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WO2018037785A1 - Dispositif de transmission de force et dispositif auxiliaire de fonctionnement - Google Patents

Dispositif de transmission de force et dispositif auxiliaire de fonctionnement 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
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2017/026325
Other languages
English (en)
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
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fraunhofer Gesellschaft zur Foerderung der Angewandten Forschung eV
Bosch Corp
Original Assignee
Fraunhofer Gesellschaft zur Foerderung der Angewandten Forschung eV
Bosch Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fraunhofer Gesellschaft zur Foerderung der Angewandten Forschung eV, Bosch Corp filed Critical Fraunhofer Gesellschaft zur Foerderung der Angewandten Forschung eV
Publication of WO2018037785A1 publication Critical patent/WO2018037785A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • 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

L'invention concerne un dispositif de transmission de force susceptible de maintenir la tension d'un élément de transmission de force flexible sans modifier les positions d'un actionneur et de poulies. L'invention concerne également un dispositif auxiliaire de fonctionnement. Ce dispositif de transmission de force comprend : une première poulie; une seconde poulie; un élément de transmission de force flexible qui est étiré entre au moins la première poulie et la seconde poulie; un embrayage unidirectionnel qui permet la rotation relative de la première poulie dans le même sens que le sens d'enroulement de l'élément de transmission de force par rapport à l'arbre rotatif soutenant la première poulie; et un élément d'application de charge qui applique une charge à la première poulie de telle sorte que la première poulie tourne relativement dans le sens dans lequel la rotation relative est permise.
PCT/JP2017/026325 2016-08-23 2017-07-20 Dispositif de transmission de force et dispositif auxiliaire de fonctionnement Ceased WO2018037785A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
JP2016-162667 2016-08-23
JP2016162667 2016-08-23
JP2017-002154 2017-01-10
JP2017002154 2017-01-10

Publications (1)

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WO2018037785A1 true WO2018037785A1 (fr) 2018-03-01

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109454629A (zh) * 2018-11-02 2019-03-12 北京机械设备研究所 一种双向解耦的驱动装置
JP2023063032A (ja) * 2021-10-22 2023-05-09 本田技研工業株式会社 駆動装置

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS59200858A (ja) * 1983-04-28 1984-11-14 Oi Seisakusho Co Ltd 往復回走する索条の緩み防止装置
JPH0291886U (fr) * 1988-12-30 1990-07-20
JP2008232360A (ja) * 2007-03-22 2008-10-02 Toshiba Corp ワイヤ駆動機構、ロボットアーム機構及びロボット

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS59200858A (ja) * 1983-04-28 1984-11-14 Oi Seisakusho Co Ltd 往復回走する索条の緩み防止装置
JPH0291886U (fr) * 1988-12-30 1990-07-20
JP2008232360A (ja) * 2007-03-22 2008-10-02 Toshiba Corp ワイヤ駆動機構、ロボットアーム機構及びロボット

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109454629A (zh) * 2018-11-02 2019-03-12 北京机械设备研究所 一种双向解耦的驱动装置
JP2023063032A (ja) * 2021-10-22 2023-05-09 本田技研工業株式会社 駆動装置
JP7577638B2 (ja) 2021-10-22 2024-11-05 本田技研工業株式会社 駆動装置

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