WO2015118642A1 - Actuator and assist apparatus - Google Patents

Actuator and assist apparatus Download PDF

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Publication number
WO2015118642A1
WO2015118642A1 PCT/JP2014/052769 JP2014052769W WO2015118642A1 WO 2015118642 A1 WO2015118642 A1 WO 2015118642A1 JP 2014052769 W JP2014052769 W JP 2014052769W WO 2015118642 A1 WO2015118642 A1 WO 2015118642A1
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WO
WIPO (PCT)
Prior art keywords
output
driven
actuator
elastic member
rocking
Prior art date
Application number
PCT/JP2014/052769
Other languages
French (fr)
Japanese (ja)
Inventor
文宏 多良
岸　泰生
Original Assignee
株式会社安川電機
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 株式会社安川電機 filed Critical 株式会社安川電機
Priority to PCT/JP2014/052769 priority Critical patent/WO2015118642A1/en
Publication of WO2015118642A1 publication Critical patent/WO2015118642A1/en

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/024—Knee
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A61H2201/1215—Rotary drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/164—Feet or leg, e.g. pedal
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165—Wearable interfaces
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1676—Pivoting
    • 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
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D3/00—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive
    • F16D3/02—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive adapted to specific functions
    • F16D3/12—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive adapted to specific functions specially adapted for accumulation of energy to absorb shocks or vibration

Definitions

  • This disclosure relates to an actuator and an assist device.
  • Patent Document 1 discloses an actuator including an output shaft, a working shaft, and an elastic element interposed between the output shaft and the working shaft.
  • the protrusion of the actuator in the robot or assist device is small. In order to reduce this protrusion, it is necessary to shorten the length of the actuator in the direction along the rotation axis.
  • the length along the rotation axis tends to be long.
  • an object of the present disclosure is to provide an actuator capable of shortening the length in the direction along the rotation axis and an assist device using the actuator.
  • An actuator includes a rotary actuator body having an output shaft, an output rotator provided at an end of the output shaft, and a follower provided so as to be rotatable about the rotation axis of the output rotator.
  • an elastic member that is interposed between the output rocking body and the driven rocking body and that transmits power between the output rocking body and the driven rocking body by a repulsive force accompanying elastic deformation.
  • the assist device assists the user's muscle strength using the actuator as a power source.
  • an actuator capable of reducing the length in the direction along the rotation axis and an assist device using the actuator.
  • FIG. 2 is a cross-sectional view taken along line II-II in FIG.
  • FIG. 3 is a cross-sectional view taken along line III-III in FIG.
  • It is a disassembled perspective view of an actuator. It is a disassembled perspective view of an output rotary body and an output rocking body. It is a disassembled perspective view of a driven rotary body and a driven rocking body. It is an expanded sectional view which shows the modification of a receiving plate. It is sectional drawing which shows the state which compressed the elastic member in FIG. It is a schematic diagram which shows schematic structure of an assist apparatus.
  • the actuator 1 includes an actuator body 10, an output rotating body 20, an output plate 31, a transmission block 32, a driven rotating body 40, a driven plate 50, and coil springs 60 and 70. With.
  • the actuator body 10 is, for example, a rotary electric motor, and has an output shaft 11 that rotates about a rotation axis CL.
  • the output shaft 11 has an end surface 11a orthogonal to the rotation axis CL, and a positioning recess 11b is formed on the end surface 11a.
  • a flange 12 is formed on the outer periphery of the actuator body 10. As will be described later, the flange 12 functions as a mounting portion for one member of the assist device.
  • “front and rear” in the description of each element means a direction in which the direction in which the end surface 11a faces is the front.
  • the output rotating body 20 includes a rotating cylinder 21 and a bearing holder 22.
  • the rear end of the rotating cylinder 21 is fitted in the recess 11b.
  • a flange 21 a is formed on the outer periphery of the front end portion of the rotating cylinder 21.
  • An enlarged diameter portion 21 b is formed on the inner periphery of the front end portion of the rotating cylinder 21.
  • a bearing 23 is accommodated in the enlarged diameter portion 21b.
  • the bearing 23 is a ball bearing, for example, and includes an inner ring 24 and an outer ring 25 and a plurality of balls 26 interposed therebetween.
  • the enlarged diameter portion 21 b is fitted to the outer periphery of the outer ring 25.
  • the bearing holder 22 is mounted on the rotary cylinder 21 from the front side, and holds the bearing 23 in the rotary cylinder 21.
  • the bearing holder 22 has an annular shape, and an enlarged diameter portion 22a is formed on the inner periphery on the rear side.
  • the enlarged diameter portion 22 a is also fitted to the outer periphery of the outer ring 25.
  • the bearing holder 22 is fixed to the rotating cylinder 21 by, for example, four bolts B1 (see FIG. 5).
  • the output plate 31 has an annular portion 31a and an overhanging portion 31b projecting from the annular portion 31a in the outer circumferential direction.
  • the annular portion 31a is fitted to the outer periphery of the rotating cylinder 21, and is interposed between the output shaft 11 and the flange 21a.
  • the flange 21a is fixed to the output shaft 11 by, for example, eight bolts B2 (see FIG. 4). Thereby, the output rotating body 20 is fixed to the front end portion of the output shaft 11. That is, the output rotating body 20 is provided at the front end portion of the output shaft 11.
  • the annular portion 31 a is sandwiched between the flange 21 a and the output shaft 11 and constitutes the output rotating body 20 together with the rotating cylinder 21 and the bearing holder 22.
  • the overhang part 31b functions as the output rocking body S1. That is, the actuator 1 includes an output rocking body S1.
  • the output rocking body S ⁇ b> 1 protrudes from the output rotating body 20 in the outer circumferential direction and rotates according to the rotation of the output rotating body 20.
  • the transmission block 32 is fixed to the rear surface side of the overhang portion 31b by, for example, two bolts B3, and constitutes the output rocking body S1 together with the overhang portion 31b.
  • the transmission block 32 has opposing surfaces 32e and 32f that intersect with each other in the circumferential direction around the rotation axis CL.
  • a concave portion 32a is formed in the central portion of the facing surface 32e.
  • a guide groove 32c orthogonal to the facing surface 32e is formed on the outer periphery of the recess 32a.
  • a recess 32b is formed at the center of the facing surface 32f.
  • a guide groove 32d orthogonal to the facing surface 32f is formed on the outer periphery of the recess 32b (see FIG. 5).
  • a load cell 33 is embedded in the bottom of the recess 32a. That is, the actuator 1 further includes a load cell 33.
  • the load cell 33 is a force sensor that detects a repulsive force (described later) of the coil spring 60, and includes a convex portion (first convex portion) 33a that receives a force to be measured.
  • the convex portion 33a is directed in the opening direction of the concave portion 32a and faces a mediating member 62 described later. That is, the load cell 33 is fixed to the transmission block 32 with the convex portion 33 a facing the mediating member 62.
  • a receiving plate 34 is embedded in the bottom of the recess 32b.
  • the receiving plate 34 has a convex portion 34a that faces the opening direction of the concave portion 32b.
  • the receiving plate 34 is made of, for example, a material that is superior in surface hardness compared to the transmission block 32.
  • the driven rotor 40 has a rear rotor 41 and a front rotor 42.
  • the rear rotating body 41 is inserted into the bearing 23 from the rear side, and is fitted to the inner periphery of the inner ring 24.
  • a positioning flange 41 a for the bearing 23 is provided on the outer periphery of the rear end portion of the rear rotating body 41.
  • the front rotating body 42 has a disk shape.
  • a convex portion 42 a is formed at the center of the rear surface of the front rotating body 42.
  • the convex portion 42 a is inserted into the bearing 23 from the front side and is fitted to the inner periphery of the inner ring 24.
  • a peripheral wall 42b surrounding the convex portion 42a is formed on the peripheral edge portion of the rear surface of the front rotating body 42.
  • the peripheral wall 42b has a C shape with a part in the circumferential direction cut away.
  • the front rotating body 42 is fastened to the rear rotating body 41 by, for example, three bolts B4 (see FIG. 4).
  • the rear rotating body 41 and the front rotating body 42 cooperate with each other to sandwich the inner ring 24 of the bearing 23.
  • the rear rotating body 41 and the front rotating body 42 that sandwich the inner ring 24 are rotatable about the rotation axis CL. That is, the driven rotator 40 is provided so as to be rotatable around the rotation axis CL.
  • the cover 43 has a disk shape and covers the front surface of the front rotating body 42.
  • the front side rotating body 42 may be provided with a plurality of openings 42d corresponding to the bolts B2 (see FIG. 4). By providing the opening 42d, the bolt B2 can be screwed through the opening 42d. For this reason, after connecting the output rotator 20 and the driven rotator 40 via the bearing 23, the output rotator 20 can be fixed to the output shaft 11.
  • the driven plate 50 includes an annular portion 50a and an overhanging portion 50b projecting from the annular portion 50a in the outer circumferential direction.
  • the annular portion 50a is disposed so as to surround the convex portion 42a, and is fixed to the rear surface side of the front rotating body 42 by, for example, eight bolts B5 (see FIG. 6).
  • the annular portion 50 a constitutes a driven rotator 40 together with the rear rotator 41, the front rotator 42 and the cover 43.
  • the overhang 50b protrudes to the outer peripheral side through the notch 42c of the peripheral wall 42b.
  • the overhanging portion 50b functions as the driven oscillating body S2. That is, the actuator 1 includes a driven rocking body S2.
  • the driven oscillating body S ⁇ b> 2 protrudes from the driven rotator 40 in the outer peripheral direction and rotates according to the rotation of the driven rotator 40.
  • the overhanging portion 50b has a fan shape that spreads away from the annular portion 50a.
  • Opposing portions 51 and 52 are formed on both edge portions that define the protruding portion 50b in the circumferential direction around the rotation axis CL. That is, the actuator 1 further includes opposing portions 51 and 52.
  • the first facing portion 51 projects backward from one edge of the overhang 50b, and the second facing portion 52 projects backward from the other edge of the overhang 50b.
  • the facing portion 51 faces the facing surface 32e of the transmission block 32.
  • the facing portion 52 faces the facing surface 32 f of the transmission block 32. That is, the opposed portions 51 and 52 are provided on the driven oscillating body S2 so as to sandwich the output oscillating body S1 in the circumferential direction.
  • a hole 51a for insertion of a compression bolt B9 (described later) is formed in the central portion of the facing portion 51.
  • a hole 52a for inserting a compression bolt B10 (described later) is formed at the center of the facing portion 52.
  • the coil spring (first elastic member) 60 is compressed along the facing direction between the facing portion 51 and the transmission block 32, and between the facing portion 51 and the transmission block 32 (the output rocking body S1 and the driven rocking body). (Between S2).
  • the coil spring 60 is compressed so as to generate a repulsive force in the extending direction even when the transmission block 32 (output rocking body S1) is closest to the facing portion 52 side.
  • One end portion of the coil spring 60 is in contact with the inner surface (surface on the transmission block 32 side) of the facing portion 51 in a state of being surrounded by the annular surrounding block 61.
  • the surrounding block 61 is fastened to the facing portion 51 by, for example, four bolts B6 (see FIG. 4).
  • One end of the coil spring 60 is held at the center of the inner surface of the facing portion 51 by the surrounding block 61.
  • the other end of the coil spring 60 enters the recess 32a and is held at the center of the facing surface 32e by the peripheral wall of the recess 32a.
  • a mediating member (first mediating member) 62 is disposed between the other end of the coil spring 60 and the bottom of the recess 32a.
  • the actuator 1 further includes a mediating member 62 interposed between the coil spring 60 and the output rocking body S1.
  • the medium member 62 includes a medium block 63, a receiving plate 64, and a pin 65.
  • the mediation block 63 includes a column body 63a, a flange 63b, and a female screw hole 63c.
  • the columnar body 63 a has a columnar shape, and one end portion thereof enters the coil spring 60.
  • the flange 63 b is provided on the outer periphery of the other end of the column body 63 a and is in contact with the other end of the coil spring 60.
  • the female screw hole 63c passes through the central portion of the column body 63a.
  • the receiving plate 64 is embedded in the center of the other end of the column 63a and closes the female screw hole 63c.
  • the receiving plate 64 has a convex portion 64a toward the bottom side of the concave portion 32a.
  • the end surface of the convex portion 64 a abuts on the convex portion 33 a of the load cell 33.
  • the pin 65 is inserted into the flange 63b from the outer peripheral side, and protrudes from the flange 63b in the outer peripheral direction.
  • the pin 65 enters the guide groove 32c. Thereby, the rotation of the mediating member 62 is restricted, and the mediating member 62 is guided along the direction orthogonal to the facing surface 32e.
  • the coil spring (second elastic member) 70 is compressed along the facing direction of the facing portion 52 and the transmission block 32, and between the facing portion 52 and the transmission block 32 (the output rocking body S1 and the driven rocking body). (Between S2). The coil spring 70 is compressed so as to generate a repulsive force in the extending direction even when the transmission block 32 (output rocking body S1) is closest to the facing portion 52 side.
  • One end of the coil spring 70 is in contact with the inner surface (the surface on the transmission block 32 side) of the facing portion 52 in a state of being surrounded by the annular surrounding block 71.
  • the surrounding block 71 is fastened to the facing portion 52 by, for example, four bolts B7 (see FIG. 4).
  • One end of the coil spring 70 is held at the center of the inner surface of the facing portion 52 by the surrounding block 71.
  • the other end of the coil spring 70 enters the recess 32b and is held at the center of the facing surface 32f by the peripheral wall of the recess 32b.
  • a mediating member (second mediating member) 72 is disposed between the other end of the coil spring 70 and the bottom of the recess 32b.
  • the actuator 1 further includes a mediating member 72 interposed between the coil spring 70 and the output rocking body S1.
  • the medium member 72 includes a medium block 73, a ball 74, a lid 75, and a pin 76.
  • the mediation block 73 includes a column body 73a, a flange 73b, and a female screw hole 73c.
  • the columnar body 73 a has a columnar shape, and one end portion thereof enters the coil spring 70.
  • the flange 73 b is provided on the outer periphery of the other end portion of the column body 73 a and is in contact with the other end portion of the coil spring 70.
  • the female screw hole 73c penetrates the central portion of the column body 73a.
  • the ball 74 is embedded in the center of the other end of the column 73a and closes the female screw hole 73c.
  • the lid 75 is fixed to the other end portion of the column body 73a, and holds the ball 74 in the other end portion of the column body 73a.
  • the lid 75 has an annular shape, and a part 74 a of the ball 74 projects through the lid 75 to the outside of the column body 73 a. That is, the mediating member 72 has a convex portion (second convex portion) 74a that faces the output rocking body S1.
  • the convex part 74a contacts the end surface of the convex part 34a.
  • the pin 76 is inserted into the flange 73b from the outer peripheral side, and protrudes from the flange 73b in the outer peripheral direction.
  • the pin 76 enters the guide groove 32d. Thereby, the rotation of the mediating member 72 is restricted, and the mediating member 72 is guided along the direction orthogonal to the facing surface 32f.
  • a reinforcing plate 80 is bridged between the surrounding block 61 and the surrounding block 71.
  • the reinforcing plate 80 is fastened to the surrounding block 61 and the surrounding block 71 by, for example, four bolts B8 (see FIG. 4).
  • the facing portion 51 and the facing portion 52 are reinforced by the reinforcing plate 80. Specifically, the separation between the facing portion 51 and the facing portion 52 due to the repulsive force of the coil springs 60 and 70 is suppressed.
  • the relative positions of the oscillating bodies S1 and S2 are determined by the antagonistic action between the coil springs 60 and 70 in an unloaded state.
  • the oscillating bodies S1 and S2 are relatively displaced, a difference occurs in the repulsive force of the coil springs 60 and 70, so that power is transmitted between the oscillating bodies S1 and S2.
  • the coil springs 60 and 70 transmit power between the output rocking body S1 and the driven rocking body S2 by a repulsive force accompanying elastic deformation. Thereby, torque is transmitted between the output rotator 20 and the driven rotator 40.
  • the output rocking body S 1, the driven rocking body S 2, and the coil springs 60 and 70 constitute an elastic transmission element that transmits torque between the output rotating body 20 and the driven rotating body 40.
  • This elastic transmission element is disposed on the outer peripheral side of the output rotator 20 and the driven rotator 40. Therefore, no elastic transmission element is interposed between the output rotating body 20 and the driven rotating body 40 in the direction along the rotation axis CL. Therefore, the length in the direction along the rotation axis CL can be shortened.
  • the rigidity of the actuator 1 can be adjusted in a wide range. It is also possible to increase the strength and durability of the elastic transmission element.
  • Actuator 1 includes opposing portions 51 and 52 and coil springs 60 and 70.
  • the coil spring 60 is disposed between the facing portion 51 and the output rocking body S1
  • the coil spring 70 is disposed between the facing portion 52 and the output rocking body S1.
  • the opposed portions 51 and 52 sandwich the output rocking body S1
  • the displacement of the output rocking body S1 with respect to the driven rocking body S2 is limited between the facing portions 51 and 52. Therefore, relative displacement between the output rocking body S1 and the driven rocking body S2 can be restricted while the coil springs 60 and 70 are interposed between the output rocking body S1 and the driven rocking body S2. Accordingly, it is possible to ensure the linkage between the output rotating body 20 and the driven rotating body 40.
  • the actuator 1 includes a load cell 33 that detects the repulsive force of the coil spring 60. Therefore, torque transmitted between the output rotating body 20 and the driven rotating body 40 (hereinafter referred to as “transmission torque”) can be estimated based on the repulsive force of the coil spring 60. The estimated value of the transmission torque can be used for follow-up control that moves the output rotating body 20 in accordance with an external force. In addition, since only the repulsive force of the coil spring 60 is detected by the sensor, a simple load cell 33 for a single axial force can be used. This contributes to further downsizing of the actuator 1.
  • the actuator 1 includes mediating members 62 and 72 interposed between the coil springs 60 and 70 and the output rocking body S1, respectively.
  • the load cell 33 has a convex portion 33a, and is fixed to the output rocking body S1 with the convex portion 33a facing the mediating member 62.
  • the intermediate member 72 has a convex portion 74a that faces the output rocking body S1. With this configuration, the convex portion 33a contacts the mediating member 62, so that the repulsive force of the coil spring 60 is concentrated on the convex portion 33a. Since the convex portion 74a contacts the output rocking body S1, the repulsive force of the coil spring 70 is concentrated on the convex portion 74a.
  • a concave portion 34b that receives the convex portion 74a may be formed at the center of the end face of the convex portion 34a.
  • the contact position of the convex portion 74a with respect to the output oscillator S1 is further stabilized. For this reason, the position where the repulsive force acts on the output rocking body S1 from the coil spring 70 is further stabilized. Therefore, it is possible to further improve the estimation accuracy of the transmission torque.
  • the coil spring 60 is compressed so as to generate a repulsive force in the extending direction even when the output rocking body S1 is closest to the facing portion 52.
  • the coil spring 70 is compressed so as to generate a repulsive force in the extending direction even when the output rocking body S1 is closest to the facing portion 51. For this reason, the coil springs 60 and 70 always generate a repulsive force in the extending direction. As a result, the relationship between the repulsive force of the coil spring 60 and the transmission torque can be simplified, and the calculation for estimating the transmission torque can be simplified.
  • Bolt insertion holes 51a and 52a are formed in the facing portions 51 and 52, respectively.
  • Female threaded holes 63c and 73c are formed in the mediating members 62 and 72, respectively.
  • the compression bolt B ⁇ b> 9 can be passed through the hole 51 a of the facing portion 51 from the opposite side of the output rocking body S ⁇ b> 1, and the tip portion can be screwed into the female screw hole 63 c of the mediating member 62.
  • the compression bolt B10 can be passed through the hole 52a of the facing portion 52 from the opposite side of the output rocking body S1, and the tip portion can be screwed into the female screw hole 73c of the mediating member 72.
  • the mediating members 62 and 72 By screwing the compression bolts B9 and B10, the mediating members 62 and 72 can be brought close to the facing portions 51 and 52, respectively, and the coil springs 60 and 70 can be compressed. For this reason, for example, when the driven oscillating body S2 is assembled to the output oscillating body S1, the output springs S1 are compressed between the mediating members 62 and 72 by compressing the coil springs 60 and 70 toward the opposing portions 51 and 52, respectively. Easy to install. Therefore, the assembling property of the actuator 1 is improved.
  • the coil springs 60 and 70 may be arranged so that the following conditions are satisfied.
  • the virtual plane P1 including the rotation axis CL perpendicular to the compression direction of the coil spring 60 passes through the intermediate portion of the coil spring 60 in the compression direction. That is, the coil spring 60 is disposed so that the virtual plane P1 passes through the intermediate portion.
  • a virtual plane P2 including the rotation axis CL perpendicular to the compression direction of the coil spring 70 passes through an intermediate portion of the coil spring 70 in the compression direction. That is, the coil spring 70 is disposed so that the virtual plane P2 passes through the intermediate portion.
  • the intermediate portion includes the intermediate position and its vicinity.
  • the actuator 1 can be applied to an assist device or a robot, for example.
  • the assist device 100 shown in FIG. 9 is a device that assists the muscle strength of the user's lower limbs using the actuator 1 as a power source.
  • the assist device 100 includes assist members 110 and 120.
  • the assist member 110 is mounted on the user's thigh L1 by the mounting belt 111.
  • the assist member 120 is mounted on the user's shin L2 by the mounting belt 121.
  • the actuator 1 is interposed between the assist members 110 and 120.
  • a flange 12 of the actuator body 10 is attached to the assist member 110.
  • a driven plate 50 is attached to the assist member 120. That is, in the example shown in FIG. 9, the actuator body 10 has a mounting portion for the assist member 110, and the driven oscillator S ⁇ b> 2 has a mounting portion for the assist member 120.
  • the transmission block 32 may be provided on the driven plate 50 side, and the facing portions 51 and 52 may be provided on the output plate 31 side.
  • the facing portions 51 and 52 are provided on the other oscillating body of the output oscillating body S1 and the driven oscillating body S2 so as to sandwich one oscillating body of the output oscillating body S1 and the driven oscillating body S2 in the circumferential direction. It only has to be.
  • the load cell 33 may be disposed on the intermediate block 63 side, and the receiving plate 64 may be disposed on the transmission block 32 side. In other words, the load cell 33 may be provided so as to measure the repulsive force of at least one of the coil spring 60 and the intermediate member 62.
  • the receiving plate 34 may be disposed on the medium member 72 side, and the convex portion 74a may be provided on the transmission block 32 side. That is, the output rocking body S1 may have a convex portion 74a that faces the mediating member 72.
  • the intermediate member 62 and the load cell 33 may be disposed on the coil spring 70 side, and the intermediate member 72 and the receiving plate 34 may be disposed on the coil spring 60 side.
  • the present invention can be used for an actuator.

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  • Health & Medical Sciences (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
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  • Rehabilitation Tools (AREA)

Abstract

An actuator (1) is provided with: a rotating-type actuator main body (10) having an output shaft (11); an output rotator (20) that is provided at an end portion of the output shaft (11); a driven rotator (40) that is provided such that the driven rotator can rotate about a rotation axis line (CL) of the output rotator (20); an output swinger (S1), which is protruding in the outer circumferential direction from the output rotator (20), and which rotates corresponding to rotation of the output rotator (20); a driven swinger (S2), which is protruding in the outer circumferential direction from the driven rotator (40), and which rotates corresponding to rotation of the driven rotator (40); and coil springs (60, 70), which are provided between the output swinger (S1) and the driven swinger (S2), and which transmit power between the output swinger (S1) and the driven swinger (S2) by means of a repulsive force generated due to elastic deformation.

Description

アクチュエータ及びアシスト装置Actuator and assist device
　本開示は、アクチュエータ及びアシスト装置に関する。 This disclosure relates to an actuator and an assist device.
　例えば、人と同じ空間で作業をするロボット、又は人の筋力を補助するアシスト装置等においては、柔軟性を有するアクチュエータが求められる場合がある。特許文献１には、出力軸と、作用軸と、出力軸及び作用軸の間に介在する弾性要素とを備えるアクチュエータが開示されている。 For example, in a robot that works in the same space as a person or an assist device that assists a person's muscle strength, a flexible actuator may be required. Patent Document 1 discloses an actuator including an output shaft, a working shaft, and an elastic element interposed between the output shaft and the working shaft.
特許第２５８０５０２号Japanese Patent No. 2580502
　周囲への引っ掛かり防止、外観の威圧感の軽減又は運搬の際の容易さ等の観点から、ロボット又はアシスト装置等におけるアクチュエータの出っ張りは小さいことが望ましい。この出っ張りを小さくするには、回転軸線に沿う方向におけるアクチュエータの長さを短縮する必要がある。しかしながら、上記アクチュエータでは、負荷とモータとの間にバネが介在するので、回転軸に沿う方向の長さは長くなる傾向がある。 From the standpoints of preventing catching around, reducing the appearance of intimidation, and ease of transportation, it is desirable that the protrusion of the actuator in the robot or assist device is small. In order to reduce this protrusion, it is necessary to shorten the length of the actuator in the direction along the rotation axis. However, in the above actuator, since a spring is interposed between the load and the motor, the length along the rotation axis tends to be long.
　そこで本開示は、回転軸線に沿う方向の長さを短縮できるアクチュエータ及びこれを用いたアシスト装置を提供することを目的とする。 Therefore, an object of the present disclosure is to provide an actuator capable of shortening the length in the direction along the rotation axis and an assist device using the actuator.
　本開示に係るアクチュエータは、出力軸を有する回転型のアクチュエータ本体と、出力軸の端部に設けられた出力回転体と、出力回転体の回転軸線まわりに回転自在となるように設けられた従動回転体と、出力回転体から外周方向に突出し、出力回転体の回転に応じて回転する出力揺動体と、従動回転体から外周方向に突出し、従動回転体の回転に応じて回転する従動揺動体と、出力揺動体と従動揺動体との間に介在し、弾性変形に伴う反発力により出力揺動体と従動揺動体との間で動力を伝達する弾性部材と、を備える。 An actuator according to the present disclosure includes a rotary actuator body having an output shaft, an output rotator provided at an end of the output shaft, and a follower provided so as to be rotatable about the rotation axis of the output rotator. A rotating body, an output rocking body that protrudes from the output rotating body in the outer circumferential direction and rotates according to the rotation of the output rotating body, and a driven rocking body that projects from the driven rotating body in the outer circumferential direction and rotates according to the rotation of the driven rotating body And an elastic member that is interposed between the output rocking body and the driven rocking body and that transmits power between the output rocking body and the driven rocking body by a repulsive force accompanying elastic deformation.
　本開示に係るアシスト装置は、上記アクチュエータを動力源として、使用者の筋力をアシストする。 The assist device according to the present disclosure assists the user's muscle strength using the actuator as a power source.
　本開示によれば、回転軸線に沿う方向の長さを短縮できるアクチュエータ及びこれを用いたアシスト装置を提供できる。 According to the present disclosure, it is possible to provide an actuator capable of reducing the length in the direction along the rotation axis and an assist device using the actuator.
アクチュエータの全体構成を示す斜視図である。It is a perspective view which shows the whole structure of an actuator. 図１中のＩＩ－ＩＩ線に沿う断面図である。FIG. 2 is a cross-sectional view taken along line II-II in FIG. 図１中のＩＩＩ－ＩＩＩ線に沿う断面図である。FIG. 3 is a cross-sectional view taken along line III-III in FIG. アクチュエータの分解斜視図である。It is a disassembled perspective view of an actuator. 出力回転体及び出力揺動体の分解斜視図である。It is a disassembled perspective view of an output rotary body and an output rocking body. 従動回転体及び従動揺動体の分解斜視図である。It is a disassembled perspective view of a driven rotary body and a driven rocking body. 受け板の変形例を示す拡大断面図である。It is an expanded sectional view which shows the modification of a receiving plate. 図３中の弾性部材を圧縮した状態を示す断面図である。It is sectional drawing which shows the state which compressed the elastic member in FIG. アシスト機器の概略構成を示す模式図である。It is a schematic diagram which shows schematic structure of an assist apparatus.
　以下、実施形態について、図面を参照しつつ詳細に説明する。説明において、同一要素又は同一機能を有する要素には同一の符号を付し、重複する説明を省略する。 Hereinafter, embodiments will be described in detail with reference to the drawings. In the description, the same elements or elements having the same functions are denoted by the same reference numerals, and redundant description is omitted.
　図１～図３に示すように、アクチュエータ１は、アクチュエータ本体１０と、出力回転体２０と、出力板３１と、伝達ブロック３２と、従動回転体４０と、従動板５０と、コイルバネ６０，７０とを備える。 As shown in FIGS. 1 to 3, the actuator 1 includes an actuator body 10, an output rotating body 20, an output plate 31, a transmission block 32, a driven rotating body 40, a driven plate 50, and coil springs 60 and 70. With.
　アクチュエータ本体１０は例えば回転型の電動モータであり、回転軸線ＣＬを中心に回転する出力軸１１を有する。出力軸１１は、回転軸線ＣＬに直交する端面１１ａを有し、端面１１ａには位置決め用の凹部１１ｂが形成されている。アクチュエータ本体１０の外周には、フランジ１２が形成されている。後述するように、フランジ１２は、アシスト装置の一部材に対する装着部として機能する。以下、各要素の説明における「前後」は、端面１１ａが面する方向を前方とした方向を意味する。 The actuator body 10 is, for example, a rotary electric motor, and has an output shaft 11 that rotates about a rotation axis CL. The output shaft 11 has an end surface 11a orthogonal to the rotation axis CL, and a positioning recess 11b is formed on the end surface 11a. A flange 12 is formed on the outer periphery of the actuator body 10. As will be described later, the flange 12 functions as a mounting portion for one member of the assist device. Hereinafter, “front and rear” in the description of each element means a direction in which the direction in which the end surface 11a faces is the front.
　出力回転体２０は、回転筒２１と軸受ホルダー２２とを有する。回転筒２１の後側端部は凹部１１ｂに嵌合する。回転筒２１の前側端部の外周には、フランジ２１ａが形成されている。回転筒２１の前側端部の内周には拡径部２１ｂが形成されている。拡径部２１ｂには軸受２３が収容される。軸受２３は、例えばボールベアリングであり、内輪２４及び外輪２５と、これらの間に介在する複数のボール２６とを有する。拡径部２１ｂは、外輪２５の外周に嵌合する。 The output rotating body 20 includes a rotating cylinder 21 and a bearing holder 22. The rear end of the rotating cylinder 21 is fitted in the recess 11b. A flange 21 a is formed on the outer periphery of the front end portion of the rotating cylinder 21. An enlarged diameter portion 21 b is formed on the inner periphery of the front end portion of the rotating cylinder 21. A bearing 23 is accommodated in the enlarged diameter portion 21b. The bearing 23 is a ball bearing, for example, and includes an inner ring 24 and an outer ring 25 and a plurality of balls 26 interposed therebetween. The enlarged diameter portion 21 b is fitted to the outer periphery of the outer ring 25.
　軸受ホルダー２２は、前側から回転筒２１に装着され、軸受２３を回転筒２１内に保持する。軸受ホルダー２２は円環状を呈し、その後側の内周には拡径部２２ａが形成されている。拡径部２２ａも外輪２５の外周に嵌合する。軸受ホルダー２２は、例えば４本のボルトＢ１により回転筒２１に固定されている（図５参照）。 The bearing holder 22 is mounted on the rotary cylinder 21 from the front side, and holds the bearing 23 in the rotary cylinder 21. The bearing holder 22 has an annular shape, and an enlarged diameter portion 22a is formed on the inner periphery on the rear side. The enlarged diameter portion 22 a is also fitted to the outer periphery of the outer ring 25. The bearing holder 22 is fixed to the rotating cylinder 21 by, for example, four bolts B1 (see FIG. 5).
　出力板３１は、円環部３１ａと、円環部３１ａから外周方向に張り出した張出部３１ｂとを有する。円環部３１ａは、回転筒２１の外周に嵌合し、出力軸１１とフランジ２１ａとの間に介在する。 The output plate 31 has an annular portion 31a and an overhanging portion 31b projecting from the annular portion 31a in the outer circumferential direction. The annular portion 31a is fitted to the outer periphery of the rotating cylinder 21, and is interposed between the output shaft 11 and the flange 21a.
　フランジ２１ａは、例えば８本のボルトＢ２により出力軸１１に固定されている（図４参照）。これにより、出力回転体２０が出力軸１１の前側端部に固定されている。すなわち、出力回転体２０は出力軸１１の前側端部に設けられている。円環部３１ａは、フランジ２１ａと出力軸１１とにより挟持され、回転筒２１及び軸受ホルダー２２と共に出力回転体２０を構成する。 The flange 21a is fixed to the output shaft 11 by, for example, eight bolts B2 (see FIG. 4). Thereby, the output rotating body 20 is fixed to the front end portion of the output shaft 11. That is, the output rotating body 20 is provided at the front end portion of the output shaft 11. The annular portion 31 a is sandwiched between the flange 21 a and the output shaft 11 and constitutes the output rotating body 20 together with the rotating cylinder 21 and the bearing holder 22.
　張出部３１ｂは、出力揺動体Ｓ１として機能する。すなわち、アクチュエータ１は出力揺動体Ｓ１を備える。出力揺動体Ｓ１は、出力回転体２０から外周方向に突出し、出力回転体２０の回転に応じて回転する。 The overhang part 31b functions as the output rocking body S1. That is, the actuator 1 includes an output rocking body S1. The output rocking body S <b> 1 protrudes from the output rotating body 20 in the outer circumferential direction and rotates according to the rotation of the output rotating body 20.
　伝達ブロック３２は、例えば２本のボルトＢ３により張出部３１ｂの後面側に固定され、張出部３１ｂと共に出力揺動体Ｓ１を構成する。伝達ブロック３２は、回転軸線ＣＬまわりの円周方向にそれぞれ交差する対向面３２ｅ，３２ｆを有する。対向面３２ｅの中央部には凹部３２ａが形成されている。凹部３２ａの外周には、対向面３２ｅに直交するガイド溝３２ｃが形成されている。対向面３２ｆの中央部には凹部３２ｂが形成されている。凹部３２ｂの外周には、対向面３２ｆに直交するガイド溝３２ｄが形成されている（図５参照）。 The transmission block 32 is fixed to the rear surface side of the overhang portion 31b by, for example, two bolts B3, and constitutes the output rocking body S1 together with the overhang portion 31b. The transmission block 32 has opposing surfaces 32e and 32f that intersect with each other in the circumferential direction around the rotation axis CL. A concave portion 32a is formed in the central portion of the facing surface 32e. A guide groove 32c orthogonal to the facing surface 32e is formed on the outer periphery of the recess 32a. A recess 32b is formed at the center of the facing surface 32f. A guide groove 32d orthogonal to the facing surface 32f is formed on the outer periphery of the recess 32b (see FIG. 5).
　凹部３２ａの底部には、ロードセル３３が埋設されている。すなわち、アクチュエータ１はロードセル３３を更に備える。ロードセル３３は、コイルバネ６０の反発力（後述）を検出する力センサであり、測定対象の力を受ける凸部（第１の凸部）３３ａを有する。凸部３３ａは、凹部３２ａの開口方向に向けられており、後述の媒介部材６２に対向する。すなわちロードセル３３は、凸部３３ａを媒介部材６２に向けた状態で伝達ブロック３２に固定されている。 A load cell 33 is embedded in the bottom of the recess 32a. That is, the actuator 1 further includes a load cell 33. The load cell 33 is a force sensor that detects a repulsive force (described later) of the coil spring 60, and includes a convex portion (first convex portion) 33a that receives a force to be measured. The convex portion 33a is directed in the opening direction of the concave portion 32a and faces a mediating member 62 described later. That is, the load cell 33 is fixed to the transmission block 32 with the convex portion 33 a facing the mediating member 62.
　凹部３２ｂの底部には、受け板３４が埋設されている。受け板３４は、凹部３２ｂの開口方向に向かう凸部３４ａを有する。受け板３４は、例えば、伝達ブロック３２に比べ表面硬さに優れる材料により構成されている。 A receiving plate 34 is embedded in the bottom of the recess 32b. The receiving plate 34 has a convex portion 34a that faces the opening direction of the concave portion 32b. The receiving plate 34 is made of, for example, a material that is superior in surface hardness compared to the transmission block 32.
　従動回転体４０は、後側回転体４１と前側回転体４２とを有する。後側回転体４１は、後側から軸受２３内に挿入されており、内輪２４の内周に嵌合している。後側回転体４１の後側端部の外周には、軸受２３に対する位置決め用のフランジ４１ａが設けられている。 The driven rotor 40 has a rear rotor 41 and a front rotor 42. The rear rotating body 41 is inserted into the bearing 23 from the rear side, and is fitted to the inner periphery of the inner ring 24. A positioning flange 41 a for the bearing 23 is provided on the outer periphery of the rear end portion of the rear rotating body 41.
　前側回転体４２は円板状を呈する。前側回転体４２の後面の中央部には凸部４２ａが形成されている。凸部４２ａは、前側から軸受２３内に挿入されており、内輪２４の内周に嵌合している。前側回転体４２の後面の周縁部には、凸部４２ａを囲む周壁４２ｂが形成されている。周壁４２ｂは、周方向の一部が切り欠かれたＣ字状を呈している。 The front rotating body 42 has a disk shape. A convex portion 42 a is formed at the center of the rear surface of the front rotating body 42. The convex portion 42 a is inserted into the bearing 23 from the front side and is fitted to the inner periphery of the inner ring 24. A peripheral wall 42b surrounding the convex portion 42a is formed on the peripheral edge portion of the rear surface of the front rotating body 42. The peripheral wall 42b has a C shape with a part in the circumferential direction cut away.
　前側回転体４２は、例えば３本のボルトＢ４により、後側回転体４１に締結されている（図４参照）。後側回転体４１及び前側回転体４２は、互いに協働して軸受２３の内輪２４を挟持する。内輪２４を挟持した後側回転体４１及び前側回転体４２は、回転軸線ＣＬまわりに回転自在となる。すなわち、従動回転体４０は、回転軸線ＣＬまわりに回転自在となるように設けられている。カバー４３は円板状を呈し、前側回転体４２の前面を覆う。 The front rotating body 42 is fastened to the rear rotating body 41 by, for example, three bolts B4 (see FIG. 4). The rear rotating body 41 and the front rotating body 42 cooperate with each other to sandwich the inner ring 24 of the bearing 23. The rear rotating body 41 and the front rotating body 42 that sandwich the inner ring 24 are rotatable about the rotation axis CL. That is, the driven rotator 40 is provided so as to be rotatable around the rotation axis CL. The cover 43 has a disk shape and covers the front surface of the front rotating body 42.
　前側回転体４２には、上記ボルトＢ２に対応する複数の開口４２ｄが設けられていてもよい（図４参照）。開口４２ｄを設けることにより、開口４２ｄを介したボルトＢ２のねじ込みが可能となる。このため、軸受２３を介して出力回転体２０と従動回転体４０とを連結した後に、出力回転体２０を出力軸１１に固定することが可能となる。 The front side rotating body 42 may be provided with a plurality of openings 42d corresponding to the bolts B2 (see FIG. 4). By providing the opening 42d, the bolt B2 can be screwed through the opening 42d. For this reason, after connecting the output rotator 20 and the driven rotator 40 via the bearing 23, the output rotator 20 can be fixed to the output shaft 11.
　従動板５０は、円環部５０ａと、円環部５０ａから外周方向に張り出した張出部５０ｂとを有する。円環部５０ａは、凸部４２ａを囲むように配置され、例えば８本のボルトＢ５により、前側回転体４２の後面側に固定される（図６参照）。円環部５０ａは、後側回転体４１、前側回転体４２及びカバー４３と共に従動回転体４０を構成する。張出部５０ｂは、周壁４２ｂの切欠き４２ｃを通って外周側に突出する。張出部５０ｂは、従動揺動体Ｓ２として機能する。すなわち、アクチュエータ１は従動揺動体Ｓ２を備える。従動揺動体Ｓ２は、従動回転体４０から外周方向に突出し、従動回転体４０の回転に応じて回転する。 The driven plate 50 includes an annular portion 50a and an overhanging portion 50b projecting from the annular portion 50a in the outer circumferential direction. The annular portion 50a is disposed so as to surround the convex portion 42a, and is fixed to the rear surface side of the front rotating body 42 by, for example, eight bolts B5 (see FIG. 6). The annular portion 50 a constitutes a driven rotator 40 together with the rear rotator 41, the front rotator 42 and the cover 43. The overhang 50b protrudes to the outer peripheral side through the notch 42c of the peripheral wall 42b. The overhanging portion 50b functions as the driven oscillating body S2. That is, the actuator 1 includes a driven rocking body S2. The driven oscillating body S <b> 2 protrudes from the driven rotator 40 in the outer peripheral direction and rotates according to the rotation of the driven rotator 40.
　張出部５０ｂは、円環部５０ａから遠ざかるに従って広がった扇形を呈する。回転軸線ＣＬまわりの円周方向において張出部５０ｂを画す両縁部には、対向部５１，５２がそれぞれ形成されている。即ち、アクチュエータ１は、対向部５１，５２を更に備える。第１の対向部５１は、張出部５０ｂの一方の縁部から後方に張り出し、第２の対向部５２は、張出部５０ｂの他方の縁部から後方に張り出している。対向部５１は、伝達ブロック３２の対向面３２ｅに対向する。対向部５２は、伝達ブロック３２の対向面３２ｆに対向する。すなわち、対向部５１，５２は、出力揺動体Ｓ１を円周方向で挟むように、従動揺動体Ｓ２に設けられている。 The overhanging portion 50b has a fan shape that spreads away from the annular portion 50a. Opposing portions 51 and 52 are formed on both edge portions that define the protruding portion 50b in the circumferential direction around the rotation axis CL. That is, the actuator 1 further includes opposing portions 51 and 52. The first facing portion 51 projects backward from one edge of the overhang 50b, and the second facing portion 52 projects backward from the other edge of the overhang 50b. The facing portion 51 faces the facing surface 32e of the transmission block 32. The facing portion 52 faces the facing surface 32 f of the transmission block 32. That is, the opposed portions 51 and 52 are provided on the driven oscillating body S2 so as to sandwich the output oscillating body S1 in the circumferential direction.
　対向部５１の中央部には、圧縮ボルトＢ９（後述）の挿通用の孔５１ａが形成されている。対向部５２の中央部には、圧縮ボルトＢ１０（後述）の挿通用の孔５２ａが形成されている。 A hole 51a for insertion of a compression bolt B9 (described later) is formed in the central portion of the facing portion 51. A hole 52a for inserting a compression bolt B10 (described later) is formed at the center of the facing portion 52.
　コイルバネ（第１の弾性部材）６０は、対向部５１と伝達ブロック３２との対向方向に沿って圧縮された状態で、対向部５１と伝達ブロック３２との間（出力揺動体Ｓ１と従動揺動体Ｓ２との間）に配置されている。コイルバネ６０は、伝達ブロック３２（出力揺動体Ｓ１）が最も対向部５２側に近付いた状態においても伸長方向に反発力を生じるように圧縮されている。 The coil spring (first elastic member) 60 is compressed along the facing direction between the facing portion 51 and the transmission block 32, and between the facing portion 51 and the transmission block 32 (the output rocking body S1 and the driven rocking body). (Between S2). The coil spring 60 is compressed so as to generate a repulsive force in the extending direction even when the transmission block 32 (output rocking body S1) is closest to the facing portion 52 side.
　コイルバネ６０の一端部は、環状の包囲ブロック６１により包囲された状態で、対向部５１の内面（伝達ブロック３２側の面）に当接している。包囲ブロック６１は、例えば４本のボルトＢ６により対向部５１に締結されている（図４参照）。コイルバネ６０の一端部は、包囲ブロック６１によって対向部５１の内面の中央部に保持される。 One end portion of the coil spring 60 is in contact with the inner surface (surface on the transmission block 32 side) of the facing portion 51 in a state of being surrounded by the annular surrounding block 61. The surrounding block 61 is fastened to the facing portion 51 by, for example, four bolts B6 (see FIG. 4). One end of the coil spring 60 is held at the center of the inner surface of the facing portion 51 by the surrounding block 61.
　コイルバネ６０の他端部は、凹部３２ａ内に入り込んでおり、凹部３２ａの周壁によって対向面３２ｅの中央部に保持される。凹部３２ａ内において、コイルバネ６０の他端部と凹部３２ａの底部との間には媒介部材（第１の媒介部材）６２が配置されている。すなわち、アクチュエータ１は、コイルバネ６０と出力揺動体Ｓ１との間に介在する媒介部材６２を更に備えている。 The other end of the coil spring 60 enters the recess 32a and is held at the center of the facing surface 32e by the peripheral wall of the recess 32a. In the recess 32a, a mediating member (first mediating member) 62 is disposed between the other end of the coil spring 60 and the bottom of the recess 32a. In other words, the actuator 1 further includes a mediating member 62 interposed between the coil spring 60 and the output rocking body S1.
　媒介部材６２は、媒介ブロック６３と、受け板６４と、ピン６５とを有する。媒介ブロック６３は、柱体６３ａと、フランジ６３ｂと、雌ねじ孔６３ｃとを有する。柱体６３ａは円柱状を呈し、その一端部はコイルバネ６０内に入り込んでいる。フランジ６３ｂは、柱体６３ａの他端部の外周に設けられ、コイルバネ６０の他端部に当接している。雌ねじ孔６３ｃは、柱体６３ａの中心部を貫通している。 The medium member 62 includes a medium block 63, a receiving plate 64, and a pin 65. The mediation block 63 includes a column body 63a, a flange 63b, and a female screw hole 63c. The columnar body 63 a has a columnar shape, and one end portion thereof enters the coil spring 60. The flange 63 b is provided on the outer periphery of the other end of the column body 63 a and is in contact with the other end of the coil spring 60. The female screw hole 63c passes through the central portion of the column body 63a.
　受け板６４は、柱体６３ａの他端部の中央に埋設されており、雌ねじ孔６３ｃを塞いでいる。受け板６４は、凹部３２ａの底部側に向かう凸部６４ａを有する。凸部６４ａの端面はロードセル３３の凸部３３ａに当接する。 The receiving plate 64 is embedded in the center of the other end of the column 63a and closes the female screw hole 63c. The receiving plate 64 has a convex portion 64a toward the bottom side of the concave portion 32a. The end surface of the convex portion 64 a abuts on the convex portion 33 a of the load cell 33.
　ピン６５は、外周側からフランジ６３ｂに挿入されており、フランジ６３ｂから外周方向に突出している。ピン６５は上記ガイド溝３２ｃ内に入り込む。これにより、媒介部材６２の回転が規制されると共に、対向面３２ｅに直交する方向に沿って媒介部材６２が案内される。 The pin 65 is inserted into the flange 63b from the outer peripheral side, and protrudes from the flange 63b in the outer peripheral direction. The pin 65 enters the guide groove 32c. Thereby, the rotation of the mediating member 62 is restricted, and the mediating member 62 is guided along the direction orthogonal to the facing surface 32e.
　コイルバネ（第２の弾性部材）７０は、対向部５２と伝達ブロック３２との対向方向に沿って圧縮された状態で、対向部５２と伝達ブロック３２との間（出力揺動体Ｓ１と従動揺動体Ｓ２との間）に配置されている。コイルバネ７０は、伝達ブロック３２（出力揺動体Ｓ１）が最も対向部５２側に近付いた状態においても伸長方向に反発力を生じるように圧縮されている。 The coil spring (second elastic member) 70 is compressed along the facing direction of the facing portion 52 and the transmission block 32, and between the facing portion 52 and the transmission block 32 (the output rocking body S1 and the driven rocking body). (Between S2). The coil spring 70 is compressed so as to generate a repulsive force in the extending direction even when the transmission block 32 (output rocking body S1) is closest to the facing portion 52 side.
　コイルバネ７０の一端部は、環状の包囲ブロック７１により包囲された状態で、対向部５２の内面（伝達ブロック３２側の面）に当接している。包囲ブロック７１は、例えば４本のボルトＢ７により対向部５２に締結されている（図４参照）。コイルバネ７０の一端部は、包囲ブロック７１によって対向部５２の内面の中央部に保持される。 One end of the coil spring 70 is in contact with the inner surface (the surface on the transmission block 32 side) of the facing portion 52 in a state of being surrounded by the annular surrounding block 71. The surrounding block 71 is fastened to the facing portion 52 by, for example, four bolts B7 (see FIG. 4). One end of the coil spring 70 is held at the center of the inner surface of the facing portion 52 by the surrounding block 71.
　コイルバネ７０の他端部は、凹部３２ｂ内に入り込んでおり、凹部３２ｂの周壁によって対向面３２ｆの中央部に保持される。凹部３２ｂ内において、コイルバネ７０の他端部と凹部３２ｂの底部との間には媒介部材（第２の媒介部材）７２が配置されている。すなわち、アクチュエータ１は、コイルバネ７０と出力揺動体Ｓ１との間に介在する媒介部材７２を更に備えている。 The other end of the coil spring 70 enters the recess 32b and is held at the center of the facing surface 32f by the peripheral wall of the recess 32b. In the recess 32b, a mediating member (second mediating member) 72 is disposed between the other end of the coil spring 70 and the bottom of the recess 32b. In other words, the actuator 1 further includes a mediating member 72 interposed between the coil spring 70 and the output rocking body S1.
　媒介部材７２は、媒介ブロック７３と、ボール７４と、蓋７５と、ピン７６とを有する。媒介ブロック７３は、柱体７３ａと、フランジ７３ｂと、雌ねじ孔７３ｃとを有する。柱体７３ａは円柱状を呈し、その一端部はコイルバネ７０内に入り込んでいる。フランジ７３ｂは、柱体７３ａの他端部の外周に設けられ、コイルバネ７０の他端部に当接している。雌ねじ孔７３ｃは、柱体７３ａの中心部を貫通している。 The medium member 72 includes a medium block 73, a ball 74, a lid 75, and a pin 76. The mediation block 73 includes a column body 73a, a flange 73b, and a female screw hole 73c. The columnar body 73 a has a columnar shape, and one end portion thereof enters the coil spring 70. The flange 73 b is provided on the outer periphery of the other end portion of the column body 73 a and is in contact with the other end portion of the coil spring 70. The female screw hole 73c penetrates the central portion of the column body 73a.
　ボール７４は、柱体７３ａの他端部の中央に埋設されており、雌ねじ孔７３ｃを塞いでいる。蓋７５は柱体７３ａの他端部に固定され、ボール７４を柱体７３ａの他端部内に保持する。蓋７５は環状を呈しており、ボール７４の一部７４ａは、蓋７５を通って柱体７３ａの外側に突出している。すなわち、媒介部材７２は、出力揺動体Ｓ１に向かう凸部（第２の凸部）７４ａを有する。凸部７４ａは、凸部３４ａの端面に当接する。 The ball 74 is embedded in the center of the other end of the column 73a and closes the female screw hole 73c. The lid 75 is fixed to the other end portion of the column body 73a, and holds the ball 74 in the other end portion of the column body 73a. The lid 75 has an annular shape, and a part 74 a of the ball 74 projects through the lid 75 to the outside of the column body 73 a. That is, the mediating member 72 has a convex portion (second convex portion) 74a that faces the output rocking body S1. The convex part 74a contacts the end surface of the convex part 34a.
　ピン７６は、外周側からフランジ７３ｂに挿入されており、フランジ７３ｂから外周方向に突出している。ピン７６は上記ガイド溝３２ｄ内に入り込む。これにより、媒介部材７２の回転が規制されると共に、対向面３２ｆに直交する方向に沿って媒介部材７２が案内される。 The pin 76 is inserted into the flange 73b from the outer peripheral side, and protrudes from the flange 73b in the outer peripheral direction. The pin 76 enters the guide groove 32d. Thereby, the rotation of the mediating member 72 is restricted, and the mediating member 72 is guided along the direction orthogonal to the facing surface 32f.
　伝達ブロック３２の後側において、包囲ブロック６１と包囲ブロック７１との間には補強板８０が架け渡されている。補強板８０は、例えば４本のボルトＢ８により、包囲ブロック６１及び包囲ブロック７１に締結されている（図４参照）。補強板８０により、対向部５１及び対向部５２が補強される。具体的に、コイルバネ６０，７０の反発力に起因する対向部５１と対向部５２との離間が抑制される。 On the rear side of the transmission block 32, a reinforcing plate 80 is bridged between the surrounding block 61 and the surrounding block 71. The reinforcing plate 80 is fastened to the surrounding block 61 and the surrounding block 71 by, for example, four bolts B8 (see FIG. 4). The facing portion 51 and the facing portion 52 are reinforced by the reinforcing plate 80. Specifically, the separation between the facing portion 51 and the facing portion 52 due to the repulsive force of the coil springs 60 and 70 is suppressed.
　以上に説明したアクチュエータ１において、無負荷状態では、コイルバネ６０，７０同士の拮抗作用により揺動体Ｓ１，Ｓ２同士の相対的な位置が定まる。揺動体Ｓ１，Ｓ２同士が相対的に変位すると、コイルバネ６０，７０の反発力に差異が生じるので、揺動体Ｓ１，Ｓ２同士の間で動力が伝達される。このように、コイルバネ６０，７０は、弾性変形に伴う反発力により出力揺動体Ｓ１と従動揺動体Ｓ２との間で動力を伝達する。これにより、出力回転体２０と従動回転体４０との間でトルクが伝達される。 In the actuator 1 described above, the relative positions of the oscillating bodies S1 and S2 are determined by the antagonistic action between the coil springs 60 and 70 in an unloaded state. When the oscillating bodies S1 and S2 are relatively displaced, a difference occurs in the repulsive force of the coil springs 60 and 70, so that power is transmitted between the oscillating bodies S1 and S2. Thus, the coil springs 60 and 70 transmit power between the output rocking body S1 and the driven rocking body S2 by a repulsive force accompanying elastic deformation. Thereby, torque is transmitted between the output rotator 20 and the driven rotator 40.
　すなわち、出力揺動体Ｓ１、従動揺動体Ｓ２及びコイルバネ６０，７０は、出力回転体２０と従動回転体４０との間でトルクを伝達する弾性伝達要素を構成する。この弾性伝達要素は、出力回転体２０及び従動回転体４０の外周側に配置される。このため、回転軸線ＣＬに沿う方向においては、出力回転体２０と従動回転体４０との間に弾性伝達要素が介在しない。従って、回転軸線ＣＬに沿う方向における長さを短縮することができる。 That is, the output rocking body S 1, the driven rocking body S 2, and the coil springs 60 and 70 constitute an elastic transmission element that transmits torque between the output rotating body 20 and the driven rotating body 40. This elastic transmission element is disposed on the outer peripheral side of the output rotator 20 and the driven rotator 40. Therefore, no elastic transmission element is interposed between the output rotating body 20 and the driven rotating body 40 in the direction along the rotation axis CL. Therefore, the length in the direction along the rotation axis CL can be shortened.
　更に、出力回転体２０及び従動回転体４０の外周側のスペースを利用することで、比較的大型の弾性部材を用いることが可能となる。このため、アクチュエータ１の剛性を広範囲で調整できる。また、弾性伝達要素の強度及び耐久性を高めることもできる。 Furthermore, by using the space on the outer peripheral side of the output rotator 20 and the driven rotator 40, a relatively large elastic member can be used. For this reason, the rigidity of the actuator 1 can be adjusted in a wide range. It is also possible to increase the strength and durability of the elastic transmission element.
　アクチュエータ１は、対向部５１，５２を備えると共にコイルバネ６０，７０を備える。コイルバネ６０は対向部５１と出力揺動体Ｓ１との間に配置され、コイルバネ７０は対向部５２と出力揺動体Ｓ１との間に配置されている。対向部５１，５２が出力揺動体Ｓ１を挟むことにより、従動揺動体Ｓ２に対する出力揺動体Ｓ１の変位が対向部５１，５２間に制限される。このため、出力揺動体Ｓ１と従動揺動体Ｓ２との間にコイルバネ６０，７０を介在させつつも、出力揺動体Ｓ１と従動揺動体Ｓ２との相対変位を規制できる。従って、出力回転体２０と従動回転体４０との連動性を確保できる。 Actuator 1 includes opposing portions 51 and 52 and coil springs 60 and 70. The coil spring 60 is disposed between the facing portion 51 and the output rocking body S1, and the coil spring 70 is disposed between the facing portion 52 and the output rocking body S1. When the opposed portions 51 and 52 sandwich the output rocking body S1, the displacement of the output rocking body S1 with respect to the driven rocking body S2 is limited between the facing portions 51 and 52. Therefore, relative displacement between the output rocking body S1 and the driven rocking body S2 can be restricted while the coil springs 60 and 70 are interposed between the output rocking body S1 and the driven rocking body S2. Accordingly, it is possible to ensure the linkage between the output rotating body 20 and the driven rotating body 40.
　アクチュエータ１は、コイルバネ６０の反発力を検出するロードセル３３を備えている。このため、出力回転体２０と従動回転体４０との間で伝達されるトルク（以下、「伝達トルク」という。）をコイルバネ６０の反発力に基づいて推定できる。伝達トルクの推定値は、外力に応じて出力回転体２０を動かす追従制御などに利用可能である。なお、センサによる検出対象はコイルバネ６０の反発力のみなので、１軸力用の単純なロードセル３３を用いることができる。このことは、アクチュエータ１の一層の小型化に寄与する。 The actuator 1 includes a load cell 33 that detects the repulsive force of the coil spring 60. Therefore, torque transmitted between the output rotating body 20 and the driven rotating body 40 (hereinafter referred to as “transmission torque”) can be estimated based on the repulsive force of the coil spring 60. The estimated value of the transmission torque can be used for follow-up control that moves the output rotating body 20 in accordance with an external force. In addition, since only the repulsive force of the coil spring 60 is detected by the sensor, a simple load cell 33 for a single axial force can be used. This contributes to further downsizing of the actuator 1.
　アクチュエータ１は、コイルバネ６０，７０と出力揺動体Ｓ１との間にそれぞれ介在する媒介部材６２，７２を備える。ロードセル３３は凸部３３ａを有し、凸部３３ａを媒介部材６２に向けた状態で出力揺動体Ｓ１に固定されている。媒介部材７２は、出力揺動体Ｓ１に向かう凸部７４ａを有する。この構成により、凸部３３ａが媒介部材６２に当接するので、コイルバネ６０の反発力が凸部３３ａに集中する。凸部７４ａが出力揺動体Ｓ１に当接するので、コイルバネ７０の反発力が凸部７４ａに集中する。このため、コイルバネ６０からロードセル３３に反発力が作用する位置、及びコイルバネ７０から出力揺動体Ｓ１に反発力が作用する位置の両方が安定する。従って、伝達トルクの推定精度を高めることができる。 The actuator 1 includes mediating members 62 and 72 interposed between the coil springs 60 and 70 and the output rocking body S1, respectively. The load cell 33 has a convex portion 33a, and is fixed to the output rocking body S1 with the convex portion 33a facing the mediating member 62. The intermediate member 72 has a convex portion 74a that faces the output rocking body S1. With this configuration, the convex portion 33a contacts the mediating member 62, so that the repulsive force of the coil spring 60 is concentrated on the convex portion 33a. Since the convex portion 74a contacts the output rocking body S1, the repulsive force of the coil spring 70 is concentrated on the convex portion 74a. For this reason, both the position where the repulsive force acts on the load cell 33 from the coil spring 60 and the position where the repulsive force acts on the output oscillator S1 from the coil spring 70 are stabilized. Accordingly, it is possible to improve the estimation accuracy of the transmission torque.
　図７に示すように、凸部３４ａの端面の中央部に、凸部７４ａを受け入れる凹部３４ｂを形成してもよい。この場合、凸部７４ａが凹部３４ｂに入り込むことで、出力揺動体Ｓ１に対する凸部７４ａの接触位置が更に安定する。このため、コイルバネ７０から出力揺動体Ｓ１に反発力が作用する位置が更に安定する。従って、伝達トルクの推定精度を更に高めることができる。 As shown in FIG. 7, a concave portion 34b that receives the convex portion 74a may be formed at the center of the end face of the convex portion 34a. In this case, when the convex portion 74a enters the concave portion 34b, the contact position of the convex portion 74a with respect to the output oscillator S1 is further stabilized. For this reason, the position where the repulsive force acts on the output rocking body S1 from the coil spring 70 is further stabilized. Therefore, it is possible to further improve the estimation accuracy of the transmission torque.
　コイルバネ６０は、出力揺動体Ｓ１が最も対向部５２に近付いた状態においても伸長方向に反発力を生じるように圧縮されている。コイルバネ７０は、出力揺動体Ｓ１が最も対向部５１に近付いた状態においても伸長方向に反発力を生じるように圧縮されている。このため、コイルバネ６０，７０は、常に伸長方向に反発力を生じる。これにより、コイルバネ６０の反発力と伝達トルクとの関係を単純化し、伝達トルクの推定用の演算を単純化できる。 The coil spring 60 is compressed so as to generate a repulsive force in the extending direction even when the output rocking body S1 is closest to the facing portion 52. The coil spring 70 is compressed so as to generate a repulsive force in the extending direction even when the output rocking body S1 is closest to the facing portion 51. For this reason, the coil springs 60 and 70 always generate a repulsive force in the extending direction. As a result, the relationship between the repulsive force of the coil spring 60 and the transmission torque can be simplified, and the calculation for estimating the transmission torque can be simplified.
　対向部５１，５２には、ボルト挿通用の孔５１ａ，５２ａがそれぞれ形成されている。媒介部材６２，７２には雌ねじ孔６３ｃ，７３ｃがそれぞれ形成されている。この場合、図８に示すように、出力揺動体Ｓ１の逆側から対向部５１の孔５１ａに圧縮ボルトＢ９を通し、その先端部を媒介部材６２の雌ねじ孔６３ｃにねじ込むことができる。出力揺動体Ｓ１の逆側から対向部５２の孔５２ａに圧縮ボルトＢ１０を通し、その先端部を媒介部材７２の雌ねじ孔７３ｃにねじ込むことができる。圧縮ボルトＢ９，Ｂ１０のねじ込むことで、媒介部材６２，７２を対向部５１，５２側にそれぞれ寄せ、コイルバネ６０，７０を圧縮できる。このため、例えば従動揺動体Ｓ２を出力揺動体Ｓ１に組み付ける際に、コイルバネ６０，７０を対向部５１，５２側にそれぞれ圧縮することで、媒介部材６２，７２同士の間に出力揺動体Ｓ１を容易に導入できる。従って、アクチュエータ１の組み立て性が向上する。 Bolt insertion holes 51a and 52a are formed in the facing portions 51 and 52, respectively. Female threaded holes 63c and 73c are formed in the mediating members 62 and 72, respectively. In this case, as shown in FIG. 8, the compression bolt B <b> 9 can be passed through the hole 51 a of the facing portion 51 from the opposite side of the output rocking body S <b> 1, and the tip portion can be screwed into the female screw hole 63 c of the mediating member 62. The compression bolt B10 can be passed through the hole 52a of the facing portion 52 from the opposite side of the output rocking body S1, and the tip portion can be screwed into the female screw hole 73c of the mediating member 72. By screwing the compression bolts B9 and B10, the mediating members 62 and 72 can be brought close to the facing portions 51 and 52, respectively, and the coil springs 60 and 70 can be compressed. For this reason, for example, when the driven oscillating body S2 is assembled to the output oscillating body S1, the output springs S1 are compressed between the mediating members 62 and 72 by compressing the coil springs 60 and 70 toward the opposing portions 51 and 52, respectively. Easy to install. Therefore, the assembling property of the actuator 1 is improved.
　コイルバネ６０，７０は、次の条件が成立するように配置されていてもよい。無負荷状態において、コイルバネ６０の圧縮方向に直交して回転軸線ＣＬを含む仮想平面Ｐ１は、当該圧縮方向におけるコイルバネ６０の中間部を通る。すなわち、コイルバネ６０は、仮想平面Ｐ１が上記中間部を通るように配置されている。コイルバネ７０の圧縮方向に直交して回転軸線ＣＬを含む仮想平面Ｐ２は、当該圧縮方向におけるコイルバネ７０の中間部を通る。すなわち、コイルバネ７０は、仮想平面Ｐ２が上記中間部を通るように配置されている。なお、中間部は中間位置及びその近傍を含む。このように配置することで、コイルバネ６０，７０の反発力と伝達トルクとの関係の線形性を高め、伝達トルクの推定精度を更に高めることができる。 The coil springs 60 and 70 may be arranged so that the following conditions are satisfied. In the no-load state, the virtual plane P1 including the rotation axis CL perpendicular to the compression direction of the coil spring 60 passes through the intermediate portion of the coil spring 60 in the compression direction. That is, the coil spring 60 is disposed so that the virtual plane P1 passes through the intermediate portion. A virtual plane P2 including the rotation axis CL perpendicular to the compression direction of the coil spring 70 passes through an intermediate portion of the coil spring 70 in the compression direction. That is, the coil spring 70 is disposed so that the virtual plane P2 passes through the intermediate portion. The intermediate portion includes the intermediate position and its vicinity. By arranging in this way, the linearity of the relationship between the repulsive force of the coil springs 60 and 70 and the transmission torque can be increased, and the estimation accuracy of the transmission torque can be further increased.
　以下、アクチュエータ１の応用例について説明する。アクチュエータ１は、例えばアシスト装置又はロボットに適用可能である。図９に示されるアシスト装置１００は、アクチュエータ１を動力源として、使用者の下肢の筋力をアシストする装置である。アシスト装置１００は、アシスト部材１１０，１２０を備える。アシスト部材１１０は、装着ベルト１１１により使用者の大腿部Ｌ１に装着される。アシスト部材１２０は、装着ベルト１２１により使用者の脛部Ｌ２に装着される。アクチュエータ１は、アシスト部材１１０，１２０の間に介在している。アシスト部材１１０には、アクチュエータ本体１０のフランジ１２が装着されている。アシスト部材１２０には、従動板５０が装着されている。すなわち、図９に示す例では、アクチュエータ本体１０はアシスト部材１１０に対する装着部を有し、従動揺動体Ｓ２はアシスト部材１２０に対する装着部を有する。 Hereinafter, application examples of the actuator 1 will be described. The actuator 1 can be applied to an assist device or a robot, for example. The assist device 100 shown in FIG. 9 is a device that assists the muscle strength of the user's lower limbs using the actuator 1 as a power source. The assist device 100 includes assist members 110 and 120. The assist member 110 is mounted on the user's thigh L1 by the mounting belt 111. The assist member 120 is mounted on the user's shin L2 by the mounting belt 121. The actuator 1 is interposed between the assist members 110 and 120. A flange 12 of the actuator body 10 is attached to the assist member 110. A driven plate 50 is attached to the assist member 120. That is, in the example shown in FIG. 9, the actuator body 10 has a mounting portion for the assist member 110, and the driven oscillator S <b> 2 has a mounting portion for the assist member 120.
　以上、実施形態について説明したが、本発明は必ずしも上述した実施形態に限定されるものではなく、その要旨を逸脱しない範囲で様々な変更が可能である。例えば、伝達ブロック３２が従動板５０側に設けられ、対向部５１，５２が出力板３１側に設けられていてもよい。すなわち、対向部５１，５２は、出力揺動体Ｓ１及び従動揺動体Ｓ２のうち一方の揺動体を円周方向で挟むように、出力揺動体Ｓ１及び従動揺動体Ｓ２の他方の揺動体に設けられていればよい。 As mentioned above, although embodiment was described, this invention is not necessarily limited to embodiment mentioned above, A various change is possible in the range which does not deviate from the summary. For example, the transmission block 32 may be provided on the driven plate 50 side, and the facing portions 51 and 52 may be provided on the output plate 31 side. In other words, the facing portions 51 and 52 are provided on the other oscillating body of the output oscillating body S1 and the driven oscillating body S2 so as to sandwich one oscillating body of the output oscillating body S1 and the driven oscillating body S2 in the circumferential direction. It only has to be.
　ロードセル３３を媒介ブロック６３側に配置し、受け板６４を伝達ブロック３２側に配置してもよい。すなわち、ロードセル３３は、コイルバネ６０及び媒介部材６２の少なくとも一方の反発力を測定するように設けられていればよい。 The load cell 33 may be disposed on the intermediate block 63 side, and the receiving plate 64 may be disposed on the transmission block 32 side. In other words, the load cell 33 may be provided so as to measure the repulsive force of at least one of the coil spring 60 and the intermediate member 62.
　受け板３４を媒介部材７２側に配置し、凸部７４ａを伝達ブロック３２側に設けてもよい。すなわち、出力揺動体Ｓ１が、媒介部材７２に向かう凸部７４ａを有していてもよい。 The receiving plate 34 may be disposed on the medium member 72 side, and the convex portion 74a may be provided on the transmission block 32 side. That is, the output rocking body S1 may have a convex portion 74a that faces the mediating member 72.
　媒介部材６２及びロードセル３３をコイルバネ７０側に配置し、媒介部材７２及び受け板３４をコイルバネ６０側に配置してもよい。 The intermediate member 62 and the load cell 33 may be disposed on the coil spring 70 side, and the intermediate member 72 and the receiving plate 34 may be disposed on the coil spring 60 side.
　本発明は、アクチュエータに利用可能である。 The present invention can be used for an actuator.
　１…アクチュエータ、１０…アクチュエータ本体、１１…出力軸、１２…フランジ（装着部）、２０…出力回転体、３３…ロードセル（力センサ）、３３ａ…第１の凸部、４０…従動回転体、５１…第１の対向部、５２…第２の対向部、６０…コイルバネ（第１の弾性部材）、６２…第１の媒介部材、６３ｃ，７３ｃ…雌ねじ孔、７０…コイルバネ（第２の弾性部材）、７２…第２の媒介部材、７４ａ…第２の凸部、１００…アシスト装置、１１０，１２０…アシスト部材、ＣＬ…回転軸線、Ｐ１，Ｐ２…仮想平面、Ｓ１…出力揺動体、Ｓ２…従動揺動体。 DESCRIPTION OF SYMBOLS 1 ... Actuator, 10 ... Actuator main body, 11 ... Output shaft, 12 ... Flange (mounting part), 20 ... Output rotary body, 33 ... Load cell (force sensor), 33a ... First convex part, 40 ... Driven rotary body, DESCRIPTION OF SYMBOLS 51 ... 1st opposing part, 52 ... 2nd opposing part, 60 ... Coil spring (1st elastic member), 62 ... 1st intermediate member, 63c, 73c ... Female screw hole, 70 ... Coil spring (2nd elasticity) Member), 72 ... second intermediate member, 74a ... second convex part, 100 ... assist device, 110, 120 ... assist member, CL ... rotation axis, P1, P2 ... virtual plane, S1 ... output rocking body, S2 ... driven oscillator.

Claims (11)

  1. 　出力軸を有する回転型のアクチュエータ本体と、
    　前記出力軸の端部に設けられた出力回転体と、
    　前記出力回転体の回転軸線まわりに回転自在となるように設けられた従動回転体と、
    　前記出力回転体から外周方向に突出し、前記出力回転体の回転に応じて回転する出力揺動体と、
    　前記従動回転体から外周方向に突出し、前記従動回転体の回転に応じて回転する従動揺動体と、
    　前記出力揺動体と前記従動揺動体との間に介在し、弾性変形に伴う反発力により前記出力揺動体と前記従動揺動体との間で動力を伝達する弾性部材と、を備えるアクチュエータ。     A rotary actuator body having an output shaft;
    An output rotator provided at an end of the output shaft;
    A driven rotor provided to be rotatable around a rotation axis of the output rotor;
    An output rocking body that protrudes in an outer peripheral direction from the output rotating body and rotates according to the rotation of the output rotating body;
    A driven rocking body that protrudes in an outer circumferential direction from the driven rotating body and rotates according to the rotation of the driven rotating body;
    An actuator comprising an elastic member interposed between the output rocking body and the driven rocking body and transmitting power between the output rocking body and the driven rocking body by a repulsive force accompanying elastic deformation.
  2. 　前記出力揺動体及び前記従動揺動体のうち一方の揺動体を円周方向で挟むように、前記出力揺動体及び前記従動揺動体の他方の揺動体に設けられた第１及び第２の対向部を更に備えると共に、
    　前記弾性部材として第１及び第２の弾性部材を備え、
    　前記第１の弾性部材は、前記第１の対向部と前記一方の揺動体との間に配置され、
    　前記第２の弾性部材は、前記第２の対向部と前記一方の揺動体との間に配置されている、請求項１記載のアクチュエータ。     First and second opposing portions provided on the other oscillating body of the output oscillating body and the driven oscillating body so as to sandwich one of the output oscillating body and the driven oscillating body in the circumferential direction. And further comprising
    The elastic member includes first and second elastic members,
    The first elastic member is disposed between the first facing portion and the one oscillating body,
    The actuator according to claim 1, wherein the second elastic member is disposed between the second facing portion and the one oscillating body.
  3. 　前記第１及び第２の弾性部材の少なくとも一方の反発力を検出する力センサを更に備える、請求項２記載のアクチュエータ。 The actuator according to claim 2, further comprising a force sensor that detects a repulsive force of at least one of the first and second elastic members.
  4. 　前記第１及び第２の弾性部材は、それぞれ圧縮された状態で配置される、請求項２又は３記載のアクチュエータ。 The actuator according to claim 2 or 3, wherein the first and second elastic members are arranged in a compressed state.
  5. 　前記第１及び第２の弾性部材の少なくとも一方の反発力を検出する力センサと、
    　前記第１及び第２の弾性部材と前記一方の揺動体との間にそれぞれ介在する第１及び第２の媒介部材と、を更に備え、
    　前記力センサは、測定対象の力を受ける第１の凸部を有し、前記第１の凸部を前記第１の媒介部材に向けた状態で前記一方の揺動体に固定され、
    　前記第２の媒介部材は、前記一方の揺動体に向かう第２の凸部を有する、請求項４記載のアクチュエータ。     A force sensor for detecting a repulsive force of at least one of the first and second elastic members;
    First and second mediating members interposed between the first and second elastic members and the one rocking body, respectively,
    The force sensor has a first convex portion that receives a force of a measurement target, and is fixed to the one oscillating body in a state where the first convex portion faces the first mediating member,
    5. The actuator according to claim 4, wherein the second intermediate member has a second convex portion that faces the one rocking body.
  6. 　前記第１及び第２の弾性部材の少なくとも一方の反発力を検出する力センサと、
    　前記第１及び第２の弾性部材と前記一方の揺動体との間にそれぞれ介在する第１及び第２の媒介部材と、を更に備え、
    　前記力センサは、測定対象の力を受ける第１の凸部を有し、前記第１の凸部を前記第１の媒介部材に向けた状態で前記一方の揺動体に固定され、
    　前記一方の揺動体は、前記第２の媒介部材に向かう第２の凸部を有する、請求項４記載のアクチュエータ。     A force sensor for detecting a repulsive force of at least one of the first and second elastic members;
    First and second mediating members interposed between the first and second elastic members and the one rocking body, respectively,
    The force sensor has a first convex portion that receives a force of a measurement target, and is fixed to the one oscillating body in a state where the first convex portion faces the first mediating member,
    5. The actuator according to claim 4, wherein the one oscillating body has a second convex portion directed toward the second medium member.
  7. 　前記第１及び第２の対向部には、ボルト挿通用の孔がそれぞれ形成され、
    　前記第１の媒介部材には、前記一方の揺動体の逆側から前記第１の対向部の前記孔に通されたボルトの先端部をねじ込むための雌ねじ孔が形成され、
    　前記第２の媒介部材には、前記一方の揺動体の逆側から前記第２の対向部の前記孔に通されたボルトの先端部をねじ込むための雌ねじ孔が形成されている、請求項５又は６記載のアクチュエータ。     Bolt insertion holes are formed in the first and second opposing portions, respectively.
    The first mediating member is formed with a female screw hole for screwing a tip of a bolt passed through the hole of the first opposing portion from the opposite side of the one oscillating body,
    The internal thread hole for screwing the front-end | tip part of the volt | bolt passed through the said hole of the said 2nd opposing part from the reverse side of said one rocking | fluctuation body is formed in the said 2nd intermediate member. Or the actuator of 6.
  8. 　前記第１の弾性部材は、前記一方の揺動体が最も前記第２の対向部に近付いた状態においても伸長方向に反発力を生じるように圧縮され、
    　前記第２の弾性部材は、前記一方の揺動体が最も前記第１の対向部に近付いた状態においても伸長方向に反発力を生じるように圧縮されている、請求項４～７のいずれか一項記載のアクチュエータ。     The first elastic member is compressed so as to generate a repulsive force in the extending direction even when the one oscillating body is closest to the second facing portion,
    The second elastic member is compressed so as to generate a repulsive force in the extending direction even when the one oscillating body is closest to the first facing portion. Actuator described in item.
  9. 　前記第１の弾性部材は、前記第１の弾性部材の圧縮方向に直交して前記回転軸線を含む仮想平面が、当該圧縮方向における前記第１の弾性部材の中間部を通るように配置され、
    　前記第２の弾性部材は、前記第２の弾性部材の圧縮方向に直交して前記回転軸線を含む仮想平面が、当該圧縮方向における前記第２の弾性部材の中間部を通るように配置されている、請求項４～８のいずれか一項記載のアクチュエータ。     The first elastic member is arranged so that a virtual plane including the rotation axis perpendicular to the compression direction of the first elastic member passes through an intermediate portion of the first elastic member in the compression direction,
    The second elastic member is disposed so that a virtual plane including the rotation axis perpendicular to the compression direction of the second elastic member passes through an intermediate portion of the second elastic member in the compression direction. The actuator according to any one of claims 4 to 8.
  10. 　前記アクチュエータ本体は、使用者の筋力をアシストするアシスト装置の一部材に対する装着部を有し、
    　前記従動回転体は、前記アシスト装置の他の部材に対する装着部を有する、請求項１～９のいずれか一項記載のアクチュエータ。     The actuator body has a mounting portion for one member of an assist device that assists a user's muscle strength,
    The actuator according to any one of claims 1 to 9, wherein the driven rotating body has a mounting portion with respect to another member of the assist device.
  11. 　請求項１～１０のいずれか一項記載のアクチュエータを動力源として、使用者の筋力をアシストするアシスト装置。 An assist device that assists a user's muscle strength using the actuator according to any one of claims 1 to 10 as a power source.
PCT/JP2014/052769 2014-02-06 2014-02-06 Actuator and assist apparatus WO2015118642A1 (en)

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JP2017113840A (en) * 2015-12-24 2017-06-29 株式会社ジェイテクト Assist device
JP2017113841A (en) * 2015-12-24 2017-06-29 株式会社ジェイテクト Assist device

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JP2002254384A (en) * 2001-02-27 2002-09-10 Kansai Tlo Kk Bump avoidance device and robot
JP2011083884A (en) * 2009-10-19 2011-04-28 Yaskawa Electric Corp Variable rigidity mechanism and robot
JP2012247030A (en) * 2011-05-30 2012-12-13 Shibaura Mechatronics Corp Wire driving device, and carrying device for substrate using the same
JP2013233406A (en) * 2012-04-09 2013-11-21 Eiji Kawanishi Walking assist device

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Publication number Priority date Publication date Assignee Title
JP2002254384A (en) * 2001-02-27 2002-09-10 Kansai Tlo Kk Bump avoidance device and robot
JP2011083884A (en) * 2009-10-19 2011-04-28 Yaskawa Electric Corp Variable rigidity mechanism and robot
JP2012247030A (en) * 2011-05-30 2012-12-13 Shibaura Mechatronics Corp Wire driving device, and carrying device for substrate using the same
JP2013233406A (en) * 2012-04-09 2013-11-21 Eiji Kawanishi Walking assist device

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2017113840A (en) * 2015-12-24 2017-06-29 株式会社ジェイテクト Assist device
JP2017113841A (en) * 2015-12-24 2017-06-29 株式会社ジェイテクト Assist device

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