JP6936053B2 - Winding device - Google Patents

Description

The present invention relates to a hoisting device for electrically or manually hoisting (winding) and / or unwinding (rolling out) a tow member to raise and lower an object.

Winding devices that use the driving force of a motor or manual force to wind or unload objects such as bedding, packaging, temporary scaffolding, buildings, and fishing gear to a predetermined position have been generally known. There is.

Also, in the field of fishing, fishing reels are often used as hoisting devices.

These various types of hoisting devices incorporate various mechanisms that allow the object to be hoisted and unwound in an optimal state without trouble using electric or manual driving force.

For example, in an electric reel for fishing that winds a fishing line using an electric motor or a portable winch that winds a wire, the tension acting on the fishing line or the wire is detected, and the detected value is used to break the fishing line or the wire. There is a need to use it for winding control of electric motors for the purpose of prevention, speeding up winding / releasing speed, and prevention of entanglement, and various tension detection mechanisms have been proposed in order to realize this. ing. For example, in Patent Document 1 and Patent Document 2, in a fishing reel that winds a fishing line on a spool, tension is detected based on a force acting on the rotation axis of the spool. Further, in Patent Documents 3 to 6, a dedicated detection unit for sliding the thread and the detection unit is provided.

Jikkensho 59-20059 Japanese Unexamined Patent Publication No. 6-276900 Japanese Unexamined Patent Publication No. 11-46644 Japanese Unexamined Patent Publication No. 2013-172704 Japanese Unexamined Patent Publication No. 2001-95444 Japanese Unexamined Patent Publication No. 2000-83535

However, in Patent Document 1 and Patent Document 2 in which the tension is detected based on the force acting on the rotating shaft of the spool, problems remain in terms of detection accuracy and miniaturization of the apparatus. That is, when a large load is assumed, the spool is generally a double bearing type, but even in that case, the tension sensor is often arranged only at one end of the rotation shaft of the spool. In the one-sided sensor arrangement form, the detection value of the sensor changes even with the same tension depending on the position of the fishing line on the spool, and it becomes difficult to obtain a satisfactory detection accuracy. Further, in this case, in order to improve the detection accuracy, if measures such as arranging tension sensors on both sides of the rotation shaft of the spool or detecting the position of the fishing line on the spool are taken, the size of the entire device can be increased. It causes an increase in the number of parts.

On the other hand, in Patent Documents 3 to 6 provided with a dedicated detection unit for sliding the thread and the detection unit, the thread is damaged when a large tension is applied due to the sliding of the thread and the detection unit. Inconveniences such as sticking and extra frictional resistance occur. In this case, if a rotation guide or the like is provided at the contact portion between the yarn and the detection portion in order to reduce the sliding resistance, it becomes difficult for the oscillator mechanism for evenly winding the yarn and the detection portion to coexist. Further, since the angle of the thread at the contact portion with the detection portion is shallow, it is difficult to improve the accuracy of tension detection.

The present invention has been made by paying attention to the above-mentioned problems, and an object of the present invention is to provide a winding device capable of realizing both miniaturization and improvement of detection accuracy without causing sliding resistance.

In order to achieve the above object, the hoisting device of the present invention detects a rotating body that is rotatably supported by the main body of the device and around which a traction member for pulling a hoisting object is wound, and a tension of the traction member. The tension detecting unit is a pulley for hanging and guiding the traction member wound around the rotating body, and the tension detecting unit of the rotating body is provided with the rotation of the rotating body. A pulley that is movable in the axial direction, a moving shaft that supports the pulley so as to be rotatable and axially movable, and receives the tension of the traction member together with the pulley, and the moving shaft that moves with respect to the apparatus main body. It is characterized by having a support mechanism for movably supporting the shaft and a tension detecting means for detecting the tension of the traction member based on a load acting on the support mechanism with the movement of the moving shaft.

According to the above configuration, the tension detecting unit that detects the tension of the traction member detects the tension by hanging the traction member over a rotatable pulley and guiding the traction member. Therefore, unlike the detection unit disclosed in Patent Documents 3 to 6 described above, the tension of the traction member can be detected efficiently and accurately without causing sliding resistance and thus without damaging the traction member. Further, since the pulley can move in the axial direction of the rotating body as the rotating body rotates, the traction member on the rotating body as seen in the sensor arrangement related to Patent Document 1 and Patent Document 2 described above. It is possible to ensure high detection accuracy without causing fluctuations in the detected value due to changes in the position.

Moreover, in the above configuration, the tension of the traction member is detected based on the load acting on the support mechanism with the movement of the moving shaft that receives the tension of the traction member together with the pulley, so that the existing parts can be used. By making the best use of it, it is possible to realize the detection of tension with the minimum number of components, and therefore, it is possible to improve the detection accuracy while minimizing the increase in size of the entire device. In particular, in a configuration provided with an oscillator mechanism for evenly winding the traction member in parallel with the rotating body, along the lead-out path of the traction member from the rotating body to the oscillator mechanism via the pulley. If the tension detection unit is positioned between the oscillator mechanism and the rotating body, the angle formed by the extending direction of the traction member extending from the rotating body to the pulley and the extending direction of the traction member extending from the pulley to the oscillator mechanism. These components can be arranged without increasing the dead space even when the detection accuracy is improved by reducing the size of the device. Therefore, both the miniaturization of the device and the improvement of the detection accuracy can be realized.

The hoisting device having the above configuration can be used for hoisting and lowering objects such as bedding, packaging, temporary scaffolding, buildings, and fishing gear to a predetermined position, and is also used as a reel for fishing. Furthermore, the field of application is not limited, such as mounting on a drone and unloading the luggage from the drone or hoisting the luggage to a drone in the sky. Also, the driving force source can include both electric and manual.

According to the present invention, it is possible to obtain a winding device that can realize both miniaturization and improvement of detection accuracy without causing sliding resistance.

A perspective view of a winding device according to an embodiment of the present invention as viewed from one side. The plan view of the winding device of FIG. FIG. 2 is a cross-sectional view taken along the line AA of FIG. A perspective view of the winding device of FIG. 1 as viewed from the other side. A side view of the hoisting device of FIG. 1 as viewed from one side. FIG. 3 is a cross-sectional view taken along the line BB of FIG. It is a conceptual diagram of the tension detection of a traction member.

Hereinafter, an embodiment of the hoisting device according to the present invention will be specifically described with reference to the accompanying drawings. In this specification, the "axial direction" is defined as the axial direction of the rotating shaft of the rotating body, which will be described later.

As shown in FIGS. 1 to 6, the winding device 1 according to the present embodiment includes an electric motor 2 as a driving force source for generating a rotational driving force and a traction member (a traction member for pulling a winding object). A housing 6 is provided as an apparatus main body for accommodating and holding a cylindrical rotating body 4 around which (not shown in FIGS. 1 to 6) is wound. In this case, the rotating body 4 is rotatably supported by the housing 6 via the bearing 8, and the electric motor 2 cannot rotate inside the tubular rotating body 4 while being housed in the motor housing 2A. It is supported and fixed, and may be driven by, for example, a battery (not shown) that can be attached to and detached from the housing 6. The housing 6 is a housing for holding each component, and is composed of a frame 6a and a set plate 6b, and may be fixed to a fishing rod, a drone, or the like depending on the purpose of the hoisting device 1.

Examples of the traction member include wires, chains, ropes, fishing lines, and the like, depending on the application of the hoisting device 1. Further, the rotating body 4 corresponds to a spool on which a fishing line is wound, for example, when the winding device 1 is used as an electric reel for fishing.

Further, the electric motor 2 and the rotating body 4 are connected to each other by a power transmission mechanism (power transmission path) 10 so as to be able to transmit power. In this case, for example, the power transmission mechanism 10 may transmit the rotation of the electric motor 2 to the rotating body 4 side but not the rotation of the rotating body 4 to the electric motor 2 side. A deceleration mechanism 12 for decelerating the rotational driving force and transmitting the rotational driving force to the rotating body 4 side is provided. In the present embodiment, the reduction mechanism 12 is a two-stage first planetary gear mechanism 12A connected to the output shaft 2a of the electric motor 2 and a second planetary gear mechanism 12A connected to the first planetary gear mechanism 12A. It is composed of a planetary gear mechanism 12B.

Further, the electric hoisting machine 1 according to the present embodiment is provided with an oscillator mechanism 16 for evenly winding the traction member in parallel with the rotating body 4. In the oscillator mechanism 16, when the electric motor 2 is rotationally driven (thus, the rotating body 4 is rotated), the guide body 42 that inserts the traction member drawn out from the rotating body 4 is left and right (axis) in conjunction with the rotation drive. It is configured to reciprocate in the direction), and has a function of evenly winding the traction member with respect to the rotating body 4 as the traction member winds up. The oscillator mechanism 16 has a known configuration, and is a guide cylinder 43 for guiding the axial movement of the guide body 42, a worm gear, an oscillator 45, a follower 46, and a guide shaft 44 as a rotation stopper for the guide body 42. Has.

As described above, both ends of the rotating body 4 are rotatably supported by the housing 6, and the rotating body 4 is composed of a bobbin portion 4a and a cap portion 4b. The bobbin portion 4a can wind a traction member, and the cap portion 4b has an outer gear on the outer peripheral portion that transmits rotation to the oscillator mechanism 16 via an oscillating gear. Further, an internal gear to which rotation is transmitted from the power transmission mechanism 10 is provided on the inner peripheral portion of the cap portion 4b.

The electric motor 2 is fixed to the housing 11 as described above, but by arranging the electric motor 2 coaxially inside the rotating body 4 as in the present embodiment, dead space is eliminated and the entire device is miniaturized. Can be done. The electric motor 2 rotates in a predetermined rotation direction, rotation speed, and rotation torque by receiving a current supply from a motor control unit (not shown). In the present embodiment, the traction member can be wound around the rotating body 4 by rotating the electric motor 2 in the forward direction, and the traction member can be unwound from the rotating body 4 by rotating the electric motor 2 in the opposite direction.

As described above, the power transmission mechanism 10 transmits the rotation from the electric motor 2 to the rotating body 4, but if necessary, a reversing prevention mechanism (one-way clutch, bidirectional clutch) for preventing unintended reversal of the rotating body 4. , Ratchet, etc.), torque limiting mechanism (drag, torque limiter, etc.) that limits the transmission torque, clutch mechanism that shuts off torque transmission, manual input, etc. It may have an input mechanism (planetary deceleration mechanism, etc.) and the like.

It is preferable to set an appropriate reduction ratio by using a gear mechanism or a belt mechanism according to the relationship between the output of the electric motor 2 and the purpose of the hoisting device 1. In particular, in this embodiment, as described above, the three-stage planetary deceleration mechanisms 12A and 12B are used. As a result, power can be transmitted to the rotating body 4 coaxially with the output shaft 2a of the motor 2, and it is possible to reduce the size of the entire device and increase the degree of freedom in designing the reduction ratio.

Further, the winding device 1 of the present embodiment has a tension detecting unit 15 for detecting the tension of the traction member. The tension detection unit 15 has a pulley 153 for hanging and guiding a towing member wound around the rotating body 4. The pulley 153 can move in the axial direction of the rotating body 3 as the rotating body 4 rotates. In particular, in the present embodiment, the pulley 153 is rotatably supported by the slider 152 connected to the guide body 42 via the transmission rod 166, and the slider 152 is interlocked with the axial movement of the guide body 42. By doing so, the pulley 153 can move in the axial direction of the rotating body 3 with the rotation of the rotating body 4 (that is, the pulley 153 is moved in the axial direction in conjunction with the operation of the oscillator mechanism 16). ..

Further, the tension detection unit 15 supports the pulley 153 so as to be rotatable and axially movable, and receives the tension of the traction member together with the pulley 153 to move (in this embodiment, the movement mode rotates as described later). However, the movement mode is not limited to this, and the guide shaft 151 as a movement shaft and the guide shaft 151 can be moved (rotatably in the present embodiment) with respect to the housing 6. It has a support mechanism 150 and a detection sensor 156 as a tension detecting means for detecting the tension of the traction member based on the load acting on the support mechanism 150 with the movement of the guide shaft 151. Further, the support mechanism 150 has a plurality of parts described later, specifically, a rotating shaft 154, a detected portion 155, a connecting portion 157, and a return spring 158. In the configuration including the tension detecting unit 15, the traction member wound around the rotating body 4 is discharged to the outside via the pulley 153 and the guide body 42 of the oscillator mechanism 16.

The guide shaft 151 and the rotating shaft 154 are rod-shaped parts extending in the axial direction, both of which are slightly longer than the axial length of the housing 6, and both ends thereof are connected to the connecting portion 157 and the detected portion 155 on both sides of the housing 6. Be connected. When the rotating shaft 154 is pivotally supported by the housing 6, these four parts, that is, the guide shaft 151, the rotating shaft 154 extending in parallel with the guide shaft 151, the detected portion 155, and the connecting portion 157 are rotated shafts. It can rotate (rotate) integrally around 154. In particular, in the present embodiment, the guide shaft 151, the rotating shaft 154, the detected portion 155, and the connecting portion 157 form one unit integrally formed as a rigid body. The housing 6 has a hole (not shown) for supporting the rotating shaft 154 and an arc-shaped relief portion 70 (see FIG. 7) for allowing the movement (rotating operation) of the guide shaft 151 to escape. Is provided.

The slider 152 is supported so as to be movable in the axial direction with respect to the guide shaft 151. Further, the slider 152 has a bearing portion that rotatably supports the pulley 153. It is preferable to use a ball bearing for this bearing portion. Further, the slider 152 reciprocates in the axial direction together with the guide body 42 by receiving the movement of the guide body 42 from the transmission rod 166. Since the pulley 153 is pivotally supported by the slider 152, the tensioned traction member can be smoothly guided.

The detected portion 155 has a gear portion 1551 centered on a rotating shaft 154, and the gear portion 1551 meshes with a pinion gear 1561 provided on the detection sensor 156 to transmit rotation to the detection sensor. Further, the detected portion 155 receives a force from the return spring 158 by the dowel 1553 attached to the tip of the arm portion 1552 of the detected portion 155. The range in which the dowel 1553 can rotate is limited by, for example, an arc frame-shaped rotation restricting portion 6c provided in the housing 6. In this embodiment, the dowel 1553, and thus the detected portion 155, can rotate 10 degrees.

The return spring 158 applies a restoring force according to the movement of the detected portion 155 in the rotational direction. In this embodiment, a torsion coil spring is used as the return spring 158. The relationship between the amount of movement of the detected portion 155 and the magnitude of the restoring force of the return spring 158 at this time may be a monotonically increasing relationship, but a proportional relationship is desirable depending on the purpose.

The detection sensor 156 detects the position of the detected portion 155 in the rotation direction about the rotation shaft 154. In the present embodiment, the tension of the traction member (movement amount of the detected portion 155) is converted into an electric signal by using a rotary variable resistor (position sensor) as the detection sensor 156. Further, the detection accuracy is improved by accelerating the rotation of the detected portion 155 by the meshing action between the pinion gear 1561 and the gear portion 1551.

In the present embodiment, the tension is detected by detecting the position of the detected portion 155 in the rotation direction according to the tension of the towing member by the action of the return spring 158, but in the present specification, the guide shaft 151 is detected. There is no limitation on the method of detecting the force acting on the force. The force in the rotational direction acting on the guide shaft 151 can also be detected by a strain sensor, a magnetostrictive sensor, a pressure sensor using a piezoelectric element, or the like. When the tension is detected by the movement of the detected unit 155 in the rotational direction as in the present embodiment, even if there is a momentary change in tension, it is not detected as a voltage until the detected unit 155 moves. That is, it is effective as a low-pass filter, and depending on the purpose of tension detection, abnormal operation such as vibration can be prevented. In addition, output drift due to self-heating, which is a problem in the strain sensor, does not occur.

On the other hand, when it is desired to read the momentary tension fluctuation, a strain sensor or a piezoelectric element may be used. When a strain sensor is used, a leaf spring to which a strain gauge is attached acts on the non-detection portion 155, and torque is generated by the leaf spring, whereby the same function as that of the present embodiment can be realized. Alternatively, a part of the detected portion 155 to which the strain gauge is attached may be fixed to the housing 6, and the detected portion 155 itself may function as a leaf spring.

As shown in the figure, the tension detection unit 15 having the above configuration includes the oscillator mechanism 16 and the rotating body 4 in the lead-out path of the traction member from the rotating body 4 to the oscillator mechanism 16 via the pulley 153. It is located between the two, and is located on the opposite side of the oscillator mechanism 16 with respect to the rotating body 4.

FIG. 7 shows a conceptual diagram of tension detection of the towing member by the tension detection unit 15. As shown in the figure, the traction member 100 extending from the rotating body 4 comes into contact with the pulley 153, is hung, changes direction, and is led out to the outside via the guide body 42 of the oscillator mechanism 16. Here, the angle formed by the extending direction D1 of the traction member 100 extending from the rotating body 4 to the pulley 153 and the extending direction D2 of the traction member 100 extending from the pulley 153 to the guide body 42 of the oscillator mechanism 16 is defined as θ. .. When the tension T is applied, the tension T acting on the traction member 100 is constant at an arbitrary position on the traction member 100, so that the pulley 153 receives the tension T in both the direction of the rotating body 4 and the direction of the oscillator mechanism 16. .. The direction of the resultant force of these tensions T is the bisector direction of the angle θ, and the magnitude thereof is 2 Tcos (θ / 2). Therefore, the smaller the angle θ, the more efficiently the tension is transmitted to the pulley 153, and the better the detection accuracy. On the other hand, the smaller the angle θ, the more space is required for the traction member 100 to pass through, and it becomes difficult to reduce the size of the entire device. Therefore, the balance is good when θ is set in the range of 30 degrees to 150 degrees. In this embodiment, θ is set to 80 degrees.

Further, in the present embodiment, the rotating shaft 154 is the extending direction D1 of the traction member 100 extending from the rotating body 4 to the pulley 153 and the extending direction of the traction member 100 extending from the pulley 153 to the guide body 42 of the oscillator mechanism 16. It is located on the line L2 that is substantially orthogonal to the bisector L1 at an angle θ formed by D2. As a result, the moving (rotating) direction of the guide shaft 151 and the pulley 153 substantially coincides with the resultant force direction of the tension T (the direction of the bisector of θ), and the tension T is efficiently transmitted to the pulley 163. Therefore, the detection accuracy of the tension T can be improved. Even if the rotation axis 154 cannot be accurately placed on the line L2 substantially orthogonal to the bisector L1 at an angle θ due to requirements such as ensuring strength, 90 ° ± 30 ° with respect to the bisector L1. If it is within the range of the degree, there is no problem because the pulley moving direction component of the resultant force of the tension T is secured.

In the present embodiment, the detected portion 155 is stably stationary at a position where the torque generated by the resultant force of the tension T and the torque received from the return spring 158 in the opposite direction are balanced. Therefore, the detection sensor 156 can calculate the tension T by detecting this position.

In the above configuration, the rotating body 4 is rotated in the forward and reverse directions by the rotational drive of the electric motor 2, so that the slider 152 is reciprocally driven in the axial direction in conjunction with the guide body 42, and the rotating body 4 is driven via the pulley 153. The guide shaft 151 and the support mechanism 150 rotate due to the tension acting on the traction member extending to the guide body 42, so that the detection sensor 156 detects the tension of the traction member.

As described above, according to the hoisting device 1 of the present embodiment, the tension detecting unit 15 that detects the tension of the towing member detects the tension by hanging the towing member over the rotatable pulley 153 and guiding it. It has become like. Therefore, unlike the detection unit disclosed in Patent Documents 3 to 6 described above, the tension of the traction member is applied without causing sliding resistance (sliding friction) even at high tension and thus without damaging the traction member. It can be detected efficiently and accurately. Further, since the pulley 153 can move in the axial direction of the rotating body 4 with the rotation of the rotating body 4, the pulley 153 can be moved on the rotating body as seen in the sensor arrangement related to the above-mentioned Patent Documents 1 and 2. It is possible to ensure high detection accuracy without causing fluctuations in the detected value due to changes in the position of the traction member.

Moreover, in the present embodiment, the tension of the traction member is detected based on the load acting on the support mechanism 150 with the movement of the guide shaft 151 that receives the tension of the traction member together with the pulley 153 and moves. It is possible to realize tension detection with the minimum number of components by making use of existing parts, and therefore, while minimizing the increase in size of the entire device (in this embodiment, since there is only one pulley 153, it is configured. The number of elements can be minimized), and the detection accuracy can be improved.

In particular, in the configuration of the present embodiment including the oscillator mechanism 16 for evenly winding the traction member in parallel with the rotating body 4, the rotating body 4 moves toward the oscillator mechanism 16 via the pulley 153. Since the tension detection unit 15 is located between the oscillator mechanism 16 and the rotating body 4 along the lead-out path of the traction member, the extending direction of the traction member extending from the rotating body 4 to the pulley 153 and from the pulley 153. Even when the angle θ formed by the extending direction of the traction member extending to the oscillator mechanism 16 is reduced to improve the detection accuracy, these components can be arranged without increasing the dead space, and therefore, the device can be arranged. Both miniaturization and improvement of detection accuracy can be realized. Further, since the rotation shaft 154 is arranged in the direction orthogonal to the bisector of the angle θ, the movement direction of the guide shaft 151 coincides with the resultant force direction of the tension T, and the detection accuracy can be improved.

Further, in the present embodiment, as described above, the tension detection unit 15 is arranged between the oscillator mechanism 16 and the rotating body 4, and the axial movement is transmitted from the oscillator mechanism 16 to the pulley 153 via the transmission rod 166. Therefore, even if the axial distance of the rotating body 4 is increased, the traction member can be uniformly wound around the rotating body 4, and interference between the housing 6 and the traction member can be avoided.

Further, in the present embodiment, the guide shaft 151, the rotating shaft 154, the connecting portion 157, and the detected portion 155 are integrally configured as a rigid body, and the torque for this unit is detected. Therefore, regardless of the position of the oscillator mechanism 16, if the tension of the traction member is constant, the torque around the rotating shaft 154 becomes constant, and stable detection is possible with one detection sensor.

The hoisting device 1 of the present embodiment can be used for hoisting and lowering objects such as bedding, packaging, temporary scaffolding, buildings, and fishing gear to a predetermined position, and also as a reel for fishing. It can also be used, and its application fields are not limited, such as mounting it on a drone to unload the luggage from the drone or hoisting the luggage to a drone in the sky.

Although one embodiment of the present invention has been described above with reference to the drawings, the present invention is not limited to the above-described embodiment, and can be variously modified and implemented without departing from the gist thereof. For example, the configuration of the support mechanism and the tension detection sensor is not limited to the above-described embodiment, and can be arbitrarily designed. Further, in the above-described embodiment, the driving force source for generating the rotational driving force is the electric motor, but the rotational driving force may be manually generated. Further, in the above-described embodiment, the drive of the electric motor may be remotely controlled by using a mobile phone, a WiFi communication terminal, or the like. Further, in the above-described embodiment, the planetary gear mechanism is adopted as the reduction mechanism, but as the reduction mechanism, a wave gear device such as a harmonic drive (registered trademark) or a spur gear may be adopted. Further, in the above-described embodiment, the electric motor is housed in the rotating body, but the electric motor may be provided outside the rotating body.

1 Electric hoisting device 2 Electric motor (driving force source)
4 Rotating body 6 Housing (device body)
15 Tension detector 16 Oscillator mechanism 150 Support mechanism 151 Guide shaft (moving shaft)
153 Pulley 156 detection sensor (tension detection means)

Claims (9)

A rotating body that is rotatably supported by the main body of the device and around which a traction member for pulling the object to be wound is wound.
A tension detection unit that detects the tension of the traction member, and
With
The tension detection unit
A pulley for hanging and guiding the traction member wound around the rotating body, and a pulley that can move in the axial direction of the rotating body as the rotating body rotates.
A moving shaft that supports the pulley so as to be rotatable and axially movable, and receives the tension of the towing member together with the pulley to move.
A support mechanism that movably supports the moving shaft with respect to the device main body,
A tension detecting means for detecting the tension of the traction member based on a load acting on the support mechanism as the moving axis moves.
A hoisting device characterized by having. An oscillator mechanism for evenly winding the traction member in parallel with the rotating body is further provided, and the traction member is led out from the rotating body to the oscillator mechanism via the pulley. The winding device according to claim 1, wherein the tension detecting unit is located between the oscillator mechanism and the rotating body. The winding device according to claim 2, wherein the pulley is moved in the axial direction in conjunction with the operation of the oscillator mechanism. The winding device according to claim 2 or 3 , wherein the movement of the moving shaft with respect to the device main body is a rotation about a rotating shaft pivotally supported by the device main body. The movement is substantially along the direction of the bisector of the angle formed by the extending direction of the traction member extending from the rotating body to the pulley and the extending direction of the traction member extending from the pulley to the oscillator mechanism. The winding device according to claim 4, wherein the shaft is rotated. The winding device according to claim 5, wherein the rotation axis is located on a line substantially orthogonal to the bisector. The angle formed by the extending direction of the traction member extending from the rotating body to the pulley and the extending direction of the traction member extending from the pulley to the oscillator mechanism is within the range of 30 ° to 150 °. The winding device according to any one of claims 2 to 6, wherein the winding device is characterized. The winding device according to any one of claims 1 to 7, wherein the moving shaft and the support mechanism are configured as an integral unit. The tension detecting means includes either a strain sensor, a piezoelectric sensor, or a combination of a spring that resists the movement of the moving shaft and a position sensor that detects the moving position of the moving shaft. The winding device according to any one of claims 1 to 8.

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