  • Patent Document 1 discloses a robot arm mechanism having a tension adjustment mechanism constituted by a spring or an actuator between an actuator in which a pulley around which a wire is wound is attached to a rotating shaft and a pedestal portion. It is disclosed. In such a robot arm mechanism, loosening of the wire of the wire drive system can be prevented, and the wire can be prevented from coming off the pulley.
  • the tension adjusting mechanism in the robot arm mechanism described in Patent Document 1 moves the entire actuator that rotates the pulley around which the wire is wound, thereby preventing a rapid tension change of the wire. For this reason, the tension adjusting mechanism has to secure a space in which the actuator and the pulley can be moved.
  • the present invention has been made in view of the above problems, and an object of the present invention is to provide a novel, capable of maintaining the tension of a flexible force transmission member without moving the positions of an actuator and a pulley. Another object of the present invention is to provide an improved force transmission device and motion assist device.
  • a first pulley, a second pulley, and a flexible force transmission member that spans at least the first pulley and the second pulley. And relative rotation in the opposite direction, allowing relative rotation of the first pulley in the same direction as the winding direction of the force transmission member wound around the first pulley with respect to the rotation shaft supporting the first pulley.
  • a load that applies a load to the first pulley so as to cause the first pulley to rotate relative to a rotation shaft that supports the one-way clutch that prevents rotation and a rotation shaft that supports the first pulley.
  • An application member is provided.
  • a wearing tool that is attached to a user's human body and has a joint portion that connects the first member and the second member so as to be relatively rotatable, the first member, and the second member.
  • An actuator that generates power for rotating the members of the first member, a first pulley, a second pulley, a flexible force transmission member that spans at least the first pulley and the second pulley, and a first pulley.
  • a one-way clutch that allows relative rotation of the first pulley in one direction around the axis with respect to the rotating shaft to be supported and prevents relative rotation in the other direction, and an axis with respect to the rotating shaft that supports the first pulley
  • a force applying device that includes a load applying member that applies a load to the first pulley so as to relatively rotate in one direction around the first pulley, and that transmits power generated from the actuator to the joint portion.
  • the tension of the flexible force transmission member can be maintained without moving the positions of the actuator and the pulley. Therefore, an increase in size of the force transmission device or the operation assisting device can be suppressed.
  • FIG. 1 is a perspective view showing the force transmission device 10
  • FIG. 2 is a partial cross-sectional view for explaining the configuration of the force transmission device 10
  • FIG. 3 is for explaining the configuration of the force transmission device 10.
  • FIG. 3 for easy understanding, the first pulley 11 and the second pulley 21 supported by the same rotating shaft 41 are shown separately.
  • the force transmission device 10 includes a rotation shaft 41 of the actuator 40, a first pulley 11 and a second pulley 21 supported by the rotation shaft 41, a wire 35 as a flexible force transmission member, and a wire 35. And a third pulley 31 to which the rotation of the first pulley 11 or the second pulley 21 is transmitted, and an output shaft 51 that supports the third pulley 31.
  • the actuator 40 is a source of power transmitted by the force transmission device 10 and is driven and controlled by a control device (not shown).
  • a rotary motor such as a servo motor or a stepping motor is used as the actuator 40, but the actuator 40 is not limited to such an example.
  • the rotation shaft 41 outputs a rotation torque generated by the actuator 40.
  • the actuator 40 may output rotational torque to the rotary shaft 41 via a reduction gear mechanism (not shown).
  • the first pulley 11 and the second pulley 21 are supported by a common rotating shaft 41. Accordingly, one of the first pulley 11 and the second pulley 21 rotates with one degree of freedom in synchronization with the rotation of the other pulley.
  • the first pulley 11 and the second pulley 21 each have a groove (not shown) around which the wire 35 is wound around the circumferential surface. Both ends of the wire 35 are wound around the first pulley 11 and the second pulley 21, and the end of the wire 35 is fixed.
  • the winding direction of the wire 35 around the first pulley 11 is opposite to the winding direction of the wire 35 around the second pulley 21.
  • the wire 35 is wound around the first pulley 11 in the clockwise direction, while being wound around the second pulley 21 in the counterclockwise direction. For this reason, when the actuator 40 is driven, the wire 35 is led out from one of the first pulley 11 or the second pulley 21, while the wire 35 is wound around the other pulley.
  • the winding diameter of the wire 35 with respect to the first pulley 11 and the second pulley 21 is the same. Basically, the lead-out length of the wire 35 from one pulley and the winding length of the wire 35 to the other pulley are the same. It becomes.
  • the wire 35 from the first pulley 11 to the second pulley 21 is wound around the third pulley 31 supported by the output shaft 51.
  • the third pulley 31 is fixed to the output shaft 51, and the output shaft 51 rotates in synchronization with the rotation of the third pulley 31. Therefore, when the rotation shaft 41 rotates by the rotation torque of the actuator 40 and the first pulley 11 and the second pulley 21 rotate, the third pulley 31 is rotated via the wire 35 by the frictional force, and the output shaft 51 rotates. Thereby, the rotational torque output from the actuator 40 is output from the output shaft 51.
  • the ratio (speed) between the rotation speed of the rotation shaft 41 and the rotation speed of the output shaft 51. Ratio) can be set to an appropriate ratio. Further, in the force transmission device 10 according to the present embodiment, since the axial direction of the rotary shaft 41 and the axial direction of the output shaft 51 are parallel, an increase in friction between the wire 35 and each pulley is suppressed. The reduction in power transmission efficiency is suppressed.
  • the tension holding mechanism maintains the tension of the wire 35 high so that the wire 35 does not come off from any of the first pulley 11, the second pulley 21, or the third pulley 31 due to the slack of the wire 35. It is a mechanism to do. In particular, the wire 35 tends to be stretched or slack with time, and may be detached from any pulley.
  • the tension holding mechanism can automatically maintain the tension in accordance with the elongation or slack of the wire 35 without requiring manual adjustment of the tension of the wire 35 by a user or the like.
  • the tension holding mechanism is provided in each of the first pulley 11 and the second pulley 21 and includes a one-way clutch and a torsion spring as a load applying member.
  • the first pulley 11 is supported on the rotary shaft 41 via the first one-way clutch 13.
  • the first one-way clutch 13 allows relative rotation of the first pulley 11 in one direction around the axis with respect to the rotation shaft 41 and prevents relative rotation in the other direction.
  • the first one-way clutch 13 allows relative rotation of the first pulley 11 in the counterclockwise direction with respect to the rotation shaft 41.
  • the first one-way clutch 13 prevents relative rotation of the first pulley 11 in the clockwise direction with respect to the rotation shaft 41.
  • the direction in which the first pulley 11 can rotate relative to the rotation shaft 41 is the same as the winding direction of the wire 35 on the first pulley 11.
  • the first torsion spring 15 biases the first pulley 11 with respect to the rotation shaft 41 in a direction in which relative rotation is allowed.
  • One end of the first torsion spring 15 is fixed to the first pulley 11, the other end is fixed to the rotating shaft 41, and the central portion is wound around the rotating shaft 41.
  • the first torsion spring 15 always applies a tensile torque T ⁇ b> 1 to the first pulley 11 in the counterclockwise direction.
  • the second pulley 21 is supported on the rotating shaft 41 via the second one-way clutch 23.
  • the second one-way clutch 23 allows relative rotation of the second pulley 21 in one direction around the axis with respect to the rotation shaft 41 and prevents relative rotation in the other direction.
  • the second one-way clutch 23 allows relative rotation of the second pulley 21 in the clockwise direction with respect to the rotation shaft 41.
  • the second one-way clutch 23 prevents relative rotation of the second pulley 21 in the counterclockwise direction with respect to the rotation shaft 41.
  • the direction in which the second pulley 21 can rotate relative to the rotation shaft 41 is the same as the winding direction of the wire 35 on the second pulley 21. That is, the first pulley 11 and the second pulley 21 are allowed to rotate relative to the common rotating shaft 41 in the opposite direction.
  • the second torsion spring 25 biases the second pulley 21 with respect to the rotation shaft 41 in a direction in which relative rotation is allowed.
  • One end of the second torsion spring 25 is fixed to the second pulley 21, the other end is fixed to the rotating shaft 41, and the central portion is wound around the rotating shaft 41.
  • the second torsion spring 25 always applies a tensile torque T ⁇ b> 2 to the second pulley 21 in the clockwise direction.
  • the one-way clutch a conventionally known one-way clutch such as a sprag type or a cam type can be appropriately used.
  • the spring loads of the first torsion spring 15 and the second torsion spring 25 can be appropriately set according to a desired tension generated in the wire 35.
  • the first load applying member and the second load applying member are not limited to the torsion springs, and are always the first pulley 11 or the second pulley within a period corresponding to the extension amount of the wire 35 or a range of relative rotation. 21 can be applied as long as the tensile torque T1, T2 can be continuously applied to the belt 21.
  • a preload is applied to the wire 35 in advance in a state where the actuator 40 before use is not driven, and the tension of the wire 35 is maintained.
  • the preload may be provided manually.
  • the rotating shaft 41 is rotated by the actuator 40, the first pulley 11 and the second pulley 21 rotate as follows.
  • the first pulley 11 When the wire 35 is stretched or slackened due to long-term use, the first pulley 11 is rotated relative to the rotation shaft 41 in the counterclockwise direction by the tensile torque T1 of the first torsion spring 15. Be made.
  • the second pulley 21 When the wire 35 is stretched or slackened, the second pulley 21 is rotated relative to the rotating shaft 41 in the clockwise direction by the tensile torque T2 of the second torsion spring 25. Thereby, the tension of the wire 35 is maintained.
  • the tension holding mechanism configured using the one-way clutch and the load applying member
  • the tension of the wire 35 can be held without moving the position of the actuator 40 and each pulley in the space.
  • the force transmission device 10 has a force transmission device 10 that has a force transmission device 10 that has a tension higher than that of the case where the tension of the wire 35 is maintained using an additional actuator, a separately arranged component, automatic control software, or the like. An increase in mass can be suppressed.
  • the tension holding mechanism configured using the one-way clutch and the load applying member the tension of the wire 35 can be held with a relatively simple configuration.
  • FIG. 4 is a partial cross-sectional view for explaining the configuration of the force transmission device 60 according to the first modification, and corresponds to FIG. 2 in the above embodiment.
  • FIG. 5 is a schematic diagram for explaining the configuration of the force transmission device 60. In FIG. 5, for easy understanding, the first pulley 61 and the second pulley 71 supported by the same rotating shaft 41 are shown separately.
  • the first load application member and the second load application member for urging the first pulley 61 or the second pulley 71 in a predetermined direction are arranged as described above. This is different from the force transmission device 10 according to the embodiment.
  • the first pulley 61 has an annular projecting portion 62 projecting in the axial direction.
  • One end side of a first constant tension spring 65 as a first load applying member is wound around the projecting portion 62. Further, the other end side of the first constant tension spring 65 is wound around the support shaft 59.
  • the first constant tension spring 65 biases the first pulley 61 with respect to the rotation shaft 41 in a direction in which relative rotation is allowed.
  • the first constant tension spring 65 always applies a tensile torque T1 to the first pulley 61 in the counterclockwise direction. Therefore, when the wire 35 is stretched or slackened, the first pulley 61 is rotated relative to the rotation shaft 41 in the counterclockwise direction by the tensile torque T1 of the first constant tension spring 65, and The tension of the wire 35 closer to the first pulley 61 than the third pulley 31 is maintained.
  • the second pulley 71 has an annular projecting portion 72 projecting in the axial direction.
  • One end side of a second constant tension spring 75 as a first load applying member is wound around the projecting portion 72.
  • the other end side of the second constant tension spring 75 is wound around the support shaft 59 in the same manner as the first constant tension spring 65.
  • the other end side of the second constant tension spring 75 may be supported by a support shaft different from the support shaft 59 that supports the other end side of the first constant tension spring 65.
  • the second constant tension spring 75 biases the second pulley 71 in the direction in which relative rotation is allowed with respect to the rotation shaft 41.
  • the second constant tension spring 75 always applies a tensile torque T2 to the second pulley 71 in the clockwise direction. Therefore, when the wire 35 is stretched or slackened, the second pulley 71 is rotated relative to the rotation shaft 41 in the clockwise direction by the tensile torque T2 of the second constant tension spring 75, and the first pulley The tension of the wire 35 closer to the second pulley 71 than the third pulley 31 is maintained. Thereby, it can prevent that the wire 35 remove
  • FIG. 6 is a schematic diagram for explaining a configuration of a force transmission device 90 according to a second modification.
  • the first pulley 91 and the second pulley 21 are supported by different first and second rotating shafts 47 and 49, respectively.
  • a first gear 99 provided coaxially is fixed to the first rotating shaft 47
  • a second gear 29 provided coaxially is fixed to the second rotating shaft 49.
  • the first gear 99 and the second gear 29 are in mesh with each other, and the other rotary shaft and gear rotate in one degree of freedom in synchronization with the rotation of the one rotary shaft and gear.
  • the ratio of the number of teeth of the second gear 29 to the first gear 99 is set equal to the ratio of the radius of the second pulley 21 to the first pulley 91, that is, the reduction ratio of the pulley. .
  • the first pulley 91 and the second pulley 21 rotate in directions opposite to each other.
  • the winding direction of the wire 35 on the first pulley 91 is the same clockwise direction as the winding direction of the wire 35 on the second pulley 21.
  • the first one-way clutch 93 interposed between the first pulley 91 and the first rotating shaft 47 has the first pulley 91 in the clockwise direction with respect to the first rotating shaft 47. Relative rotation is allowed and relative rotation of the first pulley 91 in the counterclockwise direction is prevented.
  • the first torsion spring 95 as the first load applying member urges the first pulley 91 in the direction in which relative rotation is allowed with respect to the first rotating shaft 47.
  • the second one-way clutch 23 interposed between the second pulley 21 and the second rotation shaft 49 is connected to the second pulley 21 in the clockwise direction with respect to the second rotation shaft 49. Relative rotation of the second pulley 21 is prevented, and relative rotation of the second pulley 21 in the counterclockwise direction is prevented. Then, the second torsion spring 25 as the second load applying member biases the second pulley 21 in the direction in which relative rotation is allowed with respect to the second rotation shaft 49.
  • the force transmission device 90 has one actuator that rotationally drives either one of the first rotating shaft 47 or the second rotating shaft 49.
  • an actuator for rotationally driving the first rotary shaft 47 is provided, when the first rotary shaft 47 is rotated counterclockwise, the first pulley 91 rotates clockwise with respect to the first rotary shaft 47. Will rotate. For this reason, the first pulley 91 is not rotated by the rotational torque of the first rotating shaft 47 due to the function of the first one-way clutch 93.
  • the first pulley 91 is fed out.
  • the amount of the wire 35 is equal to the amount of the wire 35 wound around the second pulley 21, and the tension of the wire 35 operates without changing.
  • the first pulley 91 is rotated clockwise by the rotation torque of the first rotation shaft 47, and the wire 35 is It is wound around a pulley 91.
  • the second rotary shaft 49 rotates counterclockwise by the rotational torque of the first rotary shaft 47 transmitted through the first gear 99 and the second gear 29, the second one-way Due to the function of the clutch 23, the second pulley 21 is not rotated by the rotational torque of the second rotating shaft 49.
  • the second pulley 21 rotates counterclockwise due to the tension of the wire 35 wound around the first pulley 91.
  • the amount of the wire 35 sent out from the first pulley 91 and the amount of the wire 35 wound around the second pulley 21 are equal.
  • the first pulley 91 When the wire 35 is stretched or slackened due to long-term use, the first pulley 91 is rotated in the clockwise direction with respect to the second rotation shaft 49 by the tensile torque T1 of the first torsion spring 95. The wire 35 is relatively rotated, and the tension of the wire 35 closer to the first pulley 91 than the third pulley 31 is maintained.
  • the second pulley 21 When the wire 35 is stretched or loosened, the second pulley 21 is rotated relative to the second rotation shaft 49 in the clockwise direction by the tensile torque T2 of the second torsion spring 25. The tension of the wire 35 on the second pulley 21 side relative to the third pulley 31 is maintained. Thereby, it can prevent that the wire 35 remove
  • FIG. 7 is an explanatory diagram illustrating an example of a human body-mounted robot 100 that rotates the joint portion 120 by the power generated by the actuator 40 via the force transmission device 10.
  • the illustrated human-body-mounted robot 100 includes a joint portion 120, and a first arm portion 112 and a second arm portion 114 that are coupled to be rotatable about the joint portion 120.
  • the upper part of the first arm portion 112 is fixed to a mounting belt 102 that is wrapped around the waist of a human body.
  • the lower portion of the second arm portion 114 is fixed to a mounting belt 104 that is wound around the thigh of the human body.
  • the relative rotation between the first arm part 112 and the second arm part 114 around the joint part 120 is operated by the actuator 40 via the force transmission device 10 and the cables 132 and 134.
  • two cables 132 and 134 are connected to the joint portion 120, and one of the cables is advanced toward the joint portion 120 and the other cable is retracted from the joint portion 120, whereby the first arm
  • the second arm portion 114 rotates clockwise or counterclockwise with respect to the portion 112.
  • the cables 132 and 134 may be a single cable that is wound around the joint 120 and led out.
  • the cables 132 and 134 are respectively fixed or wound around a fourth pulley 55 supported by the output shaft 51 that supports the third pulley 31 of the force transmission device 10.
  • the cables 132 and 134 may be loop-shaped cables wound around the fourth pulley 55 and the joint portion 120.
  • the second arm unit 114 rotates about the joint unit 120 clockwise by rotating the joint unit 120 clockwise as illustrated.
  • the operation of raising the foot by the user is assisted.
  • a control device not shown
  • the output shaft 51 and the fourth pulley 55 are rotated clockwise.
  • the cable 132 is retracted from the joint portion 120, while the cable 134 is led out toward the joint portion 120.
  • the joint portion 120 rotates clockwise
  • the second arm portion 114 rotates clockwise around the joint portion 120, so that a force that assists the user in raising the foot is generated.
  • the control device (not shown) rotates the output shaft 51 and the fourth pulley 55 counterclockwise by driving the actuator 40.
  • the cable 134 is now retracted from the joint portion 120, while the cable 132 is led out toward the joint portion 120.
  • the joint portion 120 rotates counterclockwise, and the second arm portion 114 rotates counterclockwise around the joint portion 120, so that a force that assists the user to lower the foot is generated.
  • the human body wearing robot 100 can automatically eliminate the elongation and slack of the wire 35 that transmits the power generated by the actuator 40 to the output shaft 51 in the force transmission device 10.
  • the wire 35 can be prevented from coming off from the second pulley 21 or the third pulley 31.
  • the human body-mounted robot 100 can suppress a decrease in power transmission efficiency from the actuator 40 to the joint portion 120. Therefore, the controllability of the rotational drive of the joint 120 can be maintained.
  • a Bowden cable may be used as the cables 132 and 134 for rotating the joint portion 120.
  • one end side of the protective covers 131 and 133 outside the cables 132 and 134 of the Bowden cable is fixed to the fixing unit 113 at a position different from the joint unit 120 in the human body wearing robot 100.
  • one end sides of the protective covers 131 and 133 are fixed to the fixing portion 113 provided on the first arm portion 112, but may be fixed to a part of the mounting belt 102.
  • the other ends of the protective covers 131 and 133 are fixed to a fixing portion (not shown) in the force transmission device 10.
  • the actuator 40 and the force transmission device 10 can be arranged at a position away from the joint portion 120.
  • the actuator 40 and the force transmission device 10 may be provided in the form of a backpack that the user carries on the back, or may be provided in the form of a hand-held or self-propelled cart.
  • the human body-mounted robot (motion assisting device) 100 includes the above-described force transmission device 10, the power transmission of the force transmission device 10 is suppressed while suppressing the enlargement of the human body-mounted robot 100.
  • the slack of the wire 35 as a member can be suppressed. Therefore, it is possible to suppress a reduction in power transmission efficiency to the joint portion 120 of the human body-mounted robot 100, and maintain controllability of the rotational drive of the joint portion 120.
  • the force transmission device 10 according to the first embodiment includes the tension holding mechanism including the one-way clutch and the load applying member in each of the first pulley 11 and the second pulley 21.
  • the force transmission device 210 according to the embodiment is different from the force transmission device 10 according to the first embodiment in that a tension holding mechanism including the one-way clutch 13 and the load applying member 15 is provided only in the first pulley 11.
  • a tension holding mechanism including the one-way clutch 13 and the load applying member 15 is provided only in the first pulley 11.
  • FIG. 8 is a partial cross-sectional view for explaining the configuration of the force transmission device 210
  • FIG. 9 is a schematic diagram for explaining the configuration of the force transmission device 210. 8 to 9 show the second one-way clutch 23 and the second torsion spring 25 of the force transmission device 10 according to the first embodiment shown in FIGS. The example which fixed the pulley 221 to the rotating shaft 41 is shown. In FIG. 9, for easy understanding, the first pulley 11 and the second pulley 221 supported by the same rotating shaft 41 are shown separately.
  • the configuration of the first pulley 11 having the one-way clutch 13 and the load applying member 15 can be the same as that of the first pulley 11 of the force transmission device 10 according to the first embodiment.
  • the second pulley 221 is fixed to the rotating shaft 41 of the actuator. That is, the rotation shaft 41 and the second pulley 221 are configured not to rotate relative to each other. Except for this point, the configuration can be the same as the configuration of the force transmission device 10 according to the first embodiment.
  • a preload is applied to the torsion spring 15 in advance in a state where the actuator before use is not driven, and the first pulley 11 is counterclockwise as shown in FIG.
  • a tensile torque T1 that causes relative rotation in the rotating direction is generated.
  • the preload may be provided manually. Thereby, the tension of the wire 35 is maintained when the actuator is in an inoperative state.
  • the rotating shaft 41 is rotated by the actuator, the first pulley 11 and the second pulley 221 rotate as follows.
  • the first pulley 11 When the wire 35 is stretched or slackened due to long-term use, the first pulley 11 is rotated relative to the rotating shaft 41 in the counterclockwise direction by the tensile torque T1 of the torsion spring 15; The tension of the wire 35 is maintained.
  • the tension of the wire 35 can be held with a relatively simple configuration. Thereby, the enlargement of the force transmission device 210 can be suppressed. Further, according to the force transmission device 210 according to the present embodiment, since the one-way clutch and the torsion spring are provided in only one pulley, the mass of the force transmission device 210 can be further suppressed.
  • the 1st modification and the 2nd modification of the force transmission apparatus 10 which concern on 1st Embodiment are applicable. That is, a constant tension spring may be used instead of the torsion spring 15, and the first pulley 11 and the second pulley 221 may be supported by different rotating shafts that are gear-connected to each other.
  • a force transmission device 250 according to the third embodiment will be described with reference to FIG.
  • the force transmission devices 10 and 210 according to the first and second embodiments use a torsion spring as a load applying member, but the force transmission device 250 according to the third embodiment is a load It differs from the force transmission devices 10 and 210 according to the first embodiment and the second embodiment in that a brake force generation member 251 is used as the application member.
  • a brake force generation member 251 is used as the application member.
  • FIG. 10 is a schematic diagram for explaining the configuration of the force transmission device 250.
  • FIG. 10 shows an example in which the torsion spring 15 in the force transmission device according to the second embodiment shown in FIGS. 8 and 9 is eliminated and a brake force generating member 251 is newly provided.
  • the first pulley 211 and the second pulley 221 supported by the same rotation shaft 41 are shown separately. Further, in FIG. 10, illustration of the wires 35 arranged in the grooves on the peripheral surfaces of the first pulley 211, the second pulley 221, and the third pulley 31 is omitted.
  • the brake force generation member 251 is fixed to, for example, a housing that accommodates the force transmission device 250 and partly contacts the first pulley 211.
  • the first pulley 211 rotates, the first pulley 211 can rotate while generating rotational resistance due to frictional force between the first pulley 211 and the brake force generating member 251.
  • this frictional force is caused by the rotational torque of the first pulley 211 when the actuator is driven, while the relative rotation between the first pulley 211 and the brake force generation member 251 becomes impossible when the actuator is not driven.
  • the first pulley 211 and the brake force generation member 251 are set to a size that allows relative rotation.
  • the material of the brake force generating member 251 is not particularly limited, and may be, for example, resin, rubber, metal, or wood.
  • the brake force generating member 251 is in contact with the peripheral surface of the first pulley 211, but the position where the brake force generating member 251 is in contact with the first pulley 211 may be a side surface. Good. Except for this point, the configuration can be the same as the configuration of the force transmission device 210 according to the second embodiment.
  • the first pulley 211 is rotated counterclockwise in FIG. 10 without driving the actuator before use.
  • the rotation of the first pulley 211 may be performed manually.
  • the first pulley 211 and the rotating shaft 41 rotate relative to each other without rotating the rotating shaft 41 by the function of the one-way clutch 13.
  • the second pulley 221 fixed to the rotating shaft 41 does not rotate.
  • the first pulley 211 that is relatively rotated is held at the position after the rotation by the frictional force generated between the first pulley 211 and the brake force generating member 251. Thereby, the tension
  • the rotating shaft 41 is rotated by the actuator, the first pulley 211 and the second pulley 221 rotate as follows.
  • the force transmission device 250 according to the present embodiment can maintain the tension of the wire 35 by rotating the rotating shaft 41 clockwise by the actuator during use. Therefore, according to the force transmission device 250 according to the present embodiment, the tension of the wire 35 can be held with a relatively simple configuration, and an increase in size of the force transmission device 250 can be suppressed.
  • the force transmission device 250 according to the present embodiment is compared with a case where the tension of the wire 35 is maintained using an additional actuator, a separately arranged component, automatic control software, or the like. The mass of 210 can be further suppressed.
  • the second modification of the force transmission device 10 according to the first embodiment can also be applied to the force transmission device 250 according to the present embodiment. That is, the first pulley 211 and the second pulley 221 may be supported by different rotating shafts that are gear-connected to each other. Even when the torsion spring provided in each of the first pulley 11 and the second pulley 21 of the force transmission device 10 according to the first embodiment is replaced with a brake force generating member, The tension of the wire 35 is maintained by rotating the rotating shaft 41 in both clockwise and counterclockwise directions.
  • the brake force generation member 251 may be fixed to a housing or the like and not always in contact with the first pulley 211, and may be configured to be able to advance and retreat toward the first pulley 211. For example, during normal times, the brake force generating member 251 is separated from the first pulley 211, and when the slack of the wire 35 of the force transmission device 250 is detected or at an arbitrary timing, the brake force is generated manually or by a drive mechanism. The generating member 251 may be moved to a position in contact with the first pulley 211 to restore the tension of the wire 35. With this configuration, the rotational resistance of the first pulley 211 while the wire 35 is not slackened can be reduced, and the load on the actuator can be reduced.
  • the brake force generation member 251 may not be configured to be in direct contact with the first pulley 211.
  • the first pulley 211 may be configured to give rotational resistance using an electromagnetic coil or the like that can generate a magnetic force when energized.
  • the force transmission device As an application example of the force transmission device, an operation assisting device that generates an assisting force for the user's operation is illustrated, but the present invention is not limited to such an example.
  • the force transmission device according to the present invention is applicable to various devices using a plurality of pulleys and a flexible force transmission member.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Rehabilitation Tools (AREA)

Abstract

Provided is a force transmission device capable of holding the tension of a flexible force transmission member without changing the positions of an actuator and pulleys. Also provided is an operation auxiliary device. This force transmission device comprises: a first pulley; a second pulley; a flexible force transmission member which is stretched between at least the first pulley and the second pulley; a one-way clutch which allows the relative rotation of the first pulley in the same direction as the winding direction of the force transmission member with respect to the rotary shaft supporting the first pulley; and a load applying member which applies a load to the first pulley so that the first pully is relatively rotated in the direction in which the relative rotation is allowed.

Description

力伝達装置及び動作補助装置Force transmission device and motion assist device
　本発明は、プーリ機構を用いた力伝達装置、及び、そのような力伝達装置を備えた動作補助装置に関する。 The present invention relates to a force transmission device using a pulley mechanism and an operation assisting device including such a force transmission device.
　近年、健常者あるいは障害者の動作を支援あるいは補助する動作補助装置としての人体装着型ロボットが知られている。人体装着型ロボットは、例えば、ユーザに装着される関節部と、ユーザの意図又は状態あるいは周囲の状況を検知するためのセンサと、関節部に対して回転トルクを付与するアクチュエータと、制御装置とを備えて構成される。一般的に、アクチュエータは、モータと、モータの高速回転を人体の動作に適した低速回転に変換する変速機とを備える。変速機は、例えば、１／５０～１／２００の変速比で、モータの回転を関節部に伝達する。アクチュエータは、例えば、ハーモニックドライブ（登録商標）又はウォームギヤとＤＣモータとを組み合わせて構成される。 In recent years, a human-mounted robot has been known as a motion assist device that supports or assists the motion of a healthy person or a disabled person. The human body-mounted robot includes, for example, a joint portion to be worn by a user, a sensor for detecting the user's intention or state, or a surrounding situation, an actuator that applies rotational torque to the joint portion, and a control device. It is configured with. In general, an actuator includes a motor and a transmission that converts high-speed rotation of the motor into low-speed rotation suitable for human movement. The transmission transmits the rotation of the motor to the joint at a gear ratio of 1/50 to 1/200, for example. The actuator is configured by combining, for example, a harmonic drive (registered trademark) or a worm gear and a DC motor.
　かかる人体装着型ロボットにおいて、複数のプーリと、関節部を回転駆動させるためのケーブルやワイヤ、ベルト等の可撓性の力伝達部材とを有する力伝達装置を用いたロボットがある。プーリ及び可撓性の力伝達部材を有する力伝達装置は、アクチュエータのレイアウトの自由度を高められるという利点を有する。一方、かかる力伝達装置は、可撓性の力伝達部材がプーリから外れないように、力伝達部材の張力が所定程度に高く保たれるように調整する必要がある。 In such a human-mounted robot, there is a robot that uses a force transmission device having a plurality of pulleys and a flexible force transmission member such as a cable, a wire, or a belt for rotationally driving a joint portion. A force transmission device having a pulley and a flexible force transmission member has an advantage that the degree of freedom in the layout of the actuator can be increased. On the other hand, such a force transmission device needs to be adjusted so that the tension of the force transmission member is kept high to a predetermined level so that the flexible force transmission member does not come off the pulley.
　例えば、特許文献１には、回転軸に、ワイヤが巻き掛けられたプーリが取り付けられたアクチュエータと、台座部との間に、ばね、もしくはアクチュエータにより構成されるテンション調整機構を有するロボットアーム機構が開示されている。かかるロボットアーム機構では、ワイヤ駆動系のワイヤの弛みが防止され、ワイヤがプーリから外れることを防止することができる。 For example, Patent Document 1 discloses a robot arm mechanism having a tension adjustment mechanism constituted by a spring or an actuator between an actuator in which a pulley around which a wire is wound is attached to a rotating shaft and a pedestal portion. It is disclosed. In such a robot arm mechanism, loosening of the wire of the wire drive system can be prevented, and the wire can be prevented from coming off the pulley.
特開２００８－２３２３６０号公報JP 2008-232360 A
　しかしながら、特許文献１に記載のロボットアーム機構におけるテンション調整機構は、ワイヤが巻き掛けられたプーリを回転させるアクチュエータ全体を移動させて、ワイヤの急激な張力変化を防ぐようになっている。このため、テンション調整機構は、アクチュエータ及びプーリを移動させ得るスペースを確保しなければならなかった。 However, the tension adjusting mechanism in the robot arm mechanism described in Patent Document 1 moves the entire actuator that rotates the pulley around which the wire is wound, thereby preventing a rapid tension change of the wire. For this reason, the tension adjusting mechanism has to secure a space in which the actuator and the pulley can be moved.
　本発明は、上記問題に鑑みてなされたものであり、本発明の目的とするところは、アクチュエータ及びプーリの位置を移動させることなく、可撓性の力伝達部材の張力を保持可能な、新規かつ改良された力伝達装置及び動作補助装置を提供することにある。 The present invention has been made in view of the above problems, and an object of the present invention is to provide a novel, capable of maintaining the tension of a flexible force transmission member without moving the positions of an actuator and a pulley. Another object of the present invention is to provide an improved force transmission device and motion assist device.
　上記課題を解決するために、本発明のある観点によれば、第１のプーリと、第２のプーリと、少なくとも第１のプーリ及び第２のプーリに掛け渡される可撓性の力伝達部材と、第１のプーリを支持する回転軸に対して、第１のプーリに巻き付けられた力伝達部材の巻き付け方向と同一方向への第１のプーリの相対回転を許容し、反対方向への相対回転を阻止するワンウェイクラッチと、第１のプーリを支持する回転軸に対して、相対回転が許容されている方向へと第１のプーリを相対回転させるように第１のプーリに負荷を与える負荷付与部材と、を備える、力伝達装置が提供される。 In order to solve the above-described problems, according to an aspect of the present invention, a first pulley, a second pulley, and a flexible force transmission member that spans at least the first pulley and the second pulley. And relative rotation in the opposite direction, allowing relative rotation of the first pulley in the same direction as the winding direction of the force transmission member wound around the first pulley with respect to the rotation shaft supporting the first pulley. A load that applies a load to the first pulley so as to cause the first pulley to rotate relative to a rotation shaft that supports the one-way clutch that prevents rotation and a rotation shaft that supports the first pulley. An application member is provided.
　また、本発明の別の観点によれば、ユーザの人体に装着され、第１の部材及び第２の部材を相対回転可能に連結する関節部を有する装着具と、第１の部材及び第２の部材を相対回転させる動力を発生するアクチュエータと、第１のプーリ、第２のプーリ、少なくとも第１のプーリ及び第２のプーリに掛け渡される可撓性の力伝達部材、第１のプーリを支持する回転軸に対して軸回りの一方向への第１のプーリの相対回転を許容し他方向への相対回転を阻止するワンウェイクラッチ、及び第１のプーリを支持する回転軸に対して軸回りの一方向へと相対回転させるように第１のプーリに負荷を与える負荷付与部材、を有し、アクチュエータから発生した動力を関節部に伝達する力伝達装置と、を備えた、動作補助装置が提供される。 According to another aspect of the present invention, a wearing tool that is attached to a user's human body and has a joint portion that connects the first member and the second member so as to be relatively rotatable, the first member, and the second member. An actuator that generates power for rotating the members of the first member, a first pulley, a second pulley, a flexible force transmission member that spans at least the first pulley and the second pulley, and a first pulley. A one-way clutch that allows relative rotation of the first pulley in one direction around the axis with respect to the rotating shaft to be supported and prevents relative rotation in the other direction, and an axis with respect to the rotating shaft that supports the first pulley A force applying device that includes a load applying member that applies a load to the first pulley so as to relatively rotate in one direction around the first pulley, and that transmits power generated from the actuator to the joint portion. Is provided.
　以上説明したように本発明によれば、アクチュエータ及びプーリの位置を移動させることなく、可撓性の力伝達部材の張力を保持することができる。したがって、力伝達装置あるいは動作補助装置の大型化を抑制することができる。 As described above, according to the present invention, the tension of the flexible force transmission member can be maintained without moving the positions of the actuator and the pulley. Therefore, an increase in size of the force transmission device or the operation assisting device can be suppressed.
本発明の第１の実施の形態に係る力伝達装置の構成例を示す斜視図である。It is a perspective view which shows the structural example of the force transmission apparatus which concerns on the 1st Embodiment of this invention. 同実施形態に係る力伝達装置の構成例を示す部分断面図である。It is a fragmentary sectional view showing an example of composition of a power transmission device concerning the embodiment. 同実施形態に係る力伝達装置の構成例を模式的に示す説明図である。It is explanatory drawing which shows typically the structural example of the force transmission apparatus which concerns on the same embodiment. 同実施形態の第１の変形例に係る力伝達装置の構成を示す部分断面図である。It is a fragmentary sectional view showing the composition of the force transmission device concerning the 1st modification of the embodiment. 同実施形態の第１の変形例に係る力伝達装置の構成を模式的に示す説明図である。It is explanatory drawing which shows typically the structure of the force transmission apparatus which concerns on the 1st modification of the embodiment. 同実施形態の第２の変形例に係る力伝達装置の構成を模式的に示す説明図である。It is explanatory drawing which shows typically the structure of the force transmission apparatus which concerns on the 2nd modification of the embodiment. 同実施形態に係る力伝達装置を適用した動作補助装置を示す説明図である。It is explanatory drawing which shows the movement assistance apparatus to which the force transmission apparatus which concerns on the embodiment is applied. 本発明の第２の実施の形態に係る力伝達装置の構成例を示す部分断面図である。It is a fragmentary sectional view which shows the structural example of the force transmission apparatus which concerns on the 2nd Embodiment of this invention. 同実施形態に係る力伝達装置の構成例を模式的に示す説明図である。It is explanatory drawing which shows typically the structural example of the force transmission apparatus which concerns on the same embodiment. 本発明の第３の実施の形態に係る力伝達装置の構成例を模式的に示す説明図である。It is explanatory drawing which shows typically the structural example of the force transmission apparatus which concerns on the 3rd Embodiment of this invention.
　以下に添付図面を参照しながら、本発明の好適な実施の形態について詳細に説明する。なお、本明細書及び図面において、実質的に同一の機能構成を有する構成要素については、同一の符号を付することにより重複説明を省略する。 Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In addition, in this specification and drawing, about the component which has the substantially same function structure, duplication description is abbreviate | omitted by attaching | subjecting the same code | symbol.
＜＜１．第１の実施の形態＞＞
　＜１－１．力伝達装置の全体構成例＞
　図１～図３を参照して、第１の実施の形態に係る力伝達装置１０について説明する。図１は、力伝達装置１０を示す斜視図であり、図２は、力伝達装置１０の構成を説明するための部分断面図であり、図３は、力伝達装置１０の構成を説明するための模式図である。図３においては、理解を容易にするために、同一の回転軸４１に支持された第１のプーリ１１及び第２のプーリ２１が分離して示されている。 << 1. First embodiment >>
<1-1. Example of overall configuration of force transmission device>
A force transmission device 10 according to a first embodiment will be described with reference to FIGS. FIG. 1 is a perspective view showing the force transmission device 10, FIG. 2 is a partial cross-sectional view for explaining the configuration of the force transmission device 10, and FIG. 3 is for explaining the configuration of the force transmission device 10. FIG. In FIG. 3, for easy understanding, the first pulley 11 and the second pulley 21 supported by the same rotating shaft 41 are shown separately.
　力伝達装置１０は、アクチュエータ４０の回転軸４１と、回転軸４１に支持された第１のプーリ１１及び第２のプーリ２１と、可撓性の力伝達部材としてのワイヤ３５と、ワイヤ３５を介して第１のプーリ１１又は第２のプーリ２１の回転が伝達される第３のプーリ３１と、第３のプーリ３１を支持する出力軸５１とを備える。 The force transmission device 10 includes a rotation shaft 41 of the actuator 40, a first pulley 11 and a second pulley 21 supported by the rotation shaft 41, a wire 35 as a flexible force transmission member, and a wire 35. And a third pulley 31 to which the rotation of the first pulley 11 or the second pulley 21 is transmitted, and an output shaft 51 that supports the third pulley 31.
　アクチュエータ４０は、力伝達装置１０により伝達される動力の発生源であり、図示しない制御装置により駆動制御される。アクチュエータ４０としては、例えば、サーボモータやステッピングモータ等の回転モータが用いられるが、かかる例に限定されない。回転軸４１は、アクチュエータ４０により生成される回転トルクを出力する。アクチュエータ４０は、図示しない減速ギヤ機構を介して、回転軸４１に回転トルクを出力してもよい。 The actuator 40 is a source of power transmitted by the force transmission device 10 and is driven and controlled by a control device (not shown). For example, a rotary motor such as a servo motor or a stepping motor is used as the actuator 40, but the actuator 40 is not limited to such an example. The rotation shaft 41 outputs a rotation torque generated by the actuator 40. The actuator 40 may output rotational torque to the rotary shaft 41 via a reduction gear mechanism (not shown).
　第１のプーリ１１及び第２のプーリ２１は、共通の回転軸４１に支持されている。したがって、第１のプーリ１１及び第２のプーリ２１のうちのいずれか一方のプーリは、他方のプーリの回転に同期して１自由度で回転する。第１のプーリ１１及び第２のプーリ２１は、それぞれ周面に、ワイヤ３５が巻き掛けられる図示しない溝を有する。第１のプーリ１１及び第２のプーリ２１には、それぞれワイヤ３５の両端側が巻き掛けられて、ワイヤ３５の端部が固定されている。第１のプーリ１１に対するワイヤ３５の巻き付け方向は、第２のプーリ２１に対するワイヤ３５の巻き付け方向とは反対となっている。 The first pulley 11 and the second pulley 21 are supported by a common rotating shaft 41. Accordingly, one of the first pulley 11 and the second pulley 21 rotates with one degree of freedom in synchronization with the rotation of the other pulley. The first pulley 11 and the second pulley 21 each have a groove (not shown) around which the wire 35 is wound around the circumferential surface. Both ends of the wire 35 are wound around the first pulley 11 and the second pulley 21, and the end of the wire 35 is fixed. The winding direction of the wire 35 around the first pulley 11 is opposite to the winding direction of the wire 35 around the second pulley 21.
　具体的に、図１及び図３において、ワイヤ３５は、第１のプーリ１１に対して時計回りに巻き付けられている一方、第２のプーリ２１に対して反時計回りに巻き付けられている。このため、アクチュエータ４０を駆動させたときに、第１のプーリ１１又は第２のプーリ２１のうちのいずれか一方のプーリからワイヤ３５が導出される一方、他方のプーリにワイヤ３５が巻き付けられる。第１のプーリ１１及び第２のプーリ２１に対するワイヤ３５の巻き付き径は同一であり、基本的には一方のプーリからのワイヤ３５の導出長さと他方のプーリへのワイヤ３５の巻き付き長さは同一となる。 Specifically, in FIG. 1 and FIG. 3, the wire 35 is wound around the first pulley 11 in the clockwise direction, while being wound around the second pulley 21 in the counterclockwise direction. For this reason, when the actuator 40 is driven, the wire 35 is led out from one of the first pulley 11 or the second pulley 21, while the wire 35 is wound around the other pulley. The winding diameter of the wire 35 with respect to the first pulley 11 and the second pulley 21 is the same. Basically, the lead-out length of the wire 35 from one pulley and the winding length of the wire 35 to the other pulley are the same. It becomes.
　第１のプーリ１１から第２のプーリ２１に至るワイヤ３５は、出力軸５１に支持された第３のプーリ３１に巻き付けられている。第３のプーリ３１は、出力軸５１に固定されており、出力軸５１は第３のプーリ３１の回転に同期して回転する。したがって、アクチュエータ４０の回転トルクにより回転軸４１が回転し、第１のプーリ１１及び第２のプーリ２１が回転すると、摩擦力によってワイヤ３５を介して第３のプーリ３１が回転させられ、出力軸５１が回転する。これにより、アクチュエータ４０から出力された回転トルクが、出力軸５１から出力される。 The wire 35 from the first pulley 11 to the second pulley 21 is wound around the third pulley 31 supported by the output shaft 51. The third pulley 31 is fixed to the output shaft 51, and the output shaft 51 rotates in synchronization with the rotation of the third pulley 31. Therefore, when the rotation shaft 41 rotates by the rotation torque of the actuator 40 and the first pulley 11 and the second pulley 21 rotate, the third pulley 31 is rotated via the wire 35 by the frictional force, and the output shaft 51 rotates. Thereby, the rotational torque output from the actuator 40 is output from the output shaft 51.
　このとき、第１のプーリ１１及び第２のプーリ２１の直径と、第３のプーリ３１の直径とを異ならせることにより、回転軸４１の回転数と出力軸５１の回転数との比（速度比）を適宜の比率に設定することができる。また、本実施形態に係る力伝達装置１０では、回転軸４１の軸方向と、出力軸５１の軸方向とが平行となっているために、ワイヤ３５と各プーリとの摩擦の増大が抑制され、力の伝達効率の低下が抑制されている。 At this time, by making the diameters of the first pulley 11 and the second pulley 21 different from the diameters of the third pulley 31, the ratio (speed) between the rotation speed of the rotation shaft 41 and the rotation speed of the output shaft 51. Ratio) can be set to an appropriate ratio. Further, in the force transmission device 10 according to the present embodiment, since the axial direction of the rotary shaft 41 and the axial direction of the output shaft 51 are parallel, an increase in friction between the wire 35 and each pulley is suppressed. The reduction in power transmission efficiency is suppressed.
　＜１－２．張力保持機構＞
　次に、本実施形態に係る力伝達装置１０の張力保持機構の構成について説明する。張力保持機構は、ワイヤ３５の弛みにより、ワイヤ３５が第１のプーリ１１、第２のプーリ２１、又は第３のプーリ３１のいずれかから外れることのないように、ワイヤ３５の張力を高く維持するための機構である。特に、ワイヤ３５は、時間の経過とともに伸びや弛みを生じやすく、いずれかのプーリから外れるおそれがある。張力保持機構は、ワイヤ３５の張力をユーザ等により手動で調整することを要せずに、ワイヤ３５の伸びや弛みに応じて自動で張力を維持可能になっている。 <1-2. Tension retention mechanism>
Next, the configuration of the tension holding mechanism of the force transmission device 10 according to the present embodiment will be described. The tension holding mechanism maintains the tension of the wire 35 high so that the wire 35 does not come off from any of the first pulley 11, the second pulley 21, or the third pulley 31 due to the slack of the wire 35. It is a mechanism to do. In particular, the wire 35 tends to be stretched or slack with time, and may be detached from any pulley. The tension holding mechanism can automatically maintain the tension in accordance with the elongation or slack of the wire 35 without requiring manual adjustment of the tension of the wire 35 by a user or the like.
　本実施形態に係る力伝達装置１０において、張力保持機構は、第１のプーリ１１及び第２のプーリ２１それぞれに設けられ、ワンウェイクラッチと、負荷付与部材としてのトーションばねとにより構成されている。 In the force transmission device 10 according to the present embodiment, the tension holding mechanism is provided in each of the first pulley 11 and the second pulley 21 and includes a one-way clutch and a torsion spring as a load applying member.
　図２及び図３に示すように、第１のプーリ１１は、第１のワンウェイクラッチ１３を介して回転軸４１に支持されている。第１のワンウェイクラッチ１３は、回転軸４１に対して軸回りの一方向への第１のプーリ１１の相対回転を許容し、他方向への相対回転を阻止する。図３において、第１のワンウェイクラッチ１３は、回転軸４１に対して反時計回りの方向への第１のプーリ１１の相対回転を許容している。また、第１のワンウェイクラッチ１３は、回転軸４１に対して時計回りの方向への第１のプーリ１１の相対回転を阻止する。回転軸４１に対して第１のプーリ１１が相対回転可能な方向は、第１のプーリ１１上のワイヤ３５の巻き付け方向と同一の方向となっている。 2 and 3, the first pulley 11 is supported on the rotary shaft 41 via the first one-way clutch 13. The first one-way clutch 13 allows relative rotation of the first pulley 11 in one direction around the axis with respect to the rotation shaft 41 and prevents relative rotation in the other direction. In FIG. 3, the first one-way clutch 13 allows relative rotation of the first pulley 11 in the counterclockwise direction with respect to the rotation shaft 41. The first one-way clutch 13 prevents relative rotation of the first pulley 11 in the clockwise direction with respect to the rotation shaft 41. The direction in which the first pulley 11 can rotate relative to the rotation shaft 41 is the same as the winding direction of the wire 35 on the first pulley 11.
　第１のトーションばね１５は、回転軸４１に対して、相対回転が許容されている方向へと第１のプーリ１１を付勢する。第１のトーションばね１５の一端は第１のプーリ１１に固定され、他端は回転軸４１に固定され、中央部は回転軸４１に巻き付けられている。図３に模式的に示したように、かかる第１のトーションばね１５は、第１のプーリ１１に対して、常に反時計回りの方向へと引張トルクＴ１をかけている。 The first torsion spring 15 biases the first pulley 11 with respect to the rotation shaft 41 in a direction in which relative rotation is allowed. One end of the first torsion spring 15 is fixed to the first pulley 11, the other end is fixed to the rotating shaft 41, and the central portion is wound around the rotating shaft 41. As schematically shown in FIG. 3, the first torsion spring 15 always applies a tensile torque T <b> 1 to the first pulley 11 in the counterclockwise direction.
　また、第２のプーリ２１は、第２のワンウェイクラッチ２３を介して回転軸４１に支持されている。第２のワンウェイクラッチ２３は、回転軸４１に対して軸回りの一方向への第２のプーリ２１の相対回転を許容し、他方向への相対回転を阻止する。図３において、第２のワンウェイクラッチ２３は、回転軸４１に対して時計回りの方向への第２のプーリ２１の相対回転を許容している。また、第２のワンウェイクラッチ２３は、回転軸４１に対して反時計回りの方向への第２のプーリ２１の相対回転を阻止する。回転軸４１に対して第２のプーリ２１が相対回転可能な方向は、第２のプーリ２１上のワイヤ３５の巻き付け方向と同一の方向となっている。つまり、第１のプーリ１１と第２のプーリ２１とは、共通の回転軸４１に対して反体方向への相対回転が許容されている。 Further, the second pulley 21 is supported on the rotating shaft 41 via the second one-way clutch 23. The second one-way clutch 23 allows relative rotation of the second pulley 21 in one direction around the axis with respect to the rotation shaft 41 and prevents relative rotation in the other direction. In FIG. 3, the second one-way clutch 23 allows relative rotation of the second pulley 21 in the clockwise direction with respect to the rotation shaft 41. Further, the second one-way clutch 23 prevents relative rotation of the second pulley 21 in the counterclockwise direction with respect to the rotation shaft 41. The direction in which the second pulley 21 can rotate relative to the rotation shaft 41 is the same as the winding direction of the wire 35 on the second pulley 21. That is, the first pulley 11 and the second pulley 21 are allowed to rotate relative to the common rotating shaft 41 in the opposite direction.
　第２のトーションばね２５は、回転軸４１に対して、相対回転が許容されている方向へと第２のプーリ２１を付勢する。第２のトーションばね２５の一端は第２のプーリ２１に固定され、他端は回転軸４１に固定され、中央部は回転軸４１に巻き付けられている。図３に模式的に示したように、かかる第２のトーションばね２５は、第２のプーリ２１に対して、常に時計回りの方向へと引張トルクＴ２をかけている。 The second torsion spring 25 biases the second pulley 21 with respect to the rotation shaft 41 in a direction in which relative rotation is allowed. One end of the second torsion spring 25 is fixed to the second pulley 21, the other end is fixed to the rotating shaft 41, and the central portion is wound around the rotating shaft 41. As schematically shown in FIG. 3, the second torsion spring 25 always applies a tensile torque T <b> 2 to the second pulley 21 in the clockwise direction.
　ワンウェイクラッチとしては、スプラグ式又はカム式等の従来公知のワンウェイクラッチが適宜用いられ得る。第１のトーションばね１５及び第２のトーションばね２５のばね荷重は、ワイヤ３５に生じさせる所望の張力に応じて適切に設定され得る。また、第１の負荷付与部材及び第２の負荷付与部材は、トーションばねに限られず、ワイヤ３５の伸び量に対応可能な期間あるいは相対回転の範囲で常に第１のプーリ１１又は第２のプーリ２１に対して引張トルクＴ１，Ｔ２をかけ続けられるものであれば適用可能である。 As the one-way clutch, a conventionally known one-way clutch such as a sprag type or a cam type can be appropriately used. The spring loads of the first torsion spring 15 and the second torsion spring 25 can be appropriately set according to a desired tension generated in the wire 35. Further, the first load applying member and the second load applying member are not limited to the torsion springs, and are always the first pulley 11 or the second pulley within a period corresponding to the extension amount of the wire 35 or a range of relative rotation. 21 can be applied as long as the tensile torque T1, T2 can be continuously applied to the belt 21.
　＜１－３．動作＞
　このように構成された力伝達装置１０において、使用前のアクチュエータ４０を駆動させていない状態で、ワイヤ３５にはあらかじめ予負荷が与えられて、ワイヤ３５の張力は維持される。予負荷は手動で与えられてもよい。一方、アクチュエータ４０により回転軸４１が回転させられると、第１のプーリ１１及び第２のプーリ２１は以下のように回転する。 <1-3. Operation>
In the force transmission device 10 configured as described above, a preload is applied to the wire 35 in advance in a state where the actuator 40 before use is not driven, and the tension of the wire 35 is maintained. The preload may be provided manually. On the other hand, when the rotating shaft 41 is rotated by the actuator 40, the first pulley 11 and the second pulley 21 rotate as follows.
　例えば、図３において、回転軸４１が時計回りに回転する場合、第１のプーリ１１は、回転軸４１に対して反時計回りに相対回転することになるため、第１のワンウェイクラッチ１３の機能により、回転軸４１の回転トルクによって回転することはない。ただし、第２のプーリ２１は、第２のワンウェイクラッチ２３の機能により、回転軸４１の回転トルクによって時計回りに回転する。これにより、ワイヤ３５は、第２のプーリ２１に巻き付けられるため、結果として、ワイヤ３５の張力により第１のプーリ１１が回転する。したがって、第３のプーリ３１が時計回りに回転して、出力軸５１は時計回りの回転トルクを出力する。 For example, in FIG. 3, when the rotation shaft 41 rotates clockwise, the first pulley 11 rotates relative to the rotation shaft 41 counterclockwise, and thus the function of the first one-way clutch 13. Thus, the rotating shaft 41 does not rotate due to the rotational torque. However, the second pulley 21 rotates clockwise by the rotational torque of the rotating shaft 41 by the function of the second one-way clutch 23. As a result, the wire 35 is wound around the second pulley 21, and as a result, the first pulley 11 rotates due to the tension of the wire 35. Therefore, the third pulley 31 rotates clockwise, and the output shaft 51 outputs clockwise rotational torque.
　また、アクチュエータ４０により回転軸４１が反時計回りに回転させられる場合には、反対に、第２のプーリ２１は回転軸４１の回転トルクにより回転することはなく、第１のプーリ１１が回転軸４１の回転トルクにより反時計回りに回転する。その結果、第１のプーリ１１に巻き付けられるワイヤ３５の張力により第２のプーリ２１が回転する。したがって、第３のプーリ３１が反時計回りに回転して、出力軸５１は反時計回りの回転トルクを出力する。 On the other hand, when the rotation shaft 41 is rotated counterclockwise by the actuator 40, the second pulley 21 is not rotated by the rotation torque of the rotation shaft 41, and the first pulley 11 is rotated by the rotation shaft 41. It rotates counterclockwise by the rotational torque of 41. As a result, the second pulley 21 is rotated by the tension of the wire 35 wound around the first pulley 11. Therefore, the third pulley 31 rotates counterclockwise, and the output shaft 51 outputs a counterclockwise rotational torque.
　そして、長期間の使用によってワイヤ３５が伸びたり弛んだりした場合には、第１のトーションばね１５の引張トルクＴ１によって第１のプーリ１１が回転軸４１に対して反時計回りの方向に相対回転させられる。また、ワイヤ３５の伸びや弛みが生じた場合には、第２のトーションばね２５の引張トルクＴ２によって第２のプーリ２１が回転軸４１に対して時計回りの方向に相対回転させられる。これにより、ワイヤ３５の張力が維持される。 When the wire 35 is stretched or slackened due to long-term use, the first pulley 11 is rotated relative to the rotation shaft 41 in the counterclockwise direction by the tensile torque T1 of the first torsion spring 15. Be made. When the wire 35 is stretched or slackened, the second pulley 21 is rotated relative to the rotating shaft 41 in the clockwise direction by the tensile torque T2 of the second torsion spring 25. Thereby, the tension of the wire 35 is maintained.
　このように、ワンウェイクラッチ及び負荷付与部材を用いて構成した張力保持機構によれば、アクチュエータ４０及び各プーリの空間上の位置を移動させることなく、ワイヤ３５の張力を保持することができる。これにより、力伝達装置１０の大型化を抑制することができる。また、本実施形態に係る力伝達装置１０は、追加のアクチュエータや、別途配置される部品、自動制御用のソフトウェア等を用いてワイヤ３５の張力を保持する場合に比べて、力伝達装置１０の質量の増加を抑制することができる。また、ワンウェイクラッチ及び負荷付与部材を用いて構成した張力保持機構によれば、比較的簡易な構成で、ワイヤ３５の張力を保持させることができる。 As described above, according to the tension holding mechanism configured using the one-way clutch and the load applying member, the tension of the wire 35 can be held without moving the position of the actuator 40 and each pulley in the space. Thereby, the enlargement of the force transmission device 10 can be suppressed. Further, the force transmission device 10 according to the present embodiment has a force transmission device 10 that has a force transmission device 10 that has a tension higher than that of the case where the tension of the wire 35 is maintained using an additional actuator, a separately arranged component, automatic control software, or the like. An increase in mass can be suppressed. Further, according to the tension holding mechanism configured using the one-way clutch and the load applying member, the tension of the wire 35 can be held with a relatively simple configuration.
　＜１－４．変形例＞
　ここまで、第１の実施の形態に係る力伝達装置１０について説明した。本実施形態に係る力伝達装置１０は、種々の変形が可能である。以下、本実施形態に係る力伝達装置の変形例の幾つかを説明する。 <1-4. Modification>
So far, the force transmission device 10 according to the first embodiment has been described. The force transmission device 10 according to the present embodiment can be variously modified. Hereinafter, some modified examples of the force transmission device according to the present embodiment will be described.
　（１－４－１．第１の変形例）
　図４は、第１の変形例に係る力伝達装置６０の構成を説明するための部分断面図であり、上記実施形態における図２に対応する図である。図５は、力伝達装置６０の構成を説明するための模式図である。図５においては、理解を容易にするために、同一の回転軸４１に支持された第１のプーリ６１及び第２のプーリ７１が分離して示されている。 (1-4-1. First Modification)
FIG. 4 is a partial cross-sectional view for explaining the configuration of the force transmission device 60 according to the first modification, and corresponds to FIG. 2 in the above embodiment. FIG. 5 is a schematic diagram for explaining the configuration of the force transmission device 60. In FIG. 5, for easy understanding, the first pulley 61 and the second pulley 71 supported by the same rotating shaft 41 are shown separately.
　第１の変形例に係る力伝達装置６０は、第１のプーリ６１又は第２のプーリ７１を所定方向に付勢する第１の負荷付与部材及び第２の負荷付与部材の配設方法が上記実施形態に係る力伝達装置１０とは異なる。第１のプーリ６１は、軸方向に突設した円環状の突設部６２を有する。当該突設部６２には、第１の負荷付与部材としての第１の定張力ばね６５の一端側が巻き付けられている。また、第１の定張力ばね６５の他端側は、支持軸５９に巻き付けられている。第１の定張力ばね６５は、回転軸４１に対して、相対回転が許容されている方向へと第１のプーリ６１を付勢する。 In the force transmission device 60 according to the first modification, the first load application member and the second load application member for urging the first pulley 61 or the second pulley 71 in a predetermined direction are arranged as described above. This is different from the force transmission device 10 according to the embodiment. The first pulley 61 has an annular projecting portion 62 projecting in the axial direction. One end side of a first constant tension spring 65 as a first load applying member is wound around the projecting portion 62. Further, the other end side of the first constant tension spring 65 is wound around the support shaft 59. The first constant tension spring 65 biases the first pulley 61 with respect to the rotation shaft 41 in a direction in which relative rotation is allowed.
　図５に模式的に示したように、かかる第１の定張力ばね６５は、第１のプーリ６１に対して、常に反時計回りの方向へと引張トルクＴ１をかけている。したがって、ワイヤ３５に伸びや弛みが生じた場合には、第１の定張力ばね６５の引張トルクＴ１によって第１のプーリ６１が回転軸４１に対して反時計回りの方向に相対回転させられ、第３のプーリ３１よりも第１のプーリ６１側のワイヤ３５の張力が維持される。 As schematically shown in FIG. 5, the first constant tension spring 65 always applies a tensile torque T1 to the first pulley 61 in the counterclockwise direction. Therefore, when the wire 35 is stretched or slackened, the first pulley 61 is rotated relative to the rotation shaft 41 in the counterclockwise direction by the tensile torque T1 of the first constant tension spring 65, and The tension of the wire 35 closer to the first pulley 61 than the third pulley 31 is maintained.
　また、第２のプーリ７１は、軸方向に突設した円環状の突設部７２を有する。当該突設部７２には、第１の負荷付与部材としての第２の定張力ばね７５の一端側が巻き付けられている。また、第２の定張力ばね７５の他端側は、第１の定張力ばね６５と同様に支持軸５９に巻き付けられている。第２の定張力ばね７５の他端側は、第１の定張力ばね６５の他端側を支持する支持軸５９とは別の支持軸に支持されてもよい。第２の定張力ばね７５は、回転軸４１に対して、相対回転が許容されている方向へと第２のプーリ７１を付勢する。 The second pulley 71 has an annular projecting portion 72 projecting in the axial direction. One end side of a second constant tension spring 75 as a first load applying member is wound around the projecting portion 72. The other end side of the second constant tension spring 75 is wound around the support shaft 59 in the same manner as the first constant tension spring 65. The other end side of the second constant tension spring 75 may be supported by a support shaft different from the support shaft 59 that supports the other end side of the first constant tension spring 65. The second constant tension spring 75 biases the second pulley 71 in the direction in which relative rotation is allowed with respect to the rotation shaft 41.
　図５に模式的に示したように、かかる第２の定張力ばね７５は、第２のプーリ７１に対して、常に時計回りの方向へと引張トルクＴ２をかけている。したがって、ワイヤ３５に伸びや弛みが生じた場合には、第２の定張力ばね７５の引張トルクＴ２によって第２のプーリ７１が回転軸４１に対して時計回りの方向に相対回転させられ、第３のプーリ３１よりも第２のプーリ７１側のワイヤ３５の張力が維持される。これにより、各プーリからワイヤ３５が外れることを防止することができる。 As schematically shown in FIG. 5, the second constant tension spring 75 always applies a tensile torque T2 to the second pulley 71 in the clockwise direction. Therefore, when the wire 35 is stretched or slackened, the second pulley 71 is rotated relative to the rotation shaft 41 in the clockwise direction by the tensile torque T2 of the second constant tension spring 75, and the first pulley The tension of the wire 35 closer to the second pulley 71 than the third pulley 31 is maintained. Thereby, it can prevent that the wire 35 remove | deviates from each pulley.
　第１の変形例に係る力伝達装置６０では、第１の負荷付与部材及び第２の負荷付与部材として定張力ばねが用いられている。このため、時間の経過に伴ってワイヤ３５が劣化する場合であっても、ワイヤ３５は常に一定の張力で保たれる。したがって、アクチュエータ４０から出力される動力の伝達効率が大きく変化することを抑制することができる。 In the force transmission device 60 according to the first modification, constant tension springs are used as the first load applying member and the second load applying member. For this reason, even if it is a case where the wire 35 deteriorates with progress of time, the wire 35 is always maintained by fixed tension | tensile_strength. Therefore, it is possible to suppress the transmission efficiency of the power output from the actuator 40 from changing greatly.
　（１－４－２．第２の変形例）
　図６は、第２の変形例に係る力伝達装置９０の構成を説明するための模式図である。第２の変形例に係る力伝達装置９０では、第１のプーリ９１及び第２のプーリ２１がそれぞれ異なる第１の回転軸４７及び第２の回転軸４９に支持されている。第１の回転軸４７には、同軸上に設けられた第１のギヤ９９が固定され、第２の回転軸４９には、同軸上に設けられた第２のギヤ２９が固定されている。第１のギヤ９９と第２のギヤ２９とは噛み合っており、一方の回転軸及びギヤの回転に伴って、他方の回転軸及びギヤも同期して１自由度で回転する。第１のギヤ９９に対する第２のギヤ２９の歯数の比、すなわちギヤの減速比は、第１のプーリ９１に対する第２のプーリ２１の半径の比、すなわちプーリの減速比と等しく設定される。 (1-4-2. Second Modification)
FIG. 6 is a schematic diagram for explaining a configuration of a force transmission device 90 according to a second modification. In the force transmission device 90 according to the second modification, the first pulley 91 and the second pulley 21 are supported by different first and second rotating shafts 47 and 49, respectively. A first gear 99 provided coaxially is fixed to the first rotating shaft 47, and a second gear 29 provided coaxially is fixed to the second rotating shaft 49. The first gear 99 and the second gear 29 are in mesh with each other, and the other rotary shaft and gear rotate in one degree of freedom in synchronization with the rotation of the one rotary shaft and gear. The ratio of the number of teeth of the second gear 29 to the first gear 99, that is, the gear reduction ratio, is set equal to the ratio of the radius of the second pulley 21 to the first pulley 91, that is, the reduction ratio of the pulley. .
　図６に示した例では、第１のプーリ９１と第２のプーリ２１とは互いに反対の方向に回転することになる。このため、第１のプーリ９１上のワイヤ３５の巻き付け方向は、第２のプーリ２１上のワイヤ３５の巻き付け方向と同じ時計回りの方向となっている。また、第１のプーリ９１と第１の回転軸４７との間に介在する第１のワンウェイクラッチ９３は、第１の回転軸４７に対して、時計回りの方向への第１のプーリ９１の相対回転を許容し、反時計回りの方向への第１のプーリ９１の相対回転を阻止する。そして、第１の負荷付与部材としての第１のトーションばね９５は、第１の回転軸４７に対して、相対回転が許容されている方向へと第１のプーリ９１を付勢する。同様に、第２のプーリ２１と第２の回転軸４９との間に介在する第２のワンウェイクラッチ２３は、第２の回転軸４９に対して、時計回りの方向への第２のプーリ２１の相対回転を許容し、反時計回りの方向への第２のプーリ２１の相対回転を阻止する。そして、第２の負荷付与部材としての第２のトーションばね２５は、第２の回転軸４９に対して、相対回転が許容されている方向へと第２のプーリ２１を付勢する。 In the example shown in FIG. 6, the first pulley 91 and the second pulley 21 rotate in directions opposite to each other. For this reason, the winding direction of the wire 35 on the first pulley 91 is the same clockwise direction as the winding direction of the wire 35 on the second pulley 21. Further, the first one-way clutch 93 interposed between the first pulley 91 and the first rotating shaft 47 has the first pulley 91 in the clockwise direction with respect to the first rotating shaft 47. Relative rotation is allowed and relative rotation of the first pulley 91 in the counterclockwise direction is prevented. Then, the first torsion spring 95 as the first load applying member urges the first pulley 91 in the direction in which relative rotation is allowed with respect to the first rotating shaft 47. Similarly, the second one-way clutch 23 interposed between the second pulley 21 and the second rotation shaft 49 is connected to the second pulley 21 in the clockwise direction with respect to the second rotation shaft 49. Relative rotation of the second pulley 21 is prevented, and relative rotation of the second pulley 21 in the counterclockwise direction is prevented. Then, the second torsion spring 25 as the second load applying member biases the second pulley 21 in the direction in which relative rotation is allowed with respect to the second rotation shaft 49.
　第２の変形例に係る力伝達装置９０は、第１の回転軸４７又は第２の回転軸４９のいずれか一方を回転駆動する１つのアクチュエータを有する。例えば、第１の回転軸４７を回転駆動するアクチュエータが設けられる場合、第１の回転軸４７を反時計回りに回転させると、第１のプーリ９１は第１の回転軸４７に対して時計回りに回転することになる。このため、第１のプーリ９１は、第１のワンウェイクラッチ９３の機能により、第１の回転軸４７の回転トルクによって回転することはない。 The force transmission device 90 according to the second modification has one actuator that rotationally drives either one of the first rotating shaft 47 or the second rotating shaft 49. For example, in the case where an actuator for rotationally driving the first rotary shaft 47 is provided, when the first rotary shaft 47 is rotated counterclockwise, the first pulley 91 rotates clockwise with respect to the first rotary shaft 47. Will rotate. For this reason, the first pulley 91 is not rotated by the rotational torque of the first rotating shaft 47 due to the function of the first one-way clutch 93.
　ただし、第１の回転軸４７が反時計回りに回転する場合、第１のギヤ９９及び第２のギヤ２９を介して回転トルクが伝達され、第２の回転軸４９が時計回りに回転する。第２の回転軸４９が時計回りに回転すると、第２のプーリ２１は第２の回転軸４９に対して反時計回りに相対回転することになる。このため、第２のワンウェイクラッチ２３の機能により、第２の回転軸４９の回転トルクによって第２のプーリ２１及び第２のギヤ２９が時計回りに回転する。これにより、結果的に、ワイヤ３５は第２のプーリ２１に巻き付けられ、第１のプーリ９１は、ワイヤ３５の張力によって反時計回りの方向に回転する。このとき、第１のギヤ９９に対する第２のギヤ２９の減速比と、第１のプーリ９１に対する第２のプーリ２１の減速比とが等しく設定されているため、第１のプーリ９１から送り出されるワイヤ３５の量と、第２のプーリ２１に巻き付けられるワイヤ３５の量は等しく、ワイヤ３５の張力は変化せずに動作する。 However, when the first rotating shaft 47 rotates counterclockwise, the rotational torque is transmitted through the first gear 99 and the second gear 29, and the second rotating shaft 49 rotates clockwise. When the second rotation shaft 49 rotates clockwise, the second pulley 21 rotates relative to the second rotation shaft 49 counterclockwise. Therefore, due to the function of the second one-way clutch 23, the second pulley 21 and the second gear 29 are rotated clockwise by the rotational torque of the second rotating shaft 49. As a result, the wire 35 is wound around the second pulley 21, and the first pulley 91 rotates in the counterclockwise direction due to the tension of the wire 35. At this time, since the reduction ratio of the second gear 29 to the first gear 99 and the reduction ratio of the second pulley 21 to the first pulley 91 are set to be equal to each other, the first pulley 91 is fed out. The amount of the wire 35 is equal to the amount of the wire 35 wound around the second pulley 21, and the tension of the wire 35 operates without changing.
　アクチュエータにより第１の回転軸４７が時計回りに回転させられる場合には、反対に、第１のプーリ９１は第１の回転軸４７の回転トルクにより時計回りに回転し、ワイヤ３５が第１のプーリ９１に巻き付けられる。このとき、第１のギヤ９９及び第２のギヤ２９を介して伝達される第１の回転軸４７の回転トルクにより第２の回転軸４９が反時計回りに回転しても、第２のワンウェイクラッチ２３の機能により、第２のプーリ２１は第２の回転軸４９の回転トルクにより回転することはない。ただし、第２のプーリ２１は、第１のプーリ９１に巻き付けられるワイヤ３５の張力によって、反時計回りに回転する。このときも同様に、第１のプーリ９１から送り出されるワイヤ３５の量と、第２のプーリ２１に巻き付けられるワイヤ３５の量は等しい。 When the first rotation shaft 47 is rotated clockwise by the actuator, on the contrary, the first pulley 91 is rotated clockwise by the rotation torque of the first rotation shaft 47, and the wire 35 is It is wound around a pulley 91. At this time, even if the second rotary shaft 49 rotates counterclockwise by the rotational torque of the first rotary shaft 47 transmitted through the first gear 99 and the second gear 29, the second one-way Due to the function of the clutch 23, the second pulley 21 is not rotated by the rotational torque of the second rotating shaft 49. However, the second pulley 21 rotates counterclockwise due to the tension of the wire 35 wound around the first pulley 91. Similarly, at this time, the amount of the wire 35 sent out from the first pulley 91 and the amount of the wire 35 wound around the second pulley 21 are equal.
　そして、長期間の使用によってワイヤ３５が伸びたり弛んだりした場合には、第１のトーションばね９５の引張トルクＴ１によって第１のプーリ９１が第２の回転軸４９に対して時計回りの方向に相対回転させられ、第３のプーリ３１よりも第１のプーリ９１側のワイヤ３５の張力が維持される。また、ワイヤ３５の伸びや弛みが生じた場合には、第２のトーションばね２５の引張トルクＴ２によって第２のプーリ２１が第２の回転軸４９に対して時計回りの方向に相対回転させられ、第３のプーリ３１よりも第２のプーリ２１側のワイヤ３５の張力が維持される。これにより、各プーリからワイヤ３５が外れることを防止することができる。 When the wire 35 is stretched or slackened due to long-term use, the first pulley 91 is rotated in the clockwise direction with respect to the second rotation shaft 49 by the tensile torque T1 of the first torsion spring 95. The wire 35 is relatively rotated, and the tension of the wire 35 closer to the first pulley 91 than the third pulley 31 is maintained. When the wire 35 is stretched or loosened, the second pulley 21 is rotated relative to the second rotation shaft 49 in the clockwise direction by the tensile torque T2 of the second torsion spring 25. The tension of the wire 35 on the second pulley 21 side relative to the third pulley 31 is maintained. Thereby, it can prevent that the wire 35 remove | deviates from each pulley.
　＜１－５．動作補助装置への適用例＞
　次に、図７を参照して、上記の実施形態に係る力伝達装置１０を、動作補助装置としての人体装着ロボット１００に適用した例について説明する。図７は、力伝達装置１０を介してアクチュエータ４０が発生する動力により関節部１２０を回転させる人体装着ロボット１００の一例を示す説明図である。 <1-5. Application example to motion assist device>
Next, an example in which the force transmission device 10 according to the above-described embodiment is applied to a human body-mounted robot 100 as an operation assisting device will be described with reference to FIG. FIG. 7 is an explanatory diagram illustrating an example of a human body-mounted robot 100 that rotates the joint portion 120 by the power generated by the actuator 40 via the force transmission device 10.
　図示した人体装着ロボット１００は、関節部１２０と、関節部１２０を中心に回動可能に連結された第１のアーム部１１２及び第２のアーム部１１４とを有する。第１のアーム部１１２の上部は、人体の腰に巻き付けられる装着ベルト１０２に固定されている。また、第２のアーム部１１４の下部は、人体の大腿部に巻き付けられる装着ベルト１０４に固定されている。関節部１２０を中心とする第１のアーム部１１２と第２のアーム部１１４との相対回転は、力伝達装置１０及びケーブル１３２，１３４を介して、アクチュエータ４０により動作される。 The illustrated human-body-mounted robot 100 includes a joint portion 120, and a first arm portion 112 and a second arm portion 114 that are coupled to be rotatable about the joint portion 120. The upper part of the first arm portion 112 is fixed to a mounting belt 102 that is wrapped around the waist of a human body. The lower portion of the second arm portion 114 is fixed to a mounting belt 104 that is wound around the thigh of the human body. The relative rotation between the first arm part 112 and the second arm part 114 around the joint part 120 is operated by the actuator 40 via the force transmission device 10 and the cables 132 and 134.
　例えば、関節部１２０には２本のケーブル１３２，１３４が接続され、いずれか一方のケーブルを関節部１２０に向けて前進させ、他方のケーブルを関節部１２０から後退させることにより、第１のアーム部１１２に対して第２のアーム部１１４が、時計回りあるいは反時計回りに回動する。ケーブル１３２，１３４は、関節部１２０に巻き付けられて導出された１本のケーブルであってもよい。ケーブル１３２，１３４は、それぞれ、力伝達装置１０の第３のプーリ３１を支持する出力軸５１に支持された第４のプーリ５５に固定、あるいは巻き付けられている。ケーブル１３２，１３４は、第４のプーリ５５及び関節部１２０に巻き掛けられたループ状のケーブルであってもよい。 For example, two cables 132 and 134 are connected to the joint portion 120, and one of the cables is advanced toward the joint portion 120 and the other cable is retracted from the joint portion 120, whereby the first arm The second arm portion 114 rotates clockwise or counterclockwise with respect to the portion 112. The cables 132 and 134 may be a single cable that is wound around the joint 120 and led out. The cables 132 and 134 are respectively fixed or wound around a fourth pulley 55 supported by the output shaft 51 that supports the third pulley 31 of the force transmission device 10. The cables 132 and 134 may be loop-shaped cables wound around the fourth pulley 55 and the joint portion 120.
　かかる人体装着ロボット１００において、例えば、ユーザが歩行する際に、関節部１２０が図示の時計回りに回動することにより、第２のアーム部１１４が関節部１２０を中心に時計回りに回動し、ユーザによる足を上げる動作が補助される。例えば、図７の例では、図示しない制御装置が、筋電位センサやユーザの足の動きを検出するセンサ等により、ユーザが足を上げようとしていることを検出すると、アクチュエータ４０を駆動させることにより、出力軸５１及び第４のプーリ５５を時計回りに回転させる。これにより、ケーブル１３２が関節部１２０から後退する一方、ケーブル１３４が関節部１２０に向けて導出される。これにより、関節部１２０が時計回りに回転し、第２のアーム部１１４が関節部１２０を中心に時計回りに回動するため、ユーザによる足を上げる動作を補助する力が発生する。 In the human body-mounted robot 100, for example, when the user walks, the second arm unit 114 rotates about the joint unit 120 clockwise by rotating the joint unit 120 clockwise as illustrated. The operation of raising the foot by the user is assisted. For example, in the example of FIG. 7, when a control device (not shown) detects that the user is trying to raise his / her foot using a myoelectric potential sensor, a sensor for detecting the movement of the user's foot, or the like, The output shaft 51 and the fourth pulley 55 are rotated clockwise. As a result, the cable 132 is retracted from the joint portion 120, while the cable 134 is led out toward the joint portion 120. As a result, the joint portion 120 rotates clockwise, and the second arm portion 114 rotates clockwise around the joint portion 120, so that a force that assists the user in raising the foot is generated.
　逆に、ユーザが足を下ろそうとしている場合には、図示しない制御装置は、アクチュエータ４０を駆動させることにより、出力軸５１及び第４のプーリ５５を反時計回りに回転させる。これにより、今度は、ケーブル１３４が関節部１２０から後退する一方、ケーブル１３２が関節部１２０に向けて導出される。これにより、関節部１２０が反時計回りに回転し、第２のアーム部１１４が関節部１２０を中心に反時計回りに回動するため、ユーザによる足を下ろす動作を補助する力が発生する。 On the contrary, when the user is going to step down, the control device (not shown) rotates the output shaft 51 and the fourth pulley 55 counterclockwise by driving the actuator 40. As a result, the cable 134 is now retracted from the joint portion 120, while the cable 132 is led out toward the joint portion 120. As a result, the joint portion 120 rotates counterclockwise, and the second arm portion 114 rotates counterclockwise around the joint portion 120, so that a force that assists the user to lower the foot is generated.
　本実施形態に係る人体装着ロボット１００は、力伝達装置１０のうちの、アクチュエータ４０が発生する動力を出力軸５１に伝達するワイヤ３５の伸びや弛みを自動で解消できるため、第１のプーリ１１、第２のプーリ２１又は第３のプーリ３１からワイヤ３５が外れることを抑制することができる。また、人体装着ロボット１００は、長時間の使用後においてもワイヤ３５の張力が所定程度に維持されるため、アクチュエータ４０から関節部１２０への動力伝達効率の低下を抑制することができる。したがって、関節部１２０の回転駆動の制御性を維持することができる。 The human body wearing robot 100 according to the present embodiment can automatically eliminate the elongation and slack of the wire 35 that transmits the power generated by the actuator 40 to the output shaft 51 in the force transmission device 10. The wire 35 can be prevented from coming off from the second pulley 21 or the third pulley 31. In addition, since the tension of the wire 35 is maintained at a predetermined level even after long-term use, the human body-mounted robot 100 can suppress a decrease in power transmission efficiency from the actuator 40 to the joint portion 120. Therefore, the controllability of the rotational drive of the joint 120 can be maintained.
　関節部１２０を回動させるケーブル１３２，１３４としては、例えばボーデンケーブルが使用されてもよい。この場合、ボーデンケーブルのうち、ケーブル１３２，１３４の外側の防護カバー１３１，１３３の一端側は、人体装着ロボット１００における、関節部１２０とは異なる位置で固定部１１３に固定される。図３に示す例では、防護カバー１３１，１３３の一端側が、第１のアーム部１１２に設けられた固定部１１３に固定されているが、装着ベルト１０２の一部に固定されてもよい。また、防護カバー１３１，１３３の他端側は、力伝達装置１０内で、図示しない固定部に固定されている。ボーデンケーブルを使用することにより、防護カバー１３１，１３３の内側を通るケーブル１３２，１３４の動きが拘束され、衣服や身体等に直接接触することがないため、ケーブル１３２，１３４の配設に対する制限が少なくなる。 For example, a Bowden cable may be used as the cables 132 and 134 for rotating the joint portion 120. In this case, one end side of the protective covers 131 and 133 outside the cables 132 and 134 of the Bowden cable is fixed to the fixing unit 113 at a position different from the joint unit 120 in the human body wearing robot 100. In the example shown in FIG. 3, one end sides of the protective covers 131 and 133 are fixed to the fixing portion 113 provided on the first arm portion 112, but may be fixed to a part of the mounting belt 102. The other ends of the protective covers 131 and 133 are fixed to a fixing portion (not shown) in the force transmission device 10. By using the Bowden cable, the movement of the cables 132 and 134 passing through the inside of the protective covers 131 and 133 is restricted, and there is no direct contact with clothes or the body. Less.
　また、かかる人体装着ロボット１００の例において、アクチュエータ４０及び力伝達装置１０は、関節部１２０から離れた位置に配置することができる。例えば、アクチュエータ４０及び力伝達装置１０は、ユーザが背中に背負うバックパック等の形式で備えられてもよいし、手押式あるいは自走式の荷車等の形式で備えられてもよい。 In the example of the human body-mounted robot 100, the actuator 40 and the force transmission device 10 can be arranged at a position away from the joint portion 120. For example, the actuator 40 and the force transmission device 10 may be provided in the form of a backpack that the user carries on the back, or may be provided in the form of a hand-held or self-propelled cart.
　このように、本実施形態に係る人体装着ロボット（動作補助装置）１００は、上記の力伝達装置１０を備えるために、人体装着ロボット１００の大型化を抑制しつつ、力伝達装置１０の動力伝達部材としてのワイヤ３５の弛みを抑制することができる。したがって、人体装着ロボット１００の関節部１２０への動力伝達効率の低下を抑制することができ、関節部１２０の回転駆動の制御性を維持することができる。 Thus, since the human body-mounted robot (motion assisting device) 100 according to the present embodiment includes the above-described force transmission device 10, the power transmission of the force transmission device 10 is suppressed while suppressing the enlargement of the human body-mounted robot 100. The slack of the wire 35 as a member can be suppressed. Therefore, it is possible to suppress a reduction in power transmission efficiency to the joint portion 120 of the human body-mounted robot 100, and maintain controllability of the rotational drive of the joint portion 120.
＜＜２．第２の実施の形態＞＞
　図８～図９を参照して、第２の実施の形態に係る力伝達装置２１０について説明する。第１の実施の形態に係る力伝達装置１０は、第１のプーリ１１及び第２のプーリ２１のそれぞれにワンウェイクラッチ及び負荷付与部材を含む張力保持機構を備えていたが、第２の実施の形態に係る力伝達装置２１０は、第１のプーリ１１にのみワンウェイクラッチ１３及び負荷付与部材１５を含む張力保持機構を備える点で第１の実施の形態に係る力伝達装置１０と異なっている。以下、本実施形態に係る力伝達装置２１０について、第１の実施の形態に係る力伝達装置１０と異なる点について説明する。 << 2. Second embodiment >>
A force transmission device 210 according to the second embodiment will be described with reference to FIGS. The force transmission device 10 according to the first embodiment includes the tension holding mechanism including the one-way clutch and the load applying member in each of the first pulley 11 and the second pulley 21. The force transmission device 210 according to the embodiment is different from the force transmission device 10 according to the first embodiment in that a tension holding mechanism including the one-way clutch 13 and the load applying member 15 is provided only in the first pulley 11. Hereinafter, the difference between the force transmission device 210 according to the present embodiment and the force transmission device 10 according to the first embodiment will be described.
　図８は、力伝達装置２１０の構成を説明するための部分断面図であり、図９は、力伝達装置２１０の構成を説明するための模式図である。これらの図８～図９は、図２～図３に示した第１の実施の形態に係る力伝達装置１０の第２のワンウェイクラッチ２３及び第２のトーションばね２５を無くして、第２のプーリ２２１を回転軸４１に固定した例を示している。図９においては、理解を容易にするために、同一の回転軸４１に支持された第１のプーリ１１及び第２のプーリ２２１が分離して示されている。 FIG. 8 is a partial cross-sectional view for explaining the configuration of the force transmission device 210, and FIG. 9 is a schematic diagram for explaining the configuration of the force transmission device 210. 8 to 9 show the second one-way clutch 23 and the second torsion spring 25 of the force transmission device 10 according to the first embodiment shown in FIGS. The example which fixed the pulley 221 to the rotating shaft 41 is shown. In FIG. 9, for easy understanding, the first pulley 11 and the second pulley 221 supported by the same rotating shaft 41 are shown separately.
　ワンウェイクラッチ１３及び負荷付与部材１５を有する第１のプーリ１１の構成は、第１の実施の形態に係る力伝達装置１０の第１のプーリ１１と同様の構成とすることができる。本実施形態に係る力伝達装置２１０において、第２のプーリ２２１はアクチュエータの回転軸４１に固定されている。つまり、回転軸４１と第２のプーリ２２１とは相対回転しないように構成されている。これ以外の点は、第１の実施の形態に係る力伝達装置１０の構成と同様の構成とすることができる。 The configuration of the first pulley 11 having the one-way clutch 13 and the load applying member 15 can be the same as that of the first pulley 11 of the force transmission device 10 according to the first embodiment. In the force transmission device 210 according to the present embodiment, the second pulley 221 is fixed to the rotating shaft 41 of the actuator. That is, the rotation shaft 41 and the second pulley 221 are configured not to rotate relative to each other. Except for this point, the configuration can be the same as the configuration of the force transmission device 10 according to the first embodiment.
　第２の実施の形態に係る力伝達装置２１０において、使用前のアクチュエータを駆動させていない状態で、トーションばね１５に対してあらかじめ予負荷が与えられ、第１のプーリ１１を図９の反時計回り方向に相対回転させる引張トルクＴ１が生じる。予負荷は手動で与えられてもよい。これにより、アクチュエータの非作動状態において、ワイヤ３５の張力は維持される。一方、アクチュエータにより回転軸４１が回転させられると、第１のプーリ１１及び第２のプーリ２２１は以下のように回転する。 In the force transmission device 210 according to the second embodiment, a preload is applied to the torsion spring 15 in advance in a state where the actuator before use is not driven, and the first pulley 11 is counterclockwise as shown in FIG. A tensile torque T1 that causes relative rotation in the rotating direction is generated. The preload may be provided manually. Thereby, the tension of the wire 35 is maintained when the actuator is in an inoperative state. On the other hand, when the rotating shaft 41 is rotated by the actuator, the first pulley 11 and the second pulley 221 rotate as follows.
　例えば、図９において、回転軸４１が時計回りに回転する場合、第１のプーリ１１は、回転軸４１に対して反時計回りに相対回転することになるため、ワンウェイクラッチ１３の機能により、回転軸４１の回転トルクによって回転することはない。ただし、回転軸４１に固定された第２のプーリ２２１が時計回りに回転することによって、ワイヤ３５が第２のプーリ２２１に巻き付けられる結果、ワイヤ３５の張力により第１のプーリ１１が時計回りに回転する。したがって、第３のプーリ３１が時計回りに回転して、出力軸５１は時計回りの回転トルクを出力する。 For example, in FIG. 9, when the rotation shaft 41 rotates clockwise, the first pulley 11 rotates counterclockwise with respect to the rotation shaft 41. It does not rotate due to the rotational torque of the shaft 41. However, when the second pulley 221 fixed to the rotating shaft 41 rotates clockwise, the wire 35 is wound around the second pulley 221, and as a result, the tension of the wire 35 causes the first pulley 11 to rotate clockwise. Rotate. Therefore, the third pulley 31 rotates clockwise, and the output shaft 51 outputs clockwise rotational torque.
　また、アクチュエータにより回転軸４１が反時計回りに回転する場合、第１のプーリ１１はワンウェイクラッチ１３の機能により、回転軸４１の回転トルクによって反時計回りに回転する。同時に、回転軸４１に固定された第２のプーリ２２１は、回転軸４１の回転に伴って反時計回りに回転して、ワイヤ３５を導出する。したがって、第３のプーリ３１が反時計回りに回転して、出力軸５１は反時計回りの回転トルクを出力する。 When the rotary shaft 41 is rotated counterclockwise by the actuator, the first pulley 11 is rotated counterclockwise by the rotational torque of the rotary shaft 41 by the function of the one-way clutch 13. At the same time, the second pulley 221 fixed to the rotating shaft 41 rotates counterclockwise with the rotation of the rotating shaft 41 and leads out the wire 35. Therefore, the third pulley 31 rotates counterclockwise, and the output shaft 51 outputs a counterclockwise rotational torque.
　そして、長期間の使用によってワイヤ３５が伸びたり弛んだりした場合には、トーションばね１５の引張トルクＴ１によって第１のプーリ１１が回転軸４１に対して反時計回りの方向に相対回転させられ、ワイヤ３５の張力が維持される。 When the wire 35 is stretched or slackened due to long-term use, the first pulley 11 is rotated relative to the rotating shaft 41 in the counterclockwise direction by the tensile torque T1 of the torsion spring 15; The tension of the wire 35 is maintained.
　このように、一方のプーリにのみワンウェイクラッチ及びトーションばねを備える場合であっても、比較的簡易な構成で、ワイヤ３５の張力を保持させることができる。これにより、力伝達装置２１０の大型化を抑制することができる。また、本実施形態に係る力伝達装置２１０によれば、一方のプーリにのみワンウェイクラッチ及びトーションばねを備える構成であるため、力伝達装置２１０の質量をより抑制することができる。 Thus, even when the one-way clutch and the torsion spring are provided only on one pulley, the tension of the wire 35 can be held with a relatively simple configuration. Thereby, the enlargement of the force transmission device 210 can be suppressed. Further, according to the force transmission device 210 according to the present embodiment, since the one-way clutch and the torsion spring are provided in only one pulley, the mass of the force transmission device 210 can be further suppressed.
　なお、本実施形態に係る力伝達装置２１０においても、第１の実施の形態に係る力伝達装置１０の第１の変形例及び第２の変形例を適用することができる。つまり、トーションばね１５の代わりに定張力ばねが用いられてもよく、第１のプーリ１１及び第２のプーリ２２１がそれぞれ互いにギヤ接続された異なる回転軸に支持されていてもよい。 In addition, also in the force transmission apparatus 210 which concerns on this embodiment, the 1st modification and the 2nd modification of the force transmission apparatus 10 which concern on 1st Embodiment are applicable. That is, a constant tension spring may be used instead of the torsion spring 15, and the first pulley 11 and the second pulley 221 may be supported by different rotating shafts that are gear-connected to each other.
＜＜３．第３の実施の形態＞＞
　図１０を参照して、第３の実施の形態に係る力伝達装置２５０について説明する。第１の実施の形態及び第２の実施の形態に係る力伝達装置１０，２１０は、負荷付与部材としてトーションばねを用いていたが、第３の実施の形態に係る力伝達装置２５０は、負荷付与部材としてブレーキ力発生部材２５１を用いる点で第１の実施の形態及び第２の実施の形態に係る力伝達装置１０，２１０と異なっている。以下、本実施形態に係る力伝達装置２５０について、第１の実施の形態及び第２の実施の形態に係る力伝達装置１０，２１０と異なる点について説明する。 << 3. Third Embodiment >>
A force transmission device 250 according to the third embodiment will be described with reference to FIG. The force transmission devices 10 and 210 according to the first and second embodiments use a torsion spring as a load applying member, but the force transmission device 250 according to the third embodiment is a load It differs from the force transmission devices 10 and 210 according to the first embodiment and the second embodiment in that a brake force generation member 251 is used as the application member. Hereinafter, the difference between the force transmission device 250 according to the present embodiment and the force transmission devices 10 and 210 according to the first embodiment and the second embodiment will be described.
　図１０は、力伝達装置２５０の構成を説明するための模式図である。図１０は、図８及び図９に示した第２の実施の形態に係る力伝達装置におけるトーションばね１５を無くし、ブレーキ力発生部材２５１を新たに設けた例を示している。図１０においては、理解を容易にするために、同一の回転軸４１に支持された第１のプーリ２１１及び第２のプーリ２２１が分離して示されている。また、図１０においては、第１のプーリ２１１、第２のプーリ２２１及び第３のプーリ３１の周面の溝内に配置されるワイヤ３５の図示が省略されている。 FIG. 10 is a schematic diagram for explaining the configuration of the force transmission device 250. FIG. 10 shows an example in which the torsion spring 15 in the force transmission device according to the second embodiment shown in FIGS. 8 and 9 is eliminated and a brake force generating member 251 is newly provided. In FIG. 10, for easy understanding, the first pulley 211 and the second pulley 221 supported by the same rotation shaft 41 are shown separately. Further, in FIG. 10, illustration of the wires 35 arranged in the grooves on the peripheral surfaces of the first pulley 211, the second pulley 221, and the third pulley 31 is omitted.
　ブレーキ力発生部材２５１は、例えば力伝達装置２５０を収容するハウジングに固定され、一部において第１のプーリ２１１に接する。第１のプーリ２１１の回転時には、第１のプーリ２１１とブレーキ力発生部材２５１との間の摩擦力による回転抵抗が発生しつつ第１のプーリ２１１は回転可能になっている。この摩擦力は、例えばアクチュエータを駆動させていない状態で、第１のプーリ２１１とブレーキ力発生部材２５１との相対回転が不可能となる一方、アクチュエータの駆動時に第１のプーリ２１１の回転トルクによって第１のプーリ２１１とブレーキ力発生部材２５１との相対回転が可能となる大きさとされる。 The brake force generation member 251 is fixed to, for example, a housing that accommodates the force transmission device 250 and partly contacts the first pulley 211. When the first pulley 211 rotates, the first pulley 211 can rotate while generating rotational resistance due to frictional force between the first pulley 211 and the brake force generating member 251. For example, this frictional force is caused by the rotational torque of the first pulley 211 when the actuator is driven, while the relative rotation between the first pulley 211 and the brake force generation member 251 becomes impossible when the actuator is not driven. The first pulley 211 and the brake force generation member 251 are set to a size that allows relative rotation.
　ブレーキ力発生部材２５１の材料は特に限定されるものではなく、例えば樹脂、ゴム、金属又は木材であってもよい。また、図１０に示した例では、ブレーキ力発生部材２５１は第１のプーリ２１１の周面に接しているが、第１のプーリ２１１におけるブレーキ力発生部材２５１が接する位置は側面であってもよい。これ以外の点は、第２の実施の形態に係る力伝達装置２１０の構成と同様の構成とすることができる。 The material of the brake force generating member 251 is not particularly limited, and may be, for example, resin, rubber, metal, or wood. In the example shown in FIG. 10, the brake force generating member 251 is in contact with the peripheral surface of the first pulley 211, but the position where the brake force generating member 251 is in contact with the first pulley 211 may be a side surface. Good. Except for this point, the configuration can be the same as the configuration of the force transmission device 210 according to the second embodiment.
　第３の実施の形態に係る力伝達装置２５０において、使用前のアクチュエータを駆動させていない状態で、第１のプーリ２１１は図１０の反時計回り方向に回転させられる。第１のプーリ２１１の回転は手動で行われてもよい。このとき、ワンウェイクラッチ１３の機能によって回転軸４１は回転することなく第１のプーリ２１１と回転軸４１とは相対回転する。また、回転軸４１に固定された第２のプーリ２２１も回転しない。相対回転させられた第１のプーリ２１１は、ブレーキ力発生部材２５１との間で生じる摩擦力によって回転後の位置で保持される。これにより、アクチュエータの非作動状態においてもワイヤ３５の張力が維持される。一方、アクチュエータにより回転軸４１が回転させられると、第１のプーリ２１１及び第２のプーリ２２１は以下のように回転する。 In the force transmission device 250 according to the third embodiment, the first pulley 211 is rotated counterclockwise in FIG. 10 without driving the actuator before use. The rotation of the first pulley 211 may be performed manually. At this time, the first pulley 211 and the rotating shaft 41 rotate relative to each other without rotating the rotating shaft 41 by the function of the one-way clutch 13. Further, the second pulley 221 fixed to the rotating shaft 41 does not rotate. The first pulley 211 that is relatively rotated is held at the position after the rotation by the frictional force generated between the first pulley 211 and the brake force generating member 251. Thereby, the tension | tensile_strength of the wire 35 is maintained also in the non-operation state of an actuator. On the other hand, when the rotating shaft 41 is rotated by the actuator, the first pulley 211 and the second pulley 221 rotate as follows.
　例えば、図１０において、回転軸４１が時計回りに回転する場合、第１のプーリ２１１は、回転軸４１に対して反時計回りに相対回転することになるため、ワンウェイクラッチ１３の機能により、回転軸４１の回転トルクによって回転することはない。ただし、回転軸４１に固定された第２のプーリ２２１が時計回りに回転することによって、ワイヤ３５が第２のプーリ２２１に巻き付けられる結果、ワイヤ３５の張力により第１のプーリ２１１が時計回りに回転する。したがって、第３のプーリ３１が時計回りに回転して、出力軸５１は時計回りの回転トルクを出力する。 For example, in FIG. 10, when the rotating shaft 41 rotates clockwise, the first pulley 211 rotates relative to the rotating shaft 41 counterclockwise. It does not rotate due to the rotational torque of the shaft 41. However, when the second pulley 221 fixed to the rotating shaft 41 rotates clockwise, the wire 35 is wound around the second pulley 221, and as a result, the first pulley 211 is rotated clockwise by the tension of the wire 35. Rotate. Therefore, the third pulley 31 rotates clockwise, and the output shaft 51 outputs clockwise rotational torque.
　このとき、ワイヤ３５に弛みが生じている場合には、第１のプーリ２１１とブレーキ力発生部材２５１との間の摩擦力により、ワイヤ３５に所定の張力が生じるまでの間、第１のプーリ２１１が回転しない状態で維持される。これにより、ワイヤ３５の張力が復元される。 At this time, if the wire 35 is slack, the first pulley until a predetermined tension is generated in the wire 35 due to the frictional force between the first pulley 211 and the brake force generation member 251. 211 is maintained without rotating. Thereby, the tension of the wire 35 is restored.
　また、アクチュエータにより回転軸４１が反時計回りに回転する場合、第１のプーリ２１１はワンウェイクラッチ１３の機能により、回転軸４１の回転トルクによってブレーキ力発生部材２５１からの摩擦力に抗して反時計回りに回転する。同時に、回転軸４１に固定された第２のプーリ２２１は、回転軸４１の回転に伴って反時計回りに回転して、ワイヤ３５を導出する。したがって、第３のプーリ３１が反時計回りに回転して、出力軸５１は反時計回りの回転トルクを出力する。 When the rotation shaft 41 is rotated counterclockwise by the actuator, the first pulley 211 is counteracted by the function of the one-way clutch 13 against the frictional force from the brake force generating member 251 by the rotation torque of the rotation shaft 41. Rotate clockwise. At the same time, the second pulley 221 fixed to the rotating shaft 41 rotates counterclockwise with the rotation of the rotating shaft 41 and leads out the wire 35. Therefore, the third pulley 31 rotates counterclockwise, and the output shaft 51 outputs a counterclockwise rotational torque.
　このように、本実施形態に係る力伝達装置２５０は、使用時においてアクチュエータによって回転軸４１を時計回りに回転させることで、ワイヤ３５の張力を維持することができる。したがって、本実施形態に係る力伝達装置２５０によれば、比較的簡易な構成で、ワイヤ３５の張力を保持させることができ、力伝達装置２５０の大型化を抑制することができる。また、本実施形態に係る力伝達装置２５０によれば、追加のアクチュエータや、別途配置される部品、自動制御用のソフトウェア等を用いてワイヤ３５の張力を保持する場合に比べて、力伝達装置２１０の質量をより抑制することができる。 As described above, the force transmission device 250 according to the present embodiment can maintain the tension of the wire 35 by rotating the rotating shaft 41 clockwise by the actuator during use. Therefore, according to the force transmission device 250 according to the present embodiment, the tension of the wire 35 can be held with a relatively simple configuration, and an increase in size of the force transmission device 250 can be suppressed. In addition, according to the force transmission device 250 according to the present embodiment, the force transmission device is compared with a case where the tension of the wire 35 is maintained using an additional actuator, a separately arranged component, automatic control software, or the like. The mass of 210 can be further suppressed.
　なお、本実施形態に係る力伝達装置２５０においても、第１の実施の形態に係る力伝達装置１０の第２の変形例を適用することができる。つまり、第１のプーリ２１１及び第２のプーリ２２１がそれぞれ互いにギヤ接続された異なる回転軸に支持されていてもよい。また、第１の実施の形態に係る力伝達装置１０の第１のプーリ１１及び第２のプーリ２１のそれぞれに備えられたトーションばねをブレーキ力発生部材に置き換えた場合であっても、アクチュエータによって回転軸４１を時計回り及び反時計回りの双方に回転させることで、ワイヤ３５の張力が維持される。 Note that the second modification of the force transmission device 10 according to the first embodiment can also be applied to the force transmission device 250 according to the present embodiment. That is, the first pulley 211 and the second pulley 221 may be supported by different rotating shafts that are gear-connected to each other. Even when the torsion spring provided in each of the first pulley 11 and the second pulley 21 of the force transmission device 10 according to the first embodiment is replaced with a brake force generating member, The tension of the wire 35 is maintained by rotating the rotating shaft 41 in both clockwise and counterclockwise directions.
　また、ブレーキ力発生部材２５１は、ハウジング等に固定されて第１のプーリ２１１に常時接していなくてもよく、第１のプーリ２１１に向けて進退可能に構成されていてもよい。例えば、通常時においてはブレーキ力発生部材２５１を第１のプーリ２１１から離間させておき、力伝達装置２５０のワイヤ３５の弛みが検知されたときあるいは任意のタイミングで、手動又は駆動機構によってブレーキ力発生部材２５１を第１のプーリ２１１に接する位置に移動させて、ワイヤ３５の張力を復元させてもよい。このように構成することにより、ワイヤ３５の弛みが生じていない間における第１のプーリ２１１の回転抵抗が低減し、アクチュエータの負荷を低減させることができる。 Further, the brake force generation member 251 may be fixed to a housing or the like and not always in contact with the first pulley 211, and may be configured to be able to advance and retreat toward the first pulley 211. For example, during normal times, the brake force generating member 251 is separated from the first pulley 211, and when the slack of the wire 35 of the force transmission device 250 is detected or at an arbitrary timing, the brake force is generated manually or by a drive mechanism. The generating member 251 may be moved to a position in contact with the first pulley 211 to restore the tension of the wire 35. With this configuration, the rotational resistance of the first pulley 211 while the wire 35 is not slackened can be reduced, and the load on the actuator can be reduced.
　また、ブレーキ力発生部材２５１は、第１のプーリ２１１に直接接する構成でなくてもよい。例えば、通電により磁力を発生可能な電磁コイル等を用いて、第１のプーリ２１１に回転抵抗を与えるように構成されてもよい。 Further, the brake force generation member 251 may not be configured to be in direct contact with the first pulley 211. For example, the first pulley 211 may be configured to give rotational resistance using an electromagnetic coil or the like that can generate a magnetic force when energized.
　以上、添付図面を参照しながら本発明の好適な実施形態について詳細に説明したが、本発明はかかる例に限定されない。本発明の属する技術の分野における通常の知識を有する者であれば、特許請求の範囲に記載された技術的思想の範疇内において、各種の変更例または修正例に想到し得ることは明らかであり、これらについても、当然に本発明の技術的範囲に属するものと了解される。 The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to such examples. It is obvious that a person having ordinary knowledge in the technical field to which the present invention pertains can come up with various changes or modifications within the scope of the technical idea described in the claims. Of course, it is understood that these also belong to the technical scope of the present invention.
　例えば、上記実施形態では、力伝達装置の適用例として、ユーザの動作の補助力を生成させる動作補助装置が例示されていたが、本発明はかかる例に限定されない。本発明に係る力伝達装置は、複数のプーリ及び可撓性の力伝達部材を用いた種々の装置に適用可能である。 For example, in the above-described embodiment, as an application example of the force transmission device, an operation assisting device that generates an assisting force for the user's operation is illustrated, but the present invention is not limited to such an example. The force transmission device according to the present invention is applicable to various devices using a plurality of pulleys and a flexible force transmission member.
　１０　　　　力伝達装置
　１１　　　　第１のプーリ
　１３　　　　第１のワンウェイクラッチ
　１５　　　　第１のトーションばね（負荷付与部材）
　２１　　　　第２のプーリ
　２３　　　　第２のワンウェイクラッチ
　２５　　　　第２のトーションばね（負荷付与部材）
　３１　　　　第３のプーリ
　３５　　　　ワイヤ（力伝達部材）
　４０　　　　アクチュエータ
　４１　　　　回転軸
　５１　　　　出力軸
　１００　　　人体装着ロボット（動作補助装置）
　２１０　　　力伝達装置
　２２１　　　第２のプーリ
　２５０　　　力伝達装置
　２５１　　　ブレーキ力発生部材（負荷付与部材）
  DESCRIPTION OF SYMBOLS 10 Force transmission apparatus 11 1st pulley 13 1st one-way clutch 15 1st torsion spring (load provision member)
21 Second pulley 23 Second one-way clutch 25 Second torsion spring (load applying member)
31 Third pulley 35 Wire (force transmission member)
40 Actuator 41 Rotating shaft 51 Output shaft 100 Human body wearing robot (motion assist device)
210 Force transmission device 221 Second pulley 250 Force transmission device 251 Brake force generating member (load applying member)

Claims (9)

  1. 　第１のプーリと、
    　第２のプーリと、
    　少なくとも前記第１のプーリ及び前記第２のプーリに掛け渡される可撓性の力伝達部材と、
    　前記第１のプーリを支持する回転軸に対して、前記第１のプーリに巻き付けられた前記力伝達部材の巻き付け方向と同一方向への前記第１のプーリの相対回転を許容し、反対方向への相対回転を阻止するワンウェイクラッチと、
    　前記第１のプーリを支持する回転軸に対して、前記相対回転が許容されている方向へと前記第１のプーリを相対回転させるように前記第１のプーリに負荷を与える負荷付与部材と、
    　を備える、力伝達装置。     A first pulley;
    A second pulley;
    A flexible force transmission member spanned between at least the first pulley and the second pulley;
    The relative rotation of the first pulley is allowed in the same direction as the winding direction of the force transmission member wound around the first pulley with respect to the rotation shaft supporting the first pulley, and in the opposite direction. A one-way clutch that prevents relative rotation of
    A load applying member that applies a load to the first pulley so as to relatively rotate the first pulley in a direction in which the relative rotation is allowed with respect to a rotation shaft that supports the first pulley;
    A force transmission device comprising:
  2. 　前記第１のプーリ及び前記第２のプーリのうちのいずれか一方のプーリの回転に伴って、他方のプーリが１自由度で同期して回転する、請求項１に記載の力伝達装置。 The force transmission device according to claim 1, wherein the other pulley rotates synchronously with one degree of freedom as one of the first pulley and the second pulley rotates.
  3. 　前記第１のプーリ及び前記第２のプーリが、１つの共通の回転軸に支持される、請求項１又は２に記載の力伝達装置。 The force transmission device according to claim 1 or 2, wherein the first pulley and the second pulley are supported by one common rotating shaft.
  4. 　前記負荷付与部材がトーションばねであって、前記トーションばねの一端が前記回転軸に固定され他端が前記第１のプーリ又は前記第２のプーリに固定される、請求項１～３のいずれか１項に記載の力伝達装置。 The load applying member is a torsion spring, and one end of the torsion spring is fixed to the rotating shaft and the other end is fixed to the first pulley or the second pulley. The force transmission device according to item 1.
  5. 　前記負荷付与部材は、前記第１のプーリに接して前記第１のプーリに対して回転抵抗を与える、請求項１～３のいずれか１項に記載の力伝達装置。 The force transmission device according to any one of claims 1 to 3, wherein the load applying member is in contact with the first pulley and provides rotational resistance to the first pulley.
  6. 　前記力伝達装置は、前記第１のプーリと前記第２のプーリとの間の前記力伝達部材が掛け渡される第３のプーリを備える、請求項１～５のいずれか１項に記載の力伝達装置。 The force according to any one of claims 1 to 5, wherein the force transmission device includes a third pulley over which the force transmission member between the first pulley and the second pulley is stretched. Transmission device.
  7. 　前記ワンウェイクラッチを第１のワンウェイクラッチとし、前記負荷付与部材を第１の負荷付与部材としたときに、
    　前記第２のプーリを支持する回転軸に対して、前記第２のプーリに巻き付けられた前記力伝達部材の巻き付け方向と同一方向への前記第２のプーリの相対回転を許容し、反対方向への相対回転を阻止する第２のワンウェイクラッチと、
    　前記第２のプーリを支持する回転軸に対して、前記相対回転が許容されている方向へと前記第２のプーリを相対回転させるように前記第２のプーリに負荷を与える第２の負荷付与部材と、
    　をさらに備える、請求項１～６のいずれか１項に記載の力伝達装置。     When the one-way clutch is a first one-way clutch and the load applying member is a first load applying member,
    Allowing the relative rotation of the second pulley in the same direction as the winding direction of the force transmission member wound around the second pulley with respect to the rotation shaft supporting the second pulley, and in the opposite direction A second one-way clutch that prevents relative rotation of the
    Second load application that applies a load to the second pulley so as to relatively rotate the second pulley in a direction in which the relative rotation is allowed with respect to a rotation shaft that supports the second pulley. Members,
    The force transmission device according to any one of claims 1 to 6, further comprising:
  8. 　前記第１のプーリ及び前記第２のプーリが、１つの共通の回転軸に支持され、
    　前記第１のワンウェイクラッチは、前記共通の回転軸に対して軸回りの第１の方向への前記第１のプーリの相対回転を許容し第２の方向への相対回転を阻止し、
    　前記第１の負荷付与部材は、前記共通の回転軸に対して軸回りの前記第１の方向へと相対回転させるように前記第１のプーリに負荷を与え、
    　前記第２のワンウェイクラッチは、前記共通の回転軸に対して軸回りの前記第２の方向への前記第２のプーリの相対回転を許容し前記第１の方向への相対回転を阻止し、
    　前記第２の負荷付与部材は、前記共通の回転軸に対して軸回りの前記第２の方向へと相対回転させるように前記第２のプーリに負荷を与える、請求項７に記載の力伝達装置。     The first pulley and the second pulley are supported by one common rotating shaft,
    The first one-way clutch allows relative rotation of the first pulley in a first direction around an axis with respect to the common rotation axis and prevents relative rotation in a second direction;
    The first load applying member applies a load to the first pulley so as to relatively rotate in the first direction around the axis with respect to the common rotation axis,
    The second one-way clutch allows relative rotation of the second pulley in the second direction around the axis with respect to the common rotation axis and prevents relative rotation in the first direction;
    The force transmission according to claim 7, wherein the second load applying member applies a load to the second pulley so as to rotate relative to the common rotation axis in the second direction around the axis. apparatus.
  9. 　ユーザの人体に装着され、第１の部材及び第２の部材を相対回転可能に連結する関節部を有する装着具と、
    　前記第１の部材及び前記第２の部材を相対回転させる動力を発生するアクチュエータと、
    　第１のプーリ、第２のプーリ、少なくとも前記第１のプーリ及び前記第２のプーリに掛け渡される可撓性の力伝達部材、前記第１のプーリを支持する回転軸に対して軸回りの一方向への前記第１のプーリの相対回転を許容し他方向への相対回転を阻止するワンウェイクラッチ、及び前記第１のプーリを支持する回転軸に対して軸回りの一方向へと相対回転させるように前記第１のプーリに負荷を与える負荷付与部材、を有し、前記アクチュエータから発生した動力を前記関節部に伝達する力伝達装置と、
    　を備えた、動作補助装置。
          A wearing tool that is attached to a user's human body and has a joint portion that connects the first member and the second member in a relatively rotatable manner;
    An actuator that generates power to relatively rotate the first member and the second member;
    A first pulley, a second pulley, at least the first pulley and a flexible force transmission member that spans the second pulley, and a rotational axis that supports the first pulley. A one-way clutch that allows relative rotation of the first pulley in one direction and prevents relative rotation in the other direction, and relative rotation in one direction around the axis with respect to the rotation shaft that supports the first pulley A load applying member that applies a load to the first pulley so as to cause a force transmission device that transmits power generated from the actuator to the joint portion;
    A motion assisting device.
PCT/JP2017/026325 2016-08-23 2017-07-20 Force transmission device and operation auxiliary device WO2018037785A1 (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109454629A (en) * 2018-11-02 2019-03-12 北京机械设备研究所 A kind of driving device of two-way decoupling

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Publication number Priority date Publication date Assignee Title
JPS59200858A (en) * 1983-04-28 1984-11-14 Oi Seisakusho Co Ltd Looseness preventing device for reciprocatingly running rope
JPH0291886U (en) * 1988-12-30 1990-07-20
JP2008232360A (en) * 2007-03-22 2008-10-02 Toshiba Corp Wire drive mechanism, robot arm mechanism, and robot

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS59200858A (en) * 1983-04-28 1984-11-14 Oi Seisakusho Co Ltd Looseness preventing device for reciprocatingly running rope
JPH0291886U (en) * 1988-12-30 1990-07-20
JP2008232360A (en) * 2007-03-22 2008-10-02 Toshiba Corp Wire drive mechanism, robot arm mechanism, and robot

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109454629A (en) * 2018-11-02 2019-03-12 北京机械设备研究所 A kind of driving device of two-way decoupling

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