JP4944692B2 - Motion control device and motor function training device for movable member - Google Patents

Description

  The present invention provides first and second rotations coupled to a movable member using a functional fluid that is an electrorheological fluid that changes viscoelasticity by application of an electric field or a magnetorheological fluid that changes viscoelasticity by application of a magnetic field. The present invention relates to a motion control device and a motor function training device for a movable member that controls the motion of the movable member by changing the rotational resistance of a shaft.

  Conventionally, there has been proposed a tele-distance system that presents a mechanical sensation to the trainee according to the behavior of the trainee in the environment given in the form of an image (Patent Document 1). The following is disclosed as a mechanical sensation presentation device in the system. That is, two concentric rotating shafts that support parallel links as movable members, and two electrorheological fluid parts including a member (casing) having a fluid filling chamber filled with an electrorheological fluid as a functional fluid. , Each of which is connected via a pulley, and includes a motion control device for a movable member in which two adjacent frames (links) of parallel links are connected. The parallel link connects the four frames so as to be rotatable with each other, and is provided with a lever at the end. In this state, when a voltage is applied to the electrorheological fluid portion and the rotational force is transmitted from the motor as the driving means to each of the two rotating shafts via the pulleys, the frame rotates via the rotating shafts, The lever can be guided and moved on the XY plane by the rotation of the rotation shaft (see Example 5, FIG. 14 and FIG. 15).

  In this device, for example, if an electric field is applied to the electrorheological fluid part in a state where the rotational force from the pulley is not transmitted, the viscoelasticity of the electrorheological fluid increases or decreases according to the strength of the electric field, and the flow resistance changes. To do. As a result, the rotational resistance of the rotating member that is rotatably arranged in each electrorheological fluid portion and connected to each of the rotating shafts changes, and as a result, the rotational resistance of the rotating shaft is changed and a load is applied to the lever to apply a brake. You can also.

Therefore, using such a motion control device for a movable member, for example, it is conceivable to manufacture a motor function training device for recovery of motor function or improvement of motor function.
International Publication No. 96/02887 Pamphlet

  However, in the above apparatus, it is necessary to provide two brake parts including a casing having a fluid filling chamber filled with an electrorheological fluid. Therefore, a large installation place is required and the cost is increased.

  Moreover, since the pulley for connecting the two rotating shafts and the two brake portions installed concentrically is necessary, there is a problem that the device becomes bulky and the cost is increased. .

  It is an object of the present invention to provide a motion control device for a movable member and a motor function training device that can be manufactured at a low cost by forming two fluid filling chambers filled with a functional fluid in one casing. .

  Another object of the present invention is to provide a motion control device and a motor function training device for a movable member that do not require a pulley for connecting two rotating shafts and a brake unit.

This invention solves the said subject by providing the motion control apparatus for movable members which has the following characteristics. The movement control device for a movable member according to claim 1 of the present application is characterized in that the first and second rotating shafts connected to the movable member using a functional fluid whose viscoelasticity changes in response to application of an electric field or a magnetic field. A movement control device for a movable member that controls the movement of the movable member by changing the rotation resistance, the casing having a fluid filling chamber filled with the functional fluid, and disposed rotatably with respect to the casing. The fluid filling chamber is partitioned in the casing in the axial direction of the casing by the partition wall, and is disposed on one side in the axial direction. The first fluid filling chamber includes a filling chamber and a second fluid filling chamber disposed on the other side in the axial direction, and a first rotating member is rotatably disposed therein. The second fluid filling chamber has a second circuit inside. A member is rotatably arranged, and the first rotation shaft is formed in a cylindrical shape, and from the one side through a rotation shaft introduction hole formed on one side in the axial direction of the casing. The second rotary shaft is non-rotatably connected to the first rotary member, and the second rotary shaft is passed through the first rotary shaft and penetrates the first rotary member and the partition wall, The first and second rotating members are non-rotatably connected to the second rotating member from the one side, and the first and second rotating members rotate with the casing as the functional fluid viscoelasticity of each of the fluid filling chambers increases. The rotation resistance by the functional fluid with respect to the shaft is configured to increase.

  In the motion control device for a movable member according to claim 2 of the present application, the casing according to claim 1 is fixed to the member to be fixed, and the first and second rotating shafts are functionalities of the fluid filling chambers, respectively. As the viscoelasticity of the fluid increases, the rotation with respect to the casing is braked.

  According to a third aspect of the present invention, there is provided a motion control apparatus for a movable member, wherein the casing according to the first aspect is rotated by driving means, and the first and second rotating shafts are functional fluids in the fluid filling chambers. As the viscoelasticity increases, it rotates with the casing.

  In the motion control device for a movable member according to claim 4 of the present application, the partition wall according to any one of claims 1 to 3 communicates with the first fluid filling chamber and the second fluid filling chamber. By providing the holes, the functional fluid can flow from one of the first fluid filling chamber and the second fluid filling chamber to the other.

  In the motion control device for a movable member according to claim 5 of the present application, the first rotating shaft according to any one of claims 1 to 4 is formed in a cylindrical shape, and the fluid filling chamber is formed in the casing, The first fluid filling chamber is partitioned by the partition wall in the axial direction of the casing and disposed on one side in the axial direction, and the second fluid filling chamber is disposed on the other side in the axial direction, and In the first fluid filling chamber, a first rotating member is disposed inside, and the first rotating member and the first rotating member are disposed through a rotating shaft introduction hole formed on one side in the axial direction of the casing. The second rotating member is connected to the first rotating shaft, and a second rotating member is disposed in the second fluid filling chamber. The second rotating member and the first rotating shaft are arranged from the inside of the first rotating shaft. The second through the insertion hole provided in the substantially central portion of the first rotating member and the communication hole in the partition wall The second rotating member is provided with a conductive cylindrical connecting portion protruding on the other side in the axial direction of the casing, and the cylindrical connecting portion and the other side in the axial direction of the casing. The second power supply terminal provided on the second power supply terminal is connected to be energized so that a voltage can be applied to the second rotary member from the other side. Is connected to the first power supply terminal provided on the other side in the axial direction of the casing through the power supply, so that a voltage can be applied to the first rotating member from the other side. The current-carrying member is put into a storage hole formed in a portion extending from the inside of the cylindrical connecting portion to the shaft hole formed in the axial direction of the second rotation shaft, so that one end side thereof is the first rotation member. It is positioned inside the insertion hole of the It is connected through the holes to the inner peripheral surface of the insertion hole of the second issued on the outer peripheral side of the rotating shaft first rotary member, in which the other end is connected to the first power supply terminal.

  Moreover, this invention solves the said subject by providing the motor function training apparatus which has the following characteristics. A motor function training device according to claim 6 of the present application includes the motion control device for a movable member according to any one of claims 1 to 5 and a movable member for causing a trainee to perform training of the motor function. The exercise function training apparatus, wherein the movable member is connected to the other end side of the first and second rotation shafts of the movement control device for the movable member, whereby the first and second rotation shafts are connected. It is configured to work with.

  In the motor function training device according to claim 7 of the present application, the movable member according to claim 6 includes a link mechanism part and a grip part gripped by a trainee, and the link mechanism part is spaced apart from each other by a predetermined interval. The first and second long links arranged substantially parallel to each other, and the third and fourth long links arranged substantially parallel to each other at a predetermined interval. One end of the link is non-rotatably supported by one of the first rotation shaft and the second rotation shaft, and the other end is rotatably connected to one end of the fourth link. 3 links, one end of which is non-rotatably supported by one of the first rotating shaft and the second rotating shaft, and the other end is rotatably connected to one end of the second link, The other ends of the second link and the fourth link are rotatably connected. Is, the gripper, the other end of the second link, or those supported on the other end of the fourth link.

  In the invention of the motion control device for a movable member according to claim 1 of the present application, the fluid filling chamber is divided into two by the partition wall, and the rotating member disposed inside each of the partitioned members is provided with the first member. By connecting to the rotating shaft and the second rotating shaft, when an electric field or a magnetic field is applied to the functional fluid via the rotating member, the viscoelasticity of the functional fluid in each fluid filling chamber increases. The rotational resistance of each rotating member is increased, and the rotational resistance of the first and second rotating shafts with respect to the casing is increased.

  By doing so, for example, one conventional fluid filling chamber can be divided into two fluid filling chambers. As a result, the entire apparatus can be made compact with a small number of parts, can be used in a small installation place, and can be manufactured at low cost.

  In the motion control device for a movable member according to claim 2 of the present application, the movable member is fixed by increasing the rotational resistance of the first and second rotary shafts relative to the casing fixed to the fixed member. The movement with respect to the member can be braked.

  In the motion control device for a movable member according to claim 3 of the present application, the first and second rotating shafts are increased by increasing the rotational resistance of the first and second rotating shafts with respect to the casing rotated by the driving means. Can be rotated together with the rotation of the casing. Thereby, the movable member connected with the 1st and 2nd rotating shaft can be moved.

  In the invention of the motion control device for a movable member according to claim 4 of the present application, the first fluid filling chamber and the second fluid filling chamber communicate with each other. It is only necessary to enter from the inlet provided in one of the fluid filling chamber and the second fluid filling chamber, and the operation can be facilitated.

  Further, for example, since the functional fluid expands and contracts as the temperature changes, it is necessary to provide a volume control means for controlling the volume of the fluid filling chamber. In the present invention, as described above, the first fluid filling is performed. Since the chamber and the second fluid filling chamber communicate with each other, it is only necessary to provide a volume control means in either the first fluid filling chamber or the second fluid filling chamber. Thereby, the apparatus can be simplified and the manufacturing cost can be suppressed.

  In the invention of the movement control device for a movable member according to claim 5 of the present application, the fluid filling chamber is partitioned in the casing in the axial direction of the casing by the partition wall, and therefore, for example, the first and second concentrically disposed. Can be directly connected to a rotating member disposed in each of the partitioned fluid filling chambers. This eliminates the need for a transmission member such as a pulley as in the prior art. Therefore, the entire apparatus can be made even more compact with a small number of parts, can be used in a small installation place, and can be manufactured at low cost.

  The first and second rotating members in the casing are connected to the first and second rotating shafts on one side in the axial direction of the casing, and the first and second rotations are connected on the other side in the axial direction of the casing. Since the member and the first and second power supply terminals can be connected to each other, it is not necessary to provide power supply wiring on one side in the axial direction of the casing. Thereby, for example, even when there is little space for attaching the power supply wiring by attaching one side of the casing in the axial direction to the back of the desk, the power supply wiring can be performed on the other side of the casing in the axial direction. Work can be made easy.

  Further, at that time, since the energizing member is inserted into the housing hole formed in the portion extending from the inside of the cylindrical connecting portion to the axial hole formed in the axial direction of the second rotating shaft, the movable member Therefore, the motion control device can be made compact and easy to use.

  In the invention of the motor function training device according to claim 6 of the present application, it is possible to perform training for improving the motor function of the trainee. At that time, the whole motor function training apparatus can be made compact with a small number of parts, can be used in a small installation place, and can be manufactured at low cost.

  In the invention of the motor function training device according to claim 7 of the present application, since the movable member includes the link mechanism portion and the grip portion, for example, the trainee can freely grip the grip portion by the link mechanism portion. It is also possible to move or forcibly move the trainee who holds the grip portion, and it can be preferable as a motor function training device for recovery and improvement of motor function.

  Hereinafter, the present invention will be specifically described with reference to the drawings. FIG. 1 is a perspective view of an embodiment of a movable member in the motor function training apparatus according to the first embodiment of the present invention, and FIG. 2 is a motion control for the movable member in the motor function training apparatus of the first embodiment of the present invention. 1 is a cross-sectional view of one embodiment of an apparatus.

  The motor function training device of the first embodiment includes a movable member 1 shown in FIG. 1 and a motion control device 2 for the movable member connected to the movable member 1 shown in FIG.

  As shown in FIG. 1, the movable member 1 includes a link mechanism unit 30 and an operation unit 13 provided on the distal end side of the link mechanism unit 30.

  In this embodiment, the operation unit 13 includes a spherical gripping part 11 and a sliding part 12. The sliding portion 12 is for sliding along the surface of a desk 9 described later, to which the motor function training device is attached, and the lower surface slides along the surface of the desk 9.

  In this embodiment, the link mechanism portion 30 is for freely moving the sliding portion 12 to the XY planes in the X-axis direction and the Y-axis direction. In this embodiment, the sliding portion 12 is provided on the desk 9. It is comprised so that the surface of the desk 9 can slide freely in the left-right front-back direction of FIG. 1 along the surface.

  Specifically, the link mechanism unit 30 of this embodiment includes four rod-shaped links including first and second links 31 and 32 that are parallel to each other and third and fourth links 33 and 34 that are parallel to each other. ing.

  The fourth link 34 is rotatably connected to the distal end side (the other end side) of the first and second links 31 and 32. The fourth link 34 has an extending portion 34a extending so as to protrude from the second link 32, and the operation portion 13 is supported at the tip of the extending portion 34a.

  The third link 33 is rotatably connected to the base end side (one end side) of the second link 32. Further, the third link 33 is provided with an extending portion 33 a extending so as to protrude from the first link 31. A balancer 37 is attached via a connecting piece 35 rotatably connected to the extended portion 33a and a connecting piece 36 rotatably connected to the extended portion 31a provided to the first link 31. The balancer 37 can balance the operation unit 13.

  Further, on the lower side of the balancer 37, movement restricting portions 38a and 39 for restricting the movement of the sliding portion 12 are provided. The movement restricting portions 38 a and 39 are configured by a drilling hole 38 a drilled in the plate-like member 38 and a stopper 39 provided on the lower surface of the connecting piece 36 so as to protrude downward.

  The drilling hole 38a in this embodiment is formed so as to substantially match the locus of the stopper 39 that moves with the sliding portion 12 along the end edge portion on the surface of the desk 9.

  The tip end side of the lower end of the stopper 39 is inserted into the drilling hole 38a. For example, the sliding portion 12 moves on the surface of the desk 9 in the left direction in FIG. The stopper 39 comes into contact with the inner wall surface of the drilling hole 38a and cannot move further in the same direction. This prevents the sliding portion 12 from falling off the surface of the desk 9.

  Next, the movement control device 2 for the movable member will be described. The movement control device 2 for the movable member according to the first embodiment is implemented as a brake device that brakes the movement of the movable member 1. As shown in FIG. 2, the movement control device 2 for the movable member according to the first embodiment includes a control device main body 5 having a casing 6, and first and second members disposed rotatably with respect to the casing 6. Rotating shafts 3 and 4.

  The 1st rotating shaft 3 is comprised from the cylindrical thing. 2 is connected to the first link 31 of the movable member 1 in a non-rotatable manner in the axial direction of the first rotating shaft 3 in FIG. As a result, the first link 31 is supported by the first rotating shaft 3 and rotates together with the first rotating shaft 3 about the first rotating shaft 3.

  The second rotating shaft 4 is disposed so as to be substantially concentric inside the first rotating shaft 3 except for a part on the upper end side (the other end side) in FIG. 2 in the axial direction. And the upper end side of this 2nd rotating shaft 4 is connected with the 3rd link 33 of the said movable member 1 so that rotation is impossible. As a result, the third link 33 is supported by the second rotation shaft 4 and rotates together with the second rotation shaft 4 about the second rotation shaft 4.

  The control device body 5 includes a cylindrical casing 6 made of a conductor. On the upper surface of one side of the casing 6 in the axial direction (the upper end side in FIG. 2), there is a rotary shaft introduction hole 61 opened so as to communicate with the outside from a first fluid filling chamber 7a in the casing 6 described later. I have.

  In addition, on the other side (the lower end side in FIG. 2) of the casing 6 in the axial direction, two power feeding terminals, a first power feeding terminal 62 and a second power feeding terminal 63 are provided.

  Inside the casing 6, fluid filling chambers 7a and 7b filled with an electrorheological fluid 7 as a functional fluid are provided. The electrorheological fluid 7 is also referred to as an ER fluid (electrorheological fluid), and is a fluid whose viscoelasticity (rheological) characteristics are changed by application of an electric field, and the change is instantaneous and reversible. The electrorheological fluid 7 increases viscoelasticity to brake the rotation of the first and second rotating shafts 3 and 4.

  The fluid filling chambers 7a and 7b are divided into two in the axial direction of the casing 6 by a disc-shaped partition wall 71. The first fluid filling chamber 7a on the upper side and the second fluid on the lower side. The fluid filling chamber 7b.

  The partition wall 71 includes communication holes 72 and 73 that allow the first fluid filling chamber 7a and the second fluid filling chamber 7b to communicate with each other, and the electrorheological fluid 7 is allowed to pass through these communication holes 72 and 73. The first fluid filling chamber 7a and the second fluid filling chamber 7b can mutually flow from one to the other.

  In this embodiment, the communication holes 72 and 73 are formed in the center part of the partition wall 71 in a circular shape with a diameter larger than the diameter of the second rotating shaft 4, and the partition wall 71. It is comprised from the outer peripheral part communication hole 73 drilled in the outer peripheral part.

  A first rotating member 81 is rotatably disposed in the first fluid filling chamber 7a. The first rotating member 81 of this embodiment includes a rotating member main body 81a and a connecting cylinder portion 81b provided at the center of the rotating member main body 81a.

  The rotating member main body 81a is made of a conductor such as metal having a thickness of about 1 mm and an outer diameter of about 150 mm. The rotating member main body 81a is formed in a disc shape having a central hole 81c formed in the center portion with the same size as the inner diameter of the first rotating shaft 3.

  The connecting cylinder portion 81b is provided integrally with the rotating member main body 81a so as to protrude upward from the upper surface of the first rotating member 81. Further, the inner diameter of the connecting cylinder portion 81b is formed to be the same as the inner diameter of the center hole 81c of the rotating member main body 81a, and the inside of the connecting cylinder portion 81b and the center hole 81c constitute an insertion hole 81e. ing.

  The upper end portion of the connecting cylinder portion 81b and the other end side (the lower end side in FIG. 2) of the first rotating shaft 3 cannot be rotated with each other via the rotating shaft introduction hole 61 of the casing 6. It is connected.

  Further, the connection between the connecting cylinder portion 81b and the first rotating shaft 3 is performed by interposing a cylindrical insulating member 81d therebetween. Further, the connecting cylinder portion 81b and the first rotating shaft 3 connected in this manner are substantially concentric, and the first rotating member 81 is moved in the first rotating shaft 3 as the first rotating shaft 3 rotates. The rotation center 81 rotates about the axis O of the first rotation member 81 and the first rotation shaft 3.

  A second rotating member 82 for applying an electric field to the electrorheological fluid 7 of the second fluid filling chamber 7b is rotatably arranged in the second fluid filling chamber 7b. The second rotating member 82 includes a rotating member main body 82a and a cylindrical connecting portion 82b provided at the center of the rotating member main body 82a.

  The rotating member main body 82a of the second rotating member 82 is composed of substantially the same thickness and the same outer diameter as the rotating member main body 81a of the first rotating member 81. And the other end side (the lower end side of FIG. 2) of the said 2nd rotating shaft 4 is connected with the center part of the upper surface of this rotation member main body 82a so that rotation is impossible.

  Specifically, the second rotating shaft 4 is passed through the first rotating shaft 3 and also through the insertion hole 81 e of the first rotating member 81 and the central communication hole 72 of the partition wall 71. In this way, the second rotating member 82 is extended to a position above the rotating member main body 82a. And the lower end side of this 2nd rotating shaft 4 and the center part of the rotating member main body 82a are mutually connected so that the cylindrical insulating member 82d may be interposed.

  The second rotating member 82 rotates the axis of the second rotating shaft 4 (the axis O of the first rotating shaft 3) with the rotation of the second rotating shaft 4 thus connected. Rotate around the axis.

  Further, a volume control unit 74 is provided in the second fluid filling chamber 7b. The volume control unit 74 is for controlling the volume of the second fluid filling chamber 7b when the electrorheological fluid 7 expands and contracts as the temperature changes. The space part 74a which connected was provided, and the control wall 74b which is arrange | positioned so that the space part 74a may be partitioned off, and has the elasticity which controls the area | region of the space part 74a is provided.

  In this embodiment, the control wall 74b is made of synthetic rubber. Then, when the electrorheological fluid 7 expands in volume as the temperature changes, the control wall 74b retreats from the second fluid filling chamber 7b (lower side in FIG. 2) by the electrorheological fluid 7 that has entered the space 74a. It moves (state shown by a two-dot chain line in FIG. 2), and expands the volume of the space 74a.

  On the other hand, when the volume of the electrorheological fluid 7 is reduced as the temperature changes, the control wall 74b moves in a direction approaching the second fluid filling chamber 7b (a state indicated by a two-dot chain line in FIG. 2), and the space 74a Reduce the volume. In this way, the control wall 74b controls the size of the volume of the second fluid filling chamber 7b by enlarging / reducing the volume of the space 74a in accordance with the volume expansion and volume reduction of the electrorheological fluid 7. .

  Since the electrorheological fluid 7 in the first fluid filling chamber 7a also expands and contracts as the temperature changes, it is necessary to provide a volume control unit 74 similar to the above in the first fluid filling chamber 7a. There is. However, in this embodiment, since the first fluid filling chamber 7a and the second fluid filling chamber 7b communicate with each other through the communication holes 72 and 73, the first fluid filling chamber 7a and the second fluid filling chamber 7b are communicated. The volume control unit 74 may be provided in both the chamber 7b, but the volume control unit 74 may be provided in either one, and the configuration can be simplified.

  Further, the control device main body 5 has an electric field applying means for the first fluid filling chamber for applying an electric field to the electrorheological fluid 7 filled in the first fluid filling chamber 7a, and a filling in the second fluid filling chamber 7b. Electric field applying means for a second fluid filling chamber for applying an electric field to the electrorheological fluid 7 formed.

  The electric field applying means for the first fluid filling chamber of this embodiment includes a first rotating member 81 made of a conductor such as metal, and the first rotating member 81 connected to the first rotating member 81 so as to be energized. The electric field applying means for the second fluid filling chamber includes a second rotating member 82 made of a conductor such as a metal, and the second rotating member 82. And the second power feeding terminal 63 connected to be energized.

  The second rotating member 82 and the second power feeding terminal 63 constituting the electric field applying means for the second fluid filling chamber are connected via the cylindrical connecting portion 82b of the second rotating member 82. Yes. Specifically, the cylindrical connecting portion 82 b is formed integrally with the rotating member main body 82 a and extends from the lower surface of the rotating member main body 82 a to a position below the second power supply terminal 63.

  And the front-end | tip of the 2nd terminal 63 for electric power feeding is contact | abutted to the outer peripheral surface of this cylindrical connection part 82b. As a result, a voltage can be applied from the second power feeding terminal 63 to the rotating member main body 82a via the cylindrical connecting portion 82b.

  Further, the first rotating member 81 and the first power supply terminal 62 constituting the electric field applying means for the first fluid filling chamber are connected via the conductive power supply member 10 so as to be energized.

  More specifically, the power supply member 10 includes a substantially straight round bar-shaped main body portion 10a, and an arm portion 10b provided on one end side (the upper end side in FIG. 2) of the main body portion 10a so as to be substantially orthogonal to the main body portion 10a. It is composed of Further, the inside of the cylindrical connecting portion 82b, a center hole 82c provided in the second rotating member 82, and an insertion hole 81e for the first rotating member 81 along the second rotating shaft 4 along the axial direction. A housing hole 42 for a power feeding member is formed by a shaft hole 41 opened to the inner position.

  The main body 10a of the power supply member 10 is fixed to the housing hole 42 so that the other end side (the lower end side in FIG. 2) protrudes below the housing hole 42 and rotates together with the second rotating member 82. Is stored. Further, the upper end side of the main body 10 a inserted into the storage hole 42 in this way is extended to a position inside the insertion hole 81 e of the first rotating member 81. The first power supply terminal 62 is in contact with the outer peripheral surface on the lower end side of the main body 10 a that is extended from the lower side of the storage hole 42.

  The arm portion 10b is ejected from the storage hole 42 to the outer peripheral side of the second rotation shaft 4 through the arm portion guide hole 43 formed in the second rotation shaft 4, and the arm portion 10b that has been ejected is provided. Is in contact with the inner peripheral surface of the insertion hole 81 e of the first rotating member 81. Thereby, the 1st rotation member 81 and the 1st terminal 62 for electric power feeding are connected via the electric power feeding member 10 so that electricity supply is possible.

  The motor function training device according to the first embodiment configured as described above is used by being attached to the desk 9 as follows, for example. As shown in FIG. 2, the first and second rotary shafts 3 and 4 of the movement control device 2 for the movable member of the motor function training device are attached to a mounting hole 91 formed in a desk 9 as a fixed member. The top surface of the casing 6 of the control device main body 5 is brought into contact with the back surface of the desk 9.

  And in this state, while fixing the control apparatus main body 5 to the desk 9 with a fixing means (not shown), the 1st link 31 of the link mechanism part 30 of the movable member 1 is attached to the 1st rotating shaft 3, The third links 33 of the link mechanism 30 are connected to the second rotating shaft 4 so as not to rotate.

  Thus, the first and second rotating shafts 3 and 4 are rotatable with respect to the desk 9. The movable member 1 supported by the first and second rotating shafts 3 and 4 is movable with respect to the desk 9. In this embodiment, in this embodiment, the surface of the desk 9 is rotatable in the front-rear direction, and the movement control device 2 for the movable member and the movable member are movable by the rotation of the surface of the desk 9 in the front-rear direction. The member 1 also rotates with the desk 9.

  In FIG. 2, reference numeral 15 denotes a sealing member that prevents leakage of the electrorheological fluid 7. Reference numeral 16 denotes a bolt that closes the overflow port and the injection port of the electrorheological fluid.

  The motor function training apparatus according to the first embodiment configured as described above is used in, for example, the following motor function training system. FIG. 4 is a block diagram of a motor function training system according to an embodiment using the motor function training apparatus.

  This motor function training system is a system that performs training for recovery of motor function or improvement of motor function, and includes a motor function training device 100, an image display unit 104, a position detection unit 101, and a power feeding unit. 102 and a computer 103.

  In this embodiment, the image display unit 104 includes a liquid crystal display unit, receives image information transmitted from the computer 103, and displays an image on the liquid crystal display unit based on the received image information. To do.

  The motor function training apparatus 100 is the same as that of the first embodiment.

  The position detector 101 is for detecting the position of the sliding portion 12 (see FIG. 1) of the movable member 13 in the motor function training apparatus 100. In this embodiment, the position detection unit 101 includes an encoder 101.

  The encoder 101 detects the rotation speeds of the first rotation shaft 3 and the second rotation shaft 4 of the motor function training apparatus 100 and transmits information on the rotation speeds to the computer 103.

  The power supply unit 102 applies voltages of various magnitudes to the first rotating member 81 and the second rotating member 82 based on information from the computer 103.

  The computer 103 is a storage device, and includes a hard disk that is a recording medium on which a program of this system is recorded, a CPU that is a control device that executes a program recorded on the hard disk, and the like.

  The hard disk of the computer 103 includes a database, and for example, image information of a plurality of training programs and position information of the sliding portion 12 with respect to each image are stored in association with the database.

  Then, the computer 103 determines the position of the sliding part 12 in the image displayed on the image display part 104 based on the position information and the image information of the sliding part 12 detected based on the information on the rotational speed, for example, x Display with a mark.

  Next, the operation of this system will be described. First, when a training program is selected by a trainee from the program selection screen, the computer 103 transmits image information used for the selected training program to the image display unit 104 for display. For example, when a training program for rolling the ball 210 is selected along the guide path 200 formed on the wall 202 as shown in FIG. 5, image information indicating the wall 202, the guide path 200, and the ball 210 is displayed as an image. While transmitting and displaying on the display part 104, the position of the sliding part 12 in an image is displayed on the center part of the ball | bowl 210 as x mark.

  Next, when the slide part 12 is moved by the trainee, the computer 103 makes an x mark based on the information on the rotational speeds of the first rotary shaft 3 and the second rotary shaft 4 from the encoder 101. The attached ball 210 is moved.

  For example, when the ball 210 marked with “X” is moved upward in FIG. 5, the slider 210 after the movement is moved based on the information about the rotational speeds of the first rotating shaft 3 and the second rotating shaft 4 from the encoder 101. While detecting the positional information of the moving part 12, the present positional information in an image is detected based on the detected positional information and image information. Then, based on the detected current position information, the display of the ball 210 marked with x is moved upward.

  If the position information of the X mark and the position information of the wall 202 coincide with each other, it is determined that the ball 210 has hit the wall 202, and the first rotating member 81 and the second rotating member 82 are previously connected to the power feeding unit 102. Sends information to apply the set voltage value.

  The received power supply unit 102 applies the received voltage value to the first rotating member 81 and the second rotating member 82. By applying a voltage to the first rotating member 81 and the second rotating member 82, the first rotating member 81 and the second rotating member 82 and the grounded casing 6 (see FIG. 2) An electric field is applied to the fluid filling chamber 7a and the second fluid filling chamber 7b.

  Thereby, the viscoelasticity of the electrorheological fluid 7 in the first fluid filling chamber 7a and the second fluid filling chamber 7b is increased, and the rotational resistance of the first rotating member 81 and the second rotating member 82 is increased. As a result, the first rotating member 81 and the second rotating member 82 are difficult to rotate, and the first rotating shaft 3 and the second rotating shaft 4 are also difficult to rotate. Therefore, it becomes difficult for the grasped trainee to move the sliding portion 12 further upward even when a large force is applied.

  On the other hand, when the sliding portion 12 is moved in the right direction in FIG. 5, the ball 210 marked with X is moved in the right direction based on the current position information detected as described above. In this case, since the ball 210 can move smoothly without hitting the wall 202, the computer 103 does not transmit information indicating that a voltage is applied to the power supply unit 102. Therefore, the first rotating member 81 and the second rotating member 82 are hardly subjected to rotational resistance, and the trainee can smoothly move the sliding portion 12 with a small force.

  In addition, the motor function training apparatus 100 of this invention is not restricted to the thing of the form used for the system of the said embodiment, It can change suitably. For example, in the system of the above embodiment, the operation unit 13 of the motor function training apparatus 100 is operated based on the image displayed on the image display unit 104. For example, the desk 9 is not used without using the image display unit 104. You may make it operate the operation part 13 of the motor function training apparatus 100 based on the image displayed on the surface.

  In the system of the above embodiment, the application of voltage to the first rotating member 81 and the second rotating member 82 is controlled by the computer 103. However, for example, without using the computer 103, the mechanical The voltage may be increased and applied gradually at regular intervals, or a predetermined voltage may be applied manually.

  In the motor function training apparatus according to the first embodiment, the link mechanism 30 of the movable member 1 is configured by a parallel link so that the operation unit 13 can freely move on the XY plane. For example, the operation unit 13 may be moved so as to draw a straight line, a curved line, or the like, or may be moved in three axis directions.

  In the motor function training apparatus according to the first embodiment, the rotating member bodies 81a and 82a of the rotating members 81 and 82 are composed of a single member. For example, the rotating member bodies are spaced apart from each other. You may comprise from the several sheets arranged in parallel.

  In the motor function training apparatus according to the first embodiment, the rotating member bodies 81a and 82a of the rotating members 81 and 82 are made of a disc-shaped member. As shown in FIG. 3, the rotating member main bodies 381a and 382a of the rotating members 381 and 382 may be formed of a cylindrical shape. Further, when the rotating members 381 and 382 having the cylindrical rotating member main bodies 381a and 382a are used, the first and second fluid filling chambers 307a and 307b are also shaped as the rotating member main bodies 381a and 382a of the rotating members 381 and 382. Depending on the shape, it may be formed in a cylindrical shape.

  In the motor function training apparatus of the first embodiment, the first power feeding terminal 62 and the second power feeding terminal 63 are arranged on the lower end side (the other end side) in the axial direction of the casing 6. However, for example, the first power supply terminal 62 may be arranged on one side of the casing 6 in the axial direction, and the second power supply terminal 63 may be arranged on the other side of the casing 6 in the axial direction.

  Next, the motor function training apparatus of 2nd Embodiment is demonstrated based on FIG. The exercise function training device of the second embodiment includes a movable member 1 (see FIG. 1) and a movement control device 400 for the movable member connected to the movable member 1.

  The movable member 1 in the motor function training device of the second embodiment has the same configuration as that of the first embodiment (shown in FIG. 1).

  Similar to the first embodiment, the motion control device 400 for the movable member in the motor function training device of the second embodiment is implemented as a brake device and includes a control device main body 405 having a casing 406, First and second rotating shafts 403 and 404 are provided so as to be rotatable with respect to the casing 406.

  The 1st rotating shaft 403 is comprised from the cylindrical thing similarly to the thing of previous 1st Embodiment. On the other hand, the second rotating shaft 404 is composed of a solid round bar.

  The casing 406 of the control device main body 405 is formed of a bottomed cylindrical shape. A rotary shaft introducing hole 461 is provided on the upper surface of one side (the upper end side in FIG. 2) of the casing 406 in the axial direction.

  Inside the casing 406, fluid filling chambers 407a and 407b filled with a magnetorheological fluid 407 as a functional fluid are provided. The magnetorheological fluid 407 is also referred to as an MR fluid (magnetro-rheological fluid), and is a fluid whose viscoelasticity (rheological) characteristics are changed by application of a magnetic field, and the change is instantaneous and reversible. And in this 2nd Embodiment, this magnetoviscous fluid 407 increases viscoelasticity, and the rotation resistance of the 1st and 2nd rotating shafts 403 and 404 increases, and those rotations are braked.

  In addition, the fluid filling chambers 407a and 407b of the second embodiment are divided into two in the axial direction of the casing 406 by a disc-shaped partition wall 471, and the first fluid filling chamber 407a on the upper side is separated from the first fluid filling chamber 407a. , And a second fluid filling chamber 407b on the lower side.

  The partition wall 471 of the second embodiment is formed integrally with the casing 406. In addition, the partition wall 471 of the second embodiment includes an outer peripheral communication hole 473 that communicates the first fluid filling chamber 407a and the second fluid filling chamber 407b on the outer peripheral side. In addition, although the casing 406 of this 2nd Embodiment is comprised from what was divided | segmented into three, in FIG. 6, it represents as one thing.

  Further, the first fluid filling chamber 407a and the second fluid filling chamber 407b of the second embodiment are partitioned on the outer peripheral side in the casing 406 by a ring-shaped seal member 407c.

  A first rotating member 481 is rotatably disposed in the first fluid filling chamber 407a. The first rotating member 481 of the second embodiment includes a disk-shaped main rotating member 481a that is non-rotatably connected to the first rotating shaft 403 and is made of a magnetic material, and the main rotating member 481a of FIG. And a disk-shaped sub-rotating member 481b which is fixed to the main rotating member 481a and is made of a magnetic material so as to be superimposed on the lower side.

  A second rotating member 482 is rotatably disposed in the second fluid filling chamber 407b. The second rotating member 482 has the same configuration as the first rotating member 481. That is, the second rotating member 482 is connected to the second rotating shaft 404 in a non-rotatable manner and is overlapped with a disk-shaped main rotating member 482a made of a magnetic material and the main rotating member 482a on the lower side of FIG. In this manner, a disk-shaped sub-rotating member 482b that is fixed to the main rotating member 482a and made of a magnetic material is provided.

  Further, the control device main body 405 includes a magnetic field applying means for the first fluid filling chamber for applying a magnetic field to the magnetorheological fluid 407 filled in the first fluid filling chamber 407a, and a filling in the second fluid filling chamber 407b. And a magnetic field applying means for a second fluid filling chamber for applying a magnetic field to the magnetorheological fluid 407 formed.

  The magnetic field applying means for the first fluid filling chamber includes a first rotating member 481 composed of the main rotating member 481a and the sub rotating member 481b, and a first disk member 481c made of a magnetic material fixed to the casing 406. And an exciting coil 481d and two power supply terminals 481e.

  The first disk member 481c is formed of a disk-shaped member, the outer peripheral side is fixed to the casing 406, and the inner peripheral side is disposed between the main rotating member 481a and the sub rotating member 481b.

  The exciting coil 481d is disposed on the inner peripheral side of the first fluid filling chamber 407a by being wound around a winding portion 484 provided on the main rotating member 481a.

  The power supply terminal 481e is composed of two terminals, a positive terminal and a negative terminal, and is fixed to the casing 406 so as to be inserted into a terminal arrangement hole 406a provided in the casing 406. And these are connected with the exciting coil 481d via the electricity supply part 483a provided in the rotor 483 for coil connection so that electricity supply is possible.

  Specifically, the coil connecting rotor 483 is formed of a disk-like one, and includes ring-shaped energization portions 483a on the radially outer side and the inner side, respectively. One side of the energizing portion 483a is connected to one end side of the exciting coil 481d, and the tip of the power feeding terminal 481e is in contact therewith. The other current-carrying portion 483a is connected to the other end of the exciting coil 481d, and the tip of the power feeding terminal 481e is in contact therewith.

  The coil connecting rotor 483 is fixed to the main rotating member 481 a of the first rotating member 481 and rotates together with the first rotating member 481. Further, during the rotation, the energization portion 483a that is in contact with the power supply terminal 481e slides on the front end of the power supply terminal 481e, and rotates while maintaining the state of contact with the front end.

  When a voltage is applied to the power feeding terminal 481e configured as described above, a magnetic circuit is formed by the exciting coil 481d, the main rotating member 481a, the auxiliary rotating member 481b, and the first disk member 481c. As a result, a magnetic field is applied to the magnetorheological fluid 407 filled in the first fluid filling chamber 407a.

  The magnetic field applying means for the second fluid filling chamber has substantially the same configuration as the magnetic field applying means for the first fluid filling chamber. That is, the magnetic field applying means for the second fluid filling chamber includes a second rotating member 482 including a main rotating member 482a and a sub rotating member 482b, and a second disk member including a magnetic body fixed to the casing 406. 482c, an excitation coil 482d, and two power supply terminals 482e that are connected to the excitation coil 482d so as to be energized via an energization section 484a provided in a coil connection rotor 484.

  When a voltage is applied to the power supply terminal 482e, a magnetic circuit is formed by the exciting coil 482d, the main rotating member 482a, the auxiliary rotating member 482b, and the first disk member 482c, thereby the second circuit. A magnetic field is applied to the magnetorheological fluid 407 filled in the fluid filling chamber 407b.

  In the second embodiment, the first and second rotating shafts 403 and 404 and the casing 406 are made of a non-magnetic material so that the magnetism generated by the magnetic field applying means escapes to them and the magnetic field disappears. I don't have anything wrong. The other configuration is the same as that of the first embodiment.

  The motor function training apparatus according to the second embodiment configured as described above can be used in the same manner as that of the first embodiment.

  Next, the motor function training apparatus of 3rd Embodiment is demonstrated based on FIG. The exercise function training apparatus according to the third embodiment includes a movable member 1 and movement control devices 502a and 502b for the movable member.

  The motion control device for the movable member in the third embodiment is implemented as a clutch device that transmits the rotational force of the casing 506 to the movable member 1, and is a first motion control device disposed on the left side of FIG. 502a and the 2nd motion control apparatus 502b arrange | positioned by the right side of FIG. 7 are comprised.

  The first motion control device 502 a is disposed so as to be rotatable with respect to the control device main body 505 having a casing 506 that is rotatably disposed, a motor 521 as a driving unit that rotates the casing 506, and the casing 506. The first and second rotating shafts 503 and 504 are provided.

  The casing 506 of the control device main body 505 includes a belt hooking portion 506a for hooking a rotation transmission belt on the lower end side. The motor 521 is connected to the motor 521 via a rotation transmission belt 531 hung on the belt hook 506a so that the motor 521 rotates. In this embodiment, the casing 506 of the first motion control device 502a rotates in the counterclockwise direction in accordance with the operation of the motor 521. The rest of the control device main body 505 has the same configuration as that of the first embodiment shown in FIG.

  The second motion control device 502b has substantially the same configuration as the first motion control device 502a, but the casing 506 of the second motion control device 502b is rotated clockwise in accordance with the operation of the motor 521. It is designed to rotate.

  The movable member 1 of the third embodiment is provided with a connecting member 512 that is connected to the motion control devices 502a and 502b for the movable member. The connecting member 512 includes a first connecting shaft 510 and a cylindrical second connecting shaft 511 disposed substantially coaxially with the first connecting shaft 510.

  The first connecting shaft 510 is connected to one end side (the lower end side in FIG. 7) via the first rotating shaft 503 of the first motion control device 502a and the rotation transmitting belt 532 so as to be able to transmit rotation. In addition, the second movement control device 502b is connected to the first rotation shaft 503 via a rotation transmission belt 533 so as to be able to transmit rotation.

  Further, the other end side (the upper end side in FIG. 7) of the first connecting shaft 510 is connected to the third link 33 of the movable member 1 so as not to rotate.

  On the other hand, one end side (the lower end side in FIG. 7) of the second connecting shaft 511 is connected to the second rotating shaft 504 of the first motion control device 502a via the rotation transmitting belt 534 so as to be able to transmit the rotation. In addition, the second rotation shaft 504 of the second motion control device 502b is connected to the rotation transmission belt 535 so as to be able to transmit rotation.

  Further, the other end side (the upper end side in FIG. 7) of the second connecting shaft 511 is connected to the first link 31 of the movable member 1 so as not to rotate. The rest of the movable member 1 has the same configuration as that of the first embodiment shown in FIG.

  Next, the operation of the motor function training apparatus according to the third embodiment configured as described above will be described. First, the casing 506 of the first motion control device 502 a is rotated counterclockwise by the operation of the motor 521, and the casing 506 of the second motion control device 502 b is rotated clockwise by the operation of the motor 521.

  In this state, the trainee grips the grip portion 11 of the operation portion 13 of the movable member 1 shown in FIG. In this state, the first rotating member 81 and the second rotating member 82 in the casing 506 have a rotational resistance to the casing 506 from the electrorheological fluid 7 in the first fluid filling chamber 7a and the second fluid filling chamber 7b. Because it is hardly received, it does not rotate. Accordingly, the first rotating shaft 503 and the second rotating shaft 504 also do not rotate, and no force is applied to the grip portion 11 of the operation portion 13 of the movable member 1 connected thereto.

  Thereafter, as in the case of the first embodiment, for example, a voltage is applied to one or both of the first rotating member 81 and the second rotating member 82 in the casing 506 of the first motion control device 502a. (See FIG. 2), by applying an electric field to one or both of the first fluid filling chamber 7a and the second fluid filling chamber 7b, the first fluid filling chamber 7a and the second fluid filling chamber 7b To increase the viscoelasticity of one or both of the electrorheological fluids 7.

  Thereby, the electrorheological fluid 7 of one or both of the first fluid filling chamber 7a and the second fluid filling chamber 7b rotates together with the casing 506, and the first rotating member 81 and the second rotating member 82. Also rotates with the casing 506 and the electrorheological fluid 7.

  By the rotation of the first rotating member 81, the third link 33 of the movable member 1 is moved through the first rotating shaft 503 and the first connecting shaft 510 connected thereto. Also, the first link 31 of the movable member 1 is moved by the rotation of the second rotating member 82 via the second rotating shaft 504 and the second connecting shaft 511 connected thereto. And when the 3rd link 33 of these 1st links 31 is movable, the holding part 11 (refer FIG. 1) of the operation part 13 of the movable member 1 moves to a predetermined | prescribed direction.

  Similarly, by applying a voltage to one or both of the first rotating member 81 and the second rotating member 82 in the casing 506 of the second motion control device 502b, the first connecting shaft 510 is Through the first rotating member 81 and the first rotating shaft 503, the second connecting shaft 511 is controlled by the first motion control through the second rotating member 82 and the second rotating shaft 504, respectively. It rotates in the clockwise direction opposite to that of the device 502a.

  Thereby, the 1st link 31 and the 3rd link 33 of movable member 1 move. For example, the rotation speed of the first connection shaft 510 accompanying the rotation of the first rotation shaft 503 of the second motion control device 502b and the rotation speed of the second connection shaft 511 accompanying the rotation of the second rotation shaft 504 are as follows. In the case of the same number of rotations as in the case of the first motion control device 502a (the rotation direction is opposite), the grip portion 11 of the operation unit 13 of the movable member 1 is the case of the first motion control device 502a. Move in the opposite direction.

  Therefore, the hand of the trainee holding the grip portion 11 is moved as the grip portion 11 moves. Therefore, the thing of the previous 1st Embodiment moves the holding part 11 to a predetermined direction with the intention of the trainee who hold | gripped the holding part 11, and applies the brake with respect to the movement suitably, and is an exercise | movement function of an arm. In contrast to training, the third embodiment trains the arm's motor function by forcibly moving the trainee's hand gripping the gripping part 11 in a predetermined direction. Is.

  In the third embodiment, the motion control devices 502a and 502b for the movable member constitute a clutch device using an electrorheological fluid. However, the present invention is not limited to this configuration. For example, a magnetic viscous fluid is used. The clutch device can also be configured and can be changed as appropriate.

  More specifically, for example, a casing in a motion control device for a movable member using a magnetorheological fluid similar to that shown in FIG. 6 is rotatably arranged, and a motor as a driving unit is connected to the casing. Then, in a state where the casing is rotated by the operation of the motor, a magnetic field is applied to the magnetorheological fluid by the magnetic field applying means, thereby increasing the viscoelasticity of the magnetorheological fluid and the first and second rotating shafts together with the casing. The movable member is rotated, thereby moving the movable member.

  Moreover, in the said 3rd Embodiment, although the 1st motion control apparatus 502a and the 2nd motion control apparatus 502b and the movable member 1 are connected via the connection member 512, it is not restricted to this form, It can be changed as appropriate.

  For example, the first rotation shafts 503 of the first motion control device 502a and the second motion control device 502b are connected to each other so as to be able to transmit rotation by a rotation transmission means such as a belt, and the second rotation shafts 504 are connected to each other. It connects so that rotation transmission is possible by rotation transmission means, such as a belt. Further, one of the first link 31 and the third link 33 of the movable member 1 is non-rotatably connected to the first rotating shaft 503 of the first motion control device 502a or the second motion control device 502b. In addition, any one of the first link 31 and the third link 33 may be connected to the second rotating shaft 504 so as not to rotate.

  Moreover, in the said 3rd Embodiment, although the motion control apparatus for movable members was comprised from two, the 1st motion control apparatus 502a and the 2nd motion control apparatus 502b, it is not restricted to the thing of this form, It can be changed as appropriate. For example, it is assumed that only one of the first motion control device 502a and the second motion control device 502b is provided, and the first link 31 and the third link 33 of the movable member 1 are directly used for the movable member. You may make it connect with the 1st rotating shaft and 2nd rotating shaft of this motion control apparatus.

  Further, when only one of the first motion control device 502a and the second motion control device 502b is provided, the motor connected to the first motion control device 502a may be configured to rotate so as to be capable of forward / reverse switching. .

  The motor function training apparatus according to the third embodiment may be manually performed, but may be controlled by a computer or the like using a motor function training system including a computer or the like.

  For example, an encoder as a position detecting unit is connected to each of the first connecting shaft 510 and the second connecting shaft 511, and the encoder is connected to a computer. Further, the first rotating member 81 and the second rotating member 82 of the first motion control device 502a, the first rotating member 81 and the second rotating member 82 of the second motion control device 502b, and a power feeding unit, respectively. Are connected to each other, and those power feeding sections are connected to the computer.

  When the program stored in the computer is executed, the casings 506 of the first motion control device 502a and the second motion control device 502b rotate, and the motion control device having the rotating casing 506. One of the first rotation member 81 and the second rotation member 82 of the first motion control device 502a or the second motion control device 502b is determined by the power supply unit connected to 502a and 502b based on a command from the computer. Alternatively, by applying a voltage having a predetermined magnitude to both, the first connecting shaft 510 is rotated via the first rotating shaft 503 and the second connecting shaft 511 is connected via the second rotating shaft 504. Rotate.

  Further, the amount of left or right rotation of the first connecting shaft 510 and the second connecting shaft 511 is detected by the encoder, and the information is transmitted to the computer. Based on the received information, the computer issues a command to the first rotating member 81 and the second rotating member 82 to the power feeding unit. Thereby, the holding part 11 of the operation part 13 of the movable member 1 performs predetermined | prescribed movement according to the program memorize | stored in the computer.

  In addition, although the motor function training apparatus of the said 1st Embodiment-3rd Embodiment shall be provided with the communicating hole, you may not provide a communicating hole.

  Moreover, although the movement control apparatus for movable members of the said embodiment is used for the motor function training apparatus, it can change suitably not only the thing of this form, for example, can also be used for game devices, such as a game. In addition, when used in a motor function training device, the movable member is provided with a gripping portion, and the gripper is gripped to mainly train the upper limbs of the trainee. It is good also as what trains a trainee's leg mainly by stepping on a foot part, and can change suitably.

It is a perspective view of a movable member in a motor function training device of a 1st embodiment of the present invention. It is sectional drawing of the movement control apparatus for movable members in the motor function training apparatus of 1st Embodiment of this invention. It is sectional drawing of other embodiment of the movement control apparatus for movable members of the motor function training apparatus of 1st Embodiment. It is a block diagram of the motor function training system using the motor function training apparatus of 1st Embodiment of this invention. It is an example of the image displayed on the image display part. It is sectional drawing of the movement control apparatus for movable members in the motor function training apparatus of 2nd Embodiment. It is a schematic explanatory drawing of the movement control apparatus for movable members in the motor function training apparatus of 3rd Embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Movable member 2,400,502a, 502b Motion control apparatus for movable members 3,403,503 First rotating shaft 4,404,504 Second rotating shaft 5,405,505 Control device main body 6,406,506 Casing 7 Electrorheological fluid (functional fluid)
7a, 407a First fluid filling chamber 7b, 407b Second fluid filling chamber 71, 471 Partition wall 72 Central portion communication hole 73 Outer peripheral portion communication hole 81, 481 First rotating member 82, 482 Second rotating member 407 Magnetorheological fluid (functional fluid)

Claims (7)

A movable member that controls the movement of the movable member by changing the rotational resistance of the first and second rotating shafts connected to the movable member using a functional fluid whose viscoelasticity changes in response to application of an electric field or a magnetic field. A motion control device for
A casing having a fluid filling chamber filled with the functional fluid; and first and second rotating shafts arranged rotatably with respect to the casing;
In the casing , the fluid filling chamber is partitioned in the axial direction of the casing by a partition wall and is disposed on one side in the axial direction and a first fluid filling chamber disposed on the other side in the axial direction. With two fluid filling chambers,
In the first fluid filling chamber, a first rotating member is rotatably disposed inside,
In the second fluid filling chamber, a second rotating member is rotatably disposed inside,
The first rotating shaft is formed in a cylindrical shape, and rotates with the first rotating member from the one side through a rotating shaft introduction hole formed on one side in the axial direction of the casing. Linked to impossible,
The second rotating shaft is passed through the first rotating shaft and penetrates the first rotating member and the partition wall so that the second rotating shaft cannot rotate with the second rotating member from the one side. Connected to
Each of the first and second rotating members is configured such that the rotational resistance of the functional fluid between the casing and the rotating shaft increases as the viscoelasticity of the functional fluid in each of the fluid filling chambers increases. A motion control device for a movable member. The casing is fixed to a fixed member,
The first and second rotating shafts are configured such that the rotation with respect to the casing is braked as the viscoelasticity of the functional fluid in each of the fluid filling chambers increases. Item 8. A motion control device for a movable member according to Item 1. The casing is rotated by driving means,
The said 1st and 2nd rotating shaft is comprised so that it may rotate with the said casing as the viscoelasticity of the functional fluid of each said fluid filling chamber increases. A motion control device for a movable member.   The partition wall includes a communication hole that communicates the first fluid filling chamber and the second fluid filling chamber so that the functional fluid can be used in the first fluid filling chamber and the second fluid filling chamber. The movement control device for a movable member according to claim 1, wherein the movement control device is configured to be able to flow from any one of the two to the other. The first rotating shaft is formed in a cylindrical shape,
In the casing, the fluid filling chamber is partitioned in the axial direction of the casing by the partition wall and is disposed on one side in the axial direction, and the second fluid filling chamber is disposed on the other side in the axial direction. With two fluid filling chambers,
In the first fluid filling chamber, a first rotating member is disposed inside, and the first rotating member and the first rotating member are disposed through a rotating shaft introduction hole formed on one side in the axial direction of the casing. The first rotating shaft is coupled,
In the second fluid filling chamber, a second rotating member is disposed inside, and from the inside of the second rotating member and the first rotating shaft to a substantially central portion of the first rotating member. The insertion hole provided and the second rotation shaft passed through the communication hole of the partition wall are connected,
The second rotating member includes a conductive cylindrical connecting portion protruding on the other side in the axial direction of the casing, and the second rotating member is provided on the other side in the axial direction of the cylindrical connecting portion and the casing. By being connected to the power supply terminal so that energization is possible, it is configured so that a voltage can be applied to the second rotating member from the other side,
The first rotating member is connected to a first power supply terminal provided on the other side in the axial direction of the casing through the current-carrying member so as to be energized, so that the first rotating member is connected to the first rotating member from the other side. Configured to apply voltage,
The energizing member is inserted into a storage hole formed in a portion extending from the inside of the cylindrical connecting portion to the shaft hole formed in the axial direction of the second rotation shaft, and one end side thereof is the first rotation. It is arranged inside the insertion hole of the member, is extended from the storage hole to the outer peripheral side of the second rotating shaft, is connected to the inner peripheral surface of the insertion hole of the first rotating member, and the other end side is the first. The movement control device for a movable member according to claim 1, wherein the movement control device is connected to a power feeding terminal. An exercise function training device comprising the movement control device for a movable member according to any one of claims 1 to 5, and a movable member for causing a trainee to perform exercise function training,
The movable member is configured to be interlocked with the first and second rotating shafts by being connected to the other end sides of the first and second rotating shafts of the motion control device for the movable member. A motor function training apparatus characterized by that. The movable member includes a link mechanism part and a grip part gripped by a trainee,
The link mechanism section includes long first and second links arranged substantially parallel to each other at a predetermined interval, and long third and second links arranged substantially parallel to each other at a predetermined interval. A fourth link,
One end of the first link is non-rotatably supported by one of the first rotating shaft and the second rotating shaft, and the other end is rotatably connected to one end of the fourth link. And
One end of the third link is non-rotatably supported by one of the first rotating shaft and the second rotating shaft, and the other end is rotatably connected to one end of the second link. And
The other ends of the second link and the fourth link are rotatably connected,
The motor function training device according to claim 6, wherein the grip portion is supported on the other end side of the second link or the other end side of the fourth link.

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