JP7674857B2 - Coupling Device - Google Patents

Description

The present invention relates to a coupling device.

Conventionally, a joint device used in a joint that connects two members is known to have an extension device that can change the angle between the two members. One such joint device is a prosthetic leg used in a knee joint. Patent Document 1 describes a method in which a sensor that detects the contraction movement of the muscles in the stump of the amputated leg is provided in the thigh socket of the prosthetic leg that is attached to the stump of the amputated leg, and the degree of throttling of the variable valve of the hydraulic cylinder that adjusts the resistance of flexion and extension of the knee joint is controlled by the detection information from the sensor.

Japanese Patent Application Publication No. 11-19105

However, the prosthetic limb described in Patent Document 1 could generate resistance to flexion or extension, but was unable to flex or extend the knee joint.

The present invention provides a joint device that can bend or extend a joint and generate a reaction force when the joint is extended or bent.

The present invention relates to
A first member;
A second member;
a connecting portion that connects the first member and the second member in a manner that allows an angle between the first member and the second member to be changed;
A joint device including an extension device capable of changing the angle between the first member and the second member by extending and contracting,
The telescopic device is
A power source;
a power transmission section having a power transmission path for transmitting the power of the power source;
a reaction force source that is provided in a position parallel to the power transmission path so as to be connected to the power transmission path, and that generates a reaction force in an opposite direction to an external force input from a reaction force source side, which is the side of the power transmission unit opposite to the power source , to a power source side , which is the side of the power transmission unit opposite to the power source;
Equipped with.

The present invention also provides a method for producing a semiconductor device comprising the steps of:
A first member;
A second member;
a connecting portion that connects the first member and the second member in a manner that allows an angle between the first member and the second member to be changed;
A joint device including an extension device capable of changing the angle between the first member and the second member by extending and contracting,
The telescopic device is
A power source;
a power transmission unit that transmits the power of the power source;
a reaction force source that generates a reaction force in an opposite direction to an external force input from a reaction force source side, which is the side of the power transmission unit opposite to the power source , to a power source side, which is the side of the power transmission unit opposite to the power source ,
The power source is a rotating electric machine,
The reaction force source is
The rotating electric machine is provided so as to generate a reaction force in an opposite direction to the external force, so as to perform power running in a direction that weakens input rotation, or so as to perform regenerative driving .

According to the present invention, the connecting portion can be bent or extended by the power source, and the damping portion can generate a reaction force when the connecting portion is extended or bent.

FIG. 1 is a perspective view of an electric prosthetic leg 1 according to a first embodiment of the present invention, as viewed obliquely from the front. FIG. 2 is a perspective view of the electric prosthetic leg 1 of FIG. 1 as seen obliquely from behind. FIG. 2 is a diagram showing the internal structure of the electric prosthetic leg 1 of FIG. 1 . FIG. 2 is an enlarged view of a power transmission section of the electric prosthetic leg 1 of FIG. 5 is a diagram illustrating power transmission in the power transmission unit of FIG. 4 when the power transmission unit is in a first speed change state. FIG. 5 is a diagram showing power transmission in the power transmission section of FIG. 4 when the power transmission section is in a second speed change state; FIG. 5 is a diagram showing power transmission through the power transmission section of FIG. 4 when the power transmission section is in a free state. FIG. 11A and 11B are diagrams illustrating the power that extends the knee joint mechanism 30 from a bent state when climbing stairs. 11A and 11B are diagrams illustrating the force that causes the knee joint mechanism 30 to bend from an extended state when climbing stairs. FIG. 11 is a perspective view of a power transmission section of an electric prosthetic leg 1 according to a second embodiment of the present invention. FIG. 9 is a cross-sectional view of the power transmission portion of FIG. 8 . FIG. 2 is an exploded perspective view of the damping unit 100 and the damping operation unit 200 common to the electric prosthetic leg 1 of each embodiment of the present invention. 1A to 1E are diagrams showing the movement of the electric prosthetic leg 1 when walking on flat ground. FIG. 12 is a side view of the electric prosthetic leg 1 in the state shown in FIG. 11(A).

Each embodiment of an electric prosthetic leg as an example of a joint device of the present invention will be described below with reference to the drawings. In the following description, the front-rear direction, left-right direction, and up-down direction are defined based on the user of the electric prosthetic leg. In the drawings, the front of the electric prosthetic leg is indicated as Fr, the rear as Rr, the left side as L, the right side as R, the top as U, and the bottom as D.

First Embodiment
[Electric prosthetic limb]
The electric prosthetic leg 1 of this embodiment, as shown in Figures 1 to 3, is a prosthetic leg for a person without a knee, and comprises a below-knee member 10 located below the knee, an above-knee member 20 located above the knee, a knee joint mechanism 30 that connects the below-knee member 10 and the above-knee member 20 in a manner that allows the angle between them to be changed, and an extension device 40 that can change the angle between the below-knee member 10 and the above-knee member 20 by extending and retracting.

The upper-knee component 20 has an upper wall 22 on which an adapter 21 is attached to a socket (not shown), and a pair of upper side walls 23 extending downward from both the left and right ends of the upper wall 22, and has a generally U-shaped shape that opens downward when viewed from the front-to-rear direction.

The knee-lower member 10 has a lower wall portion 12 on which the leg portion 11 is provided, and a pair of lower side walls 13 extending upward from both the left and right ends of the lower wall portion 12, and has a roughly U-shape that opens upward when viewed from the front-to-rear direction.

A pair of lower side walls 13 of the knee-below member 10 are connected between a pair of upper side walls 23 of the knee-below member 20 so as to be rotatable about the pivot 35. This mechanism allows the angle between the knee-below member 10 and the knee-below member 20 to be changed, forming the knee joint mechanism 30.

In the space formed between the upper-knee member 20 and the lower-knee member 10, an extension device 40 is provided that can change the angle between the lower-knee member 10 and the upper-knee member 20.

Referring also to FIG. 4, the telescopic device 40 includes a motor M that outputs rotational power, and a power transmission unit that transmits the power of the motor M. The power transmission unit includes a transmission T, a first spindle unit SP1 that is connected to the transmission T so as to be capable of transmitting power and converts the rotational power output from the transmission T into translational motion, an interrupting mechanism 50 that is interposed between the motor M and a first speed change mechanism T1 and a second speed change mechanism T2 of the transmission T described below, and a second spindle unit SP2 that converts the rotational power output from the motor M into translational motion of an actuator 55 of the interrupting mechanism 50. Note that if power transmission members such as gears are provided downstream of the first spindle unit SP1 as viewed from the motor M, these power transmission members are also included in the power transmission unit, and all of the power transmission members form a power transmission path.

The transmission T is provided with a transmission case 60 having a rectangular shape when viewed from the front-rear direction, the transmission case 60 including a top plate portion 61, a bottom plate portion 62, and a pair of side plate portions 63 connecting the left and right ends of the top plate portion 61 and the bottom plate portion 62. The transmission case 60 includes a pair of rotating wings 64 extending downward from the bottom plate portion 62, which are supported by a rotating support wall 14 extending upward from the lower wall portion 12 of the knee-below member 10 so as to be able to swing about a lower swing portion 70 but not to move.

The motor M is disposed in front of and above the top plate 61 of the transmission case 60 so that the output shaft 71 passes through the top plate 61 and protrudes into the inside of the transmission case 60. The first spindle unit SP1 is disposed on the opposite side of the motor M in the front-to-rear direction, sandwiching the interrupting mechanism 50 therebetween. In other words, the motor M is disposed forward of the interrupting mechanism 50 in the front-to-rear direction, and the first spindle unit SP1 is disposed rearward of the interrupting mechanism 50 in the front-to-rear direction. This makes it possible to prevent the electric prosthetic leg 1 from becoming larger in the width direction while maintaining balance in the front-to-rear direction, even when the motor M is mounted on the electric prosthetic leg 1.

The second spindle unit SP2, which converts the rotational power output from the motor M into translational motion of the actuator 55 of the interrupting mechanism 50, is disposed between the motor M and the first spindle unit SP1 in the front-to-rear direction. The output shaft 71 of the motor M, the first spindle 73 of the first spindle unit SP1, and the second spindle 75 of the second spindle unit SP2 are disposed parallel to one another and are disposed so as to face in the up-down direction when the knee joint mechanism 30 is fully extended.

The first spindle unit SP1 has a first spindle 73 with a male thread 73a and a sleeve 74 with a female thread 74a. The sleeve 74 translates along the axis of the first spindle 73 as the first spindle 73 rotates. In this embodiment, the first spindle 73 rotates by receiving the rotational power of the motor M transmitted by the transmission T. Meanwhile, the sleeve 74 is attached to a pair of inner side walls 24 extending downward from the upper wall 22 of the knee-upper member 20 so as to be swingable around the upper swinging part 25 but not movable. Therefore, when the first spindle 73 rotates to one side (in the direction of the arrow D1 in FIG. 5A) by receiving the rotational power of the motor M transmitted by the transmission T, the sleeve 74 translates away from the transmission T, and when the first spindle 73 rotates to the other side (in the direction of the arrow D2 in FIG. 5B), the sleeve 74 translates toward the transmission T.

That is, the distance between the sleeve 74 and the transmission T expands or contracts depending on the rotation direction of the first spindle 73. Because the sleeve 74 is immovably attached to the above-knee member 20 as described above, the distance between the sleeve 74 and the transmission T expands or contracts depending on the rotation direction of the first spindle 73, causing the below-knee member 10 to which the transmission T is attached and the above-knee member 20 to which the sleeve 74 is attached to rotate around the rotating part 35. This changes the angle between the above-knee member 20 and the below-knee member 10.

As shown in FIG. 4, the transmission T includes an output gear 72 provided on the output shaft 71 of the motor M, an input gear 77 provided at approximately the center of the second spindle 75 of the second spindle unit SP2 and meshing with the output gear 72, a first transmission mechanism T1, and a second transmission mechanism T2.

The first speed change mechanism T1 is composed of a first drive gear 78 that is immovably mounted above the second spindle 75 of the second spindle unit SP2, and a first driven gear 79 that is mounted on the first spindle 73 of the first spindle unit SP1 so as to rotate integrally with the first spindle 73 and that meshes with the first drive gear 78.

The second speed change mechanism T2 is composed of a second drive gear 80 that is immovably mounted below the second spindle 75 of the second spindle unit SP2, and a second driven gear 81 that is mounted on the first spindle 73 of the first spindle unit SP1 so as to rotate integrally with the first spindle 73 and that meshes with the second drive gear 80.

The first speed change mechanism T1 transmits the power of the motor M at a first speed change ratio. The second speed change mechanism T2 transmits the power of the motor M at a second speed change ratio different from the first speed change ratio. By providing two power transmission paths with different speed change ratios, it is possible to switch the movement speed and generated power of extension and flexion in the knee joint mechanism 30. As long as the first speed change ratio and the second speed change ratio are different, one of the first speed change mechanism T1 and the second speed change mechanism T2 may be a reduction mechanism and the other an accelerating mechanism, one may be a constant speed mechanism and the other a reduction mechanism or an accelerating mechanism, both may be reduction mechanisms, or both may be accelerating mechanisms.

When the first gear ratio is the ratio of the post-shift rotation speed, which is the rotation speed of the anti-motor M side (first spindle unit SP1 side) of the first gear mechanism T1, to the pre-shift rotation speed, which is the rotation speed of the motor M side of the first gear mechanism T1, and the second gear ratio is the ratio of the post-shift rotation speed, which is the rotation speed of the anti-motor M side (first spindle unit SP1 side) of the second gear mechanism T2, to the pre-shift rotation speed, which is the rotation speed of the motor M side of the second gear mechanism T2, it is preferable that the first gear ratio is configured to be smaller than the second gear ratio.

For example, when the first speed change ratio of the first speed change mechanism T1 is smaller than 1, the rotation speed on the side opposite the motor M (the first spindle unit SP1 side) decreases compared to the rotation speed on the motor M side, and the torque increases. When the second speed change ratio of the second speed change mechanism T2 is larger than 1, the rotation speed on the side opposite the motor M (the first spindle unit SP1 side) increases compared to the rotation speed on the motor M side, and the torque decreases. In this case, the first drive gear 78 has a smaller diameter than the second drive gear 80, and the first drive gear 78 and the motor M can be arranged in close proximity. In this embodiment, the first speed change mechanism T1 is arranged closer to the motor M than the second speed change mechanism T2. More specifically, the motor M is arranged in front of the first drive gear 78 so as to overlap the first drive gear 78 in the vertical direction.

The first speed change mechanism T1 and the second speed change mechanism T2 are switched by the on-off mechanism 50. The on-off mechanism 50 includes an upper clutch 50U interposed between the motor M and the first speed change mechanism T1, a lower clutch 50D interposed between the motor M and the second speed change mechanism T2, and an actuator 55 that rotates integrally with the input gear 77.

The upper clutch 50U is a meshing clutch that includes a first engaging element 51 on the motor M side and a second engaging element 52 on the first speed change mechanism T1 side. To explain in more detail, the first engaging element 51 is provided above the actuator 55 and the input gear 77 so as to rotate integrally with the input gear 77. The second engaging element 52 is provided below the first drive gear 78 so as to be engageable with the first engaging element 51 and to rotate integrally with the first drive gear 78. The second engaging element 52 and the first drive gear 78 are attached above the second spindle 75 of the second spindle unit SP2 so as to be rotatable relative to the second spindle 75 but immovable.

The lower clutch 50D is a meshing clutch that includes a third engaging element 53 that is an engaging element on the motor M side, and a fourth engaging element 54 that is an engaging element on the second speed change mechanism T2 side. To explain in more detail, the third engaging element 53 is provided below the actuator 55 and the input gear 77 so as to rotate integrally with the input gear 77. The fourth engaging element 54 is provided above the second driving gear 80 so as to be engageable with the third engaging element 53 and to rotate integrally with the second driving gear 80. The fourth engaging element 54 and the second driving gear 80 are attached below the second spindle 75 of the second spindle unit SP2 so as to be rotatable relative to the second spindle 75 but immovable.

The actuator 55 is attached to the input gear 77 so as to rotate integrally with the input gear 77 as described above, and the first engaging element 51 and the third engaging element 53 are attached to the upper and lower parts of the actuator 55 so as to rotate integrally with the input gear 77. The actuator 55 is disposed approximately at the center of the second spindle 75, that is, between the first driving gear 78 and the second driving gear 80 in the vertical direction. Here, the actuator 55 is the screw nut 76 of the second spindle unit SP2. The second spindle unit SP2 has a second spindle 75 with a male thread and a screw nut 76 (actuator 55) with a female thread, and as the input gear 77 rotates, the screw nut 76 (actuator 55) moves in a translational manner while rotating along the axis of the second spindle 75.

When the motor M rotates in a first direction (the direction of the arrow D1 in FIG. 5A), the screw nut 76 (actuator 55) moves upward in the vertical direction, which is the direction of translational motion, and when the motor M rotates in a second direction (the direction of the arrow D2 in FIG. 5B), which is opposite to the first direction, the screw nut 76 moves downward in the vertical direction. In this way, by changing the direction of rotation of the motor M, the direction of movement of the actuator 55 can be changed.

The interrupter mechanism 50 can be in three states: a first speed change state, a second speed change state, and a free state, as the actuator 55 translates along the axis of the second spindle 75.

In the first speed change state, as shown in FIG. 5A, the motor M rotates in the first direction (the direction of the arrow D1 in FIG. 5A) and the screw nut 76 (actuator 55) moves upward, so that the first engaging element 51 and the second engaging element 52 are connected and the third engaging element 53 and the fourth engaging element 54 are disconnected. In other words, the upper clutch 50U is engaged and the lower clutch 50D is released. In the first speed change state, the power of the motor M is transmitted to the output gear 72, the input gear 77, the actuator 55, the first engaging element 51, the second engaging element 52, the first driving gear 78, the first driven gear 79, and the first spindle unit SP1.

In the second speed change state, as shown in FIG. 5B, the motor M rotates in the second direction (the direction of the arrow D2 in FIG. 5B) and the screw nut 76 (actuator 55) moves downward, causing the first engaging element 51 and the second engaging element 52 to be in a disconnected state and the third engaging element 53 and the fourth engaging element 54 to be in a connected state. In other words, the upper clutch 50U is released and the lower clutch 50D is engaged. In the second speed change state, the power of the motor M is transmitted to the output gear 72, the input gear 77, the actuator 55, the third engaging element 53, the fourth engaging element 54, the second driving gear 80, the second driven gear 81, and the first spindle unit SP1.

In the free state, as shown in FIG. 5C, the first engaging element 51 and the second engaging element 52 are in a disconnected state, and the third engaging element 53 and the fourth engaging element 54 are in a disconnected state. In other words, the upper clutch 50U is released, and the lower clutch 50D is released. In the free state, the motor M is stopped, and the first driven gear 79 and the second driven gear 81 rotate due to the rotation of the first spindle unit SP1, but the rotation of the first spindle unit SP1 is transmitted to the first driven gear 79, the first driving gear 78, and the second engaging element 52, but is not transmitted to the first engaging element 51. Similarly, the rotation of the first spindle unit SP1 is transmitted to the second driven gear 81, the second driving gear 80, and the fourth engaging element 54, but is not transmitted to the third engaging element 53.

In addition, in Figures 4 to 5C, the symbol D is a rotary damper that provides an appropriate resistance to the second spindle 75 of the second spindle unit SP2 so that the screw nut 76 (operating element 55) can reliably move in a translational direction when the motor M rotates. The rotary damper D is composed of a first damper gear 86 provided on the rotating shaft of the rotary damper D, and a second damper gear 87 that is provided on the second spindle 75 of the second spindle unit SP2 so as to rotate integrally with the second spindle 75 and meshes with the first damper gear 86. The rotary damper D is disposed in front of and above the bottom plate portion 62 of the transmission case 60, and below the motor M.

The electrically powered prosthetic leg 1 configured in this way makes it possible to smoothly ascend stairs, whereas with a passive prosthetic leg equipped with a conventional passive damper, the user had to ascend one step at a time with the non-prosthetic leg.

Specifically, as shown in FIG. 6, when the electric prosthetic leg 1 is moved forward to climb stairs and a load is applied to the electric prosthetic leg 1, a large amount of power is required to extend the knee joint mechanism 30 from a bent position.

At this time, as shown in FIG. 5A, by rotating the motor M in the first direction (the direction of the arrow D1 in FIG. 5A), the power of the motor M is transmitted from the output gear 72 to the input gear 77. By rotating the input gear 77 in the second direction (the direction of the arrow D2 in FIG. 5A), the actuator 55 moves upward while being guided by the second spindle 75 while rotating around the second spindle 75 of the second spindle unit SP2. Then, the first engaging element 51 provided above the actuator 55 and the input gear 77 engages with the second engaging element 52 provided below the first drive gear 78, and the interrupting mechanism 50 enters the first speed change state.

When the interrupter mechanism 50 is in the first speed change state, the power of the motor M is transmitted to the output gear 72, the input gear 77, the actuator 55, the first engaging element 51, the second engaging element 52, the first driving gear 78, the first driven gear 79, and the first spindle unit SP1. The first driving gear 78 rotates together with the input gear 77 in the second direction (the direction of the arrow D2 in FIG. 5A), causing the first driven gear 79 to rotate in the first direction (the direction of the arrow D1 in FIG. 5A), and the first driven gear 79 rotates in the first direction (the direction of the arrow D1 in FIG. 5A), causing the first spindle 73 of the first spindle unit SP1 to rotate in the first direction (the direction of the arrow D1 in FIG. 5A). As a result, the sleeve 74 moves in a translational manner away from the transmission T, and the upper-knee member 20 to which the sleeve 74 is attached rotates around the rotating part 35 relative to the lower-knee member 10 to which the transmission T is attached, and the knee joint mechanism 30 extends.

On the other hand, in order to smoothly ascend stairs, the knee joint mechanism 30 needs to be bent (raised) from an extended position while a load is being applied to the healthy leg, as shown in FIG. 7. When bending the knee joint mechanism 30 from an extended position, a large amount of power is not required, but a quick movement is required.

At this time, as shown in FIG. 5B, by rotating the motor M in the second direction (the direction of the arrow D2 in FIG. 5B), the power of the motor M is transmitted from the output gear 72 to the input gear 77. By rotating the input gear 77 in the first direction (the direction of the arrow D1 in FIG. 5B), the actuator 55 rotates around the second spindle 75 of the second spindle unit SP2 and moves downward, guided by the second spindle 75. Then, the third engaging element 53 provided below the actuator 55 and the input gear 77 engages with the fourth engaging element 54 provided above the second drive gear 80, and the interrupting mechanism 50 enters the second speed change state.

When the interrupter mechanism 50 is in the second speed change state, the power of the motor M is transmitted to the output gear 72, the input gear 77, the actuator 55, the third engager 53, the fourth engager 54, the second drive gear 80, the second driven gear 81, and the first spindle unit SP1. The second drive gear 80 rotates together with the input gear 77 in the first direction (the direction of the arrow D1 in FIG. 5B), causing the second driven gear 81 to rotate in the second direction (the direction of the arrow D2 in FIG. 5B), and the second driven gear 81 rotates in the second direction (the direction of the arrow D2 in FIG. 5B), causing the first spindle 73 of the first spindle unit SP1 to rotate in the second direction (the direction of the arrow D2 in FIG. 5B). As a result, the sleeve 74 moves in translation so as to approach the transmission T, and the lower-knee member 10 to which the transmission T is attached rotates around the rotating part 35 relative to the upper-knee member 20 to which the sleeve 74 is attached, bending the knee joint mechanism 30.

When descending stairs or walking on flat ground, motor M is stopped since power is not required.

However, if an external load is applied to the electric prosthetic leg 1 while the motor M is stopped, the knee joint mechanism 30 in the extended state may be unable to withstand the load and may bend, resulting in so-called knee bending. Therefore, in order to prevent the knee from bending when descending stairs or walking on flat ground, the electric prosthetic leg 1 is provided with a reaction force source that generates a reaction force in the opposite direction to the external force input to the power transmission unit. Details of the reaction force source will be described later.

In the electric prosthetic leg 1 configured in this manner, the knee joint mechanism 30 can be extended and flexed via the transmission T, which transmits the power of the motor M. The motor M is controlled by a motor control unit (not shown). In this embodiment, the on-off mechanism 50 is also controlled by the motor control unit; in other words, the motor control unit also serves as the on-off mechanism control unit. The rotation range of the knee joint mechanism 30 is limited to 180° or less, and when the knee joint mechanism 30 is extended, the angle between the lower-knee member 10 and the upper-knee member 20 is approximately 180°, and when the knee joint mechanism 30 is flexed, this angle is less than 180°.

The transmission T has two power transmission paths with different gear ratios, so it is possible to switch between the extension and flexion movement speed and the generated power of the knee joint mechanism 30. In particular, when climbing stairs, the required movement speed and generated power differ when the knee joint mechanism 30 is flexed and extended, so it is possible to change the power transmission path when the knee joint mechanism 30 is flexed and extended.

In addition, the on-off mechanism 50 interposed between the motor M and the transmission T has an upper clutch 50U interposed between the motor M and the first transmission mechanism T1, and a lower clutch 50D interposed between the motor M and the second transmission mechanism T2, so that the two power transmission paths can be appropriately switched.

In particular, the telescopic device 40 is equipped with a second spindle unit SP2 that converts the rotational power output from the motor M into translational motion of the actuator 55, so that a single motor M can control the actuator 55 and control the extension and flexion of the knee joint mechanism 30. Furthermore, the single actuator 55 is configured to be able to switch the transmission T between the first speed change state, the second speed change state, and a free state, so that it is possible to avoid two power transmission paths being connected at the same time.

In addition, when the knee joint mechanism 30 is extended and the electric prosthetic leg 1 is viewed along the rotation axis of the rotating part 35 of the knee joint mechanism 30, the area where the angle between the knee lower member 10 and the knee upper member 20 is less than 180° (the area behind (calf) side of the line connecting the rotating part 35 and the lower swinging part 70 in FIG. 3) is called the narrow angle area, and the area where the angle is 180° or more (the area in front (shin) side of the line connecting the rotating part 35 and the lower swinging part 70 in FIG. 3) is called the wide angle area, the first spindle unit SP1 is arranged in the narrow angle area. On the other hand, the motor M is arranged in the wide angle area. In this way, by arranging the first spindle unit SP1 in the narrow angle area and arranging the motor M in the wide angle area, the first spindle unit SP1 and the motor M can be arranged in a balanced manner on either side of the rotating part 35 of the knee joint mechanism 30. Furthermore, the transmission T and the interrupting mechanism 50 are disposed between the motor M and the first spindle unit SP1. Therefore, the motor M, the transmission T, the interrupting mechanism 50, and the first spindle unit SP1 can be disposed together.

Second Embodiment
The electric prosthesis 1 of the second embodiment has a different configuration of the telescopic device 40 from that of the electric prosthesis 1 of the first embodiment. More specifically, in the telescopic device 40 of the first embodiment, the translational motion of the actuator 55 is realized by converting the rotational power output from the motor M by the second spindle unit SP2. In contrast, in the telescopic device 40 of the second embodiment, the translational motion of the actuator 55 is realized by a clutch actuator ACT, which is a drive source different from the motor M, and a clutch fork 90 that transmits the power of the clutch actuator ACT to the actuator 55. In the following description, the telescopic device 40 of the electric prosthesis 1 of the second embodiment will be described with reference to Figures 8 and 9, but the same or equivalent configurations as those of the electric prosthesis 1 of the first embodiment will be denoted by the same reference numerals in the figures and description will be omitted, and only the differences will be described.

As shown in Figures 8 and 9, the telescopic device 40 of the second embodiment includes a motor M that outputs rotational power, a transmission T that transmits the power of the motor M, a first spindle unit SP1 that is connected to the transmission T so that the power can be transmitted and that converts the rotational power output from the transmission T into translational motion, an interrupting mechanism 50 that is interposed between the motor M and the first and second speed change mechanisms T1 and T2 of the transmission T, a support shaft 95 that is arranged in parallel with the output shaft 71 of the motor M and the first spindle 73 of the first spindle unit SP1 and supports the interrupting mechanism 50, a clutch actuator ACT that performs translational motion, and a clutch fork 90 that transmits the power of the clutch actuator ACT to the actuator 55 of the interrupting mechanism 50.

The clutch actuator ACT is a power source different from the motor M, and performs translational motion along the axial direction (vertical direction) of the support shaft 95, as shown by the arrow Y1 in FIG. 8. The clutch actuator ACT is controlled by an actuator control unit (not shown). That is, in this embodiment, an actuator control unit different from the motor control unit that controls the motor M functions as an on-off mechanism control unit.

The clutch fork 90 is configured to be able to swing freely around the swing shaft 65 as shown by the arrow Y2 in FIG. 8, with one end of the clutch fork 90 connected to the clutch actuator ACT and the middle part supported by the swing shaft 65. At the other end of the clutch fork 90, arms 92 are provided that branch into two from a branch part 91 located on the opposite side of the swing shaft 65 from the clutch actuator ACT, and extend in opposite directions in an arc shape. At the tip of each arm 92, a connecting pin 93 that fits into the slide clutch 56 described below is provided. Therefore, as the clutch actuator ACT performs translational motion, the clutch fork 90 swings around the swing shaft 65, and the connecting pin 93 of the clutch fork 90 swings up and down.

The transmission T includes an output gear 72 provided on the output shaft 71 of the motor M, a first input gear 77A and a second input gear 77B provided in the approximate center of the support shaft 95 and meshing with the output gear 72, a first transmission mechanism T1, and a second transmission mechanism T2. The first input gear 77A and the second input gear 77B constitute the input gear 77.

The first speed change mechanism T1 is composed of a first drive gear 78 that is immovably mounted on the upper side of the support shaft 95, and a first driven gear 79 that is mounted on the first spindle 73 of the first spindle unit SP1 so as to rotate integrally with the first spindle 73 and meshes with the first drive gear 78.

The second speed change mechanism T2 is composed of a second drive gear 80 that is immovably mounted on the lower side of the support shaft 95, and a second driven gear 81 that is mounted on the first spindle 73 of the first spindle unit SP1 so as to rotate integrally with the first spindle 73 and meshes with the second drive gear 80.

The gear ratios of the first and second speed change mechanisms T1 and T2 are the same as those in the first embodiment, so a description thereof will be omitted here. The first and second speed change mechanisms T1 and T2 are switched by an on-off mechanism 50. The on-off mechanism 50 includes an upper clutch 50U interposed between the motor M and the first speed change mechanism T1, a lower clutch 50D interposed between the motor M and the second speed change mechanism T2, and an actuator 55.

The upper clutch 50U is a meshing clutch that includes a first engaging element 51 that is an engaging element on the motor M side, and a second engaging element 52 that is an engaging element on the first speed change mechanism T1 side. To explain in more detail, the first engaging element 51 is provided above the first input gear 77A so as to rotate integrally with the first input gear 77A. The second engaging element 52 is provided below the first drive gear 78 so as to be engageable with the first engaging element 51 so as to rotate integrally with the first drive gear 78. The second engaging element 52 and the first drive gear 78 are attached above the support shaft 95 so as to be rotatable relative to the support shaft 95 but immovable.

The lower clutch 50D is a meshing clutch that includes a third engaging element 53 that is an engaging element on the motor M side, and a fourth engaging element 54 that is an engaging element on the second speed change mechanism T2 side. To explain in more detail, the third engaging element 53 is provided below the second input gear 77B so as to rotate integrally with the second input gear 77B. The fourth engaging element 54 is provided above the second drive gear 80 so as to be engageable with the third engaging element 53 and to rotate integrally with the second drive gear 80. The fourth engaging element 54 and the second drive gear 80 are attached below the support shaft 95 so as to be rotatable relative to the support shaft 95 but immovable.

The actuator 55 includes an annular slide clutch 56 that is constantly engaged with the connecting pin 93 of the clutch fork 90, and a bearing 57 that performs translational motion together with the slide clutch 56, and is disposed between the first input gear 77A and the second input gear 77B in the vertical direction.

The slide clutch 56 has a connecting hole with which the connecting pin 93 of the clutch fork 90 engages, and the connecting hole absorbs the rocking motion of the clutch fork 90 and converts it into vertical translational motion of the slide clutch 56.

The bearing 57 includes an outer ring 57a supported non-rotatably by the slide clutch 56, an inner ring 57b configured to rotate integrally with a first input gear 77A provided with a first engaging element 51 and a second input gear 77B provided with a third engaging element 53, and a rolling element 57c disposed between the outer ring 57a and the inner ring 57b, allowing relative rotation between the outer ring 57a and the inner ring 57b.

The inner ring 57b is supported on the outer periphery of a support flange 96 that is key-connected to the support shaft 95 together with the first input gear 77A and the second input gear 77B so as to be movable in a vertical translational direction.

The slide clutch 56 and the bearing 57 (actuator 55) move upward along the support shaft 95 when one end of the clutch fork 90 moves downward by the clutch actuator ACT, and move downward along the support shaft 95 when one end of the clutch fork 90 moves upward by the clutch actuator ACT. A predetermined gap is provided between the slide clutch 56 and the outer ring 57a and the first input gear 77A in the vertical direction, so that the first input gear 77A does not interfere with the slide clutch 56 and the outer ring 57a, which are non-rotating members. Similarly, a predetermined gap is provided between the slide clutch 56 and the outer ring 57a and the second input gear 77B in the vertical direction, so that the second input gear 77B does not interfere with the slide clutch 56 and the outer ring 57a, which are non-rotating members.

The interrupter mechanism 50 can be in three states: a first speed change state, a second speed change state, and a free state, as the slide clutch 56 and the bearing 57 (operator 55) move in a vertical translational motion along the axis of the support shaft 95.

In the first shift state, the slide clutch 56 and bearing 57 (operator 55) move upward, so that the first and second engagers 51 and 52 are connected and the third and fourth engagers 53 and 54 are disconnected, as in FIG. 5A. In other words, the upper clutch 50U is engaged and the lower clutch 50D is released. In the first shift state, the power of the motor M is transmitted to the output gear 72, the first input gear 77A (inner wheel 57b and second input gear 77B), the first engager 51, the second engager 52, the first drive gear 78, the first driven gear 79, and the first spindle unit SP1.

In the second shift state, the slide clutch 56 and the bearing 57 (operator 55) move downward, so that the first engager 51 and the second engager 52 are disconnected and the third engager 53 and the fourth engager 54 are connected, as in FIG. 5B. In other words, the upper clutch 50U is released and the lower clutch 50D is engaged. In the second shift state, the power of the motor M is transmitted to the output gear 72, the second input gear 77B (inner wheel 57b and first input gear 77A), the third engager 53, the fourth engager 54, the second drive gear 80, the second driven gear 81, and the first spindle unit SP1.

In the free state, as in FIG. 5C, the first engaging element 51 and the second engaging element 52 are in a disconnected state, and the third engaging element 53 and the fourth engaging element 54 are in a disconnected state. In other words, the upper clutch 50U is released, and the lower clutch 50D is released. In the free state, the motor M is stopped, and the first driven gear 79 and the second driven gear 81 rotate due to the rotation of the first spindle unit SP1, but the rotation of the first spindle unit SP1 is transmitted to the first driven gear 79, the first driving gear 78, and the second engaging element 52, but is not transmitted to the first engaging element 51. Similarly, the rotation of the first spindle unit SP1 is transmitted to the second driven gear 81, the second driving gear 80, and the fourth engaging element 54, but is not transmitted to the third engaging element 53.

In the electric prosthetic leg 1 configured in this manner, as in the first embodiment, the knee joint mechanism 30 can be extended and flexed via the transmission T that transmits the power of the motor M, and the effects described for the electric prosthetic leg 1 of the first embodiment can be obtained. In addition, in the electric prosthetic leg 1 of the second embodiment, the actuator 55 is switched using a clutch actuator ACT, which is a power source different from the motor M for extending and flexing the knee joint mechanism 30, so that the actuator 55 can be switched more stably.

[Reaction force source]
Next, a reaction force source provided in the electric prosthetic leg 1 of each embodiment will be described.
As described above, when an external load is applied to the electric prosthetic leg 1 with the motor M stopped, the knee joint mechanism 30 in the extended state may be unable to withstand the load and may bend, resulting in so-called knee bending. Therefore, in order to prevent the knee from bending, the electric prosthetic leg 1 is provided with a reaction force source that generates a reaction force in the opposite direction to the external force input to the power transmission unit.

The reaction force source is not limited in its configuration as long as it can generate a reaction force in the opposite direction to the external force input to the power transmission unit, and may be a damping unit that mechanically damps the input external force, a rotating electric machine that can generate a regenerative torque in the opposite direction to the external force input by regenerative driving, or a rotating electric machine that can generate a powering torque in the opposite direction to the external force input by powering driving. Below, a damping unit as an example of a reaction force source will be described in detail, and a rotating electric machine as an example of a reaction force source will be briefly described.

[Attenuation section]
The damping portion 100 serving as a reaction force source will be described below with reference to FIGS. 1 to 4 and 10 to 12. FIG.

As shown in Figures 3 and 4, the electric prosthetic leg 1 includes a damping unit 100 that is connected to a power transmission path that transmits the power of the motor M and can damp the movement of the power transmission path, and a damping operation unit 200 that operates the damping unit 100 at a predetermined timing.

As shown in Figures 3, 4 and 10, the damping unit 100 includes a rotating shaft 102 rotatably supported on the top plate portion 61 of the transmission T via a bearing 101 and arranged parallel to the first spindle 73, a second gear 104 that is provided on the outer periphery of the rotating shaft 102 so as to be rotatable together with the rotating shaft 102 and meshes with a first gear 103 that rotates together with the first spindle 73, a damper holder 105 that is provided on the upper end of the rotating shaft 102 so as to be rotatable together with the rotating shaft 102, a damper body 106a that is held integrally by the damper holder 105, and a rotary damper 106 that includes a rotary shaft 106b that protrudes upward from the damper body 106a, and a damping member that houses the rotating shaft 102, the first gear 103, the second gear 104, the damper holder 105 and the rotary damper 106 and is fixed to the top plate portion 61. The damping section case 120 (shown only in FIG. 4), a first clutch member 107 arranged on the upper surface of the damping section case 120 and connected to the rotary shaft 106b so as to be rotatable together with the rotary shaft 106b, a second clutch member 108 arranged above the first clutch member 107 so as to face it, a plurality of guide pins 109 protruding upward from the damping section case 120 and penetrating the flange portion 108a of the second clutch member 108 to support the second clutch member 108 so that it can move up and down and cannot rotate, a plurality of nuts 110 screwed to the upper end of each guide pin 109 to prevent the second clutch member 108 from coming off, and a plurality of springs 111 arranged on the outer periphery of each guide pin 109 to urge the second clutch member 108 in a direction away from the first clutch member 107.

The rotary damper 106 provides a predetermined rotational resistance to the relative rotation between the damper body 106a and the rotary shaft 106b. The damper body 106a of the rotary damper 106 is connected to the first spindle 73 via the damper holder 105, the rotary shaft 102, the second gear 104, and the first gear 103, and the rotary shaft 106b of the rotary damper 106 is connected to the damping part case 120, which is the fixed part, via a clutch mechanism consisting of the first clutch member 107 and the second clutch member 108.

In the clutch disengaged state where the first clutch member 107 and the second clutch member 108 are separated, the first clutch member 107 spins freely, so the rotary damper 106 does not operate and the motion of the first spindle 73 is not damped. On the other hand, in the clutch engaged state where the second clutch member 108 is pressed downward and the first clutch member 107 and the second clutch member 108 are engaged, the rotation of the first clutch member 107 is restricted, so the rotational resistance generated between the damper body 106a and the rotary shaft 106b is transmitted to the first spindle 73 via the damper holder 105, the rotary shaft 102, the second gear 104, and the first gear 103, and the motion of the first spindle 73 is damped.

This type of damping unit 100 can mechanically generate a reaction force when the knee joint mechanism 30 extends or bends. In addition, since the damping unit 100 is provided so as to be connected to a power transmission path that transmits the power of the motor M, the damping function can be enhanced compared to when the damping unit 100 is provided in the knee joint mechanism 30. In other words, since the damping function of the rotary damper 106 is proportional to the speed, the damping function of the rotary damper 106 can be effectively utilized by connecting the rotary damper 106 to a power transmission path that rotates at a higher rotation speed than the rotation speed of the knee joint mechanism 30.

In order to more effectively utilize the damping function of the rotary damper 106, it is preferable that the ratio of the rotation speed of the second gear 104 to the rotation speed of the first gear 103 is greater than 1. This allows the rotary damper 106 to be connected to the second gear 104, which rotates at a higher rotation speed than the first gear 103, which rotates integrally with the first spindle 73.

In addition, as in this embodiment, when the motor M is disposed on the upstream side and the rotary damper 106 is disposed so as to be connected downstream of the transmission T, it is preferable that the transmission T is a speed increasing mechanism. Conversely, when the motor M is disposed on the upstream side and the rotary damper 106 is disposed so as to be connected upstream of the transmission T (on the motor M side), it is preferable that the transmission T is a speed reducing mechanism.

In this embodiment, the damping unit 100 is disposed between the motor M and the first spindle unit SP1. This prevents the damping unit 100 from protruding outward.

As shown in FIG. 12, the damping actuation unit 200 mechanically operates the damping unit 100 by utilizing the moment N generated when the heel H lands during walking. Specifically, as shown in FIG. 1, FIG. 2 and FIG. 12, the pair of lower sidewalls 13 of the knee-below member 10 includes a pair of lower sidewall bodies 13a extending upward from both the left and right ends of the lower wall 12, and a pair of oscillating sidewalls 13c connected to the upper and front parts of the lower sidewall bodies 13a via a oscillating shaft 13b provided along the left-right direction and connected to the knee-below member 20 via a rotating part 35. The pair of oscillating sidewalls 13c are integrally connected via a connecting wall part 13d and integrally include an operating lever 13e (see FIG. 3) located above the second clutch member 108 of the damping unit 100.

As shown in FIG. 11, when wearing the electric prosthetic leg 1 and walking on flat ground, the electric prosthetic leg 1 receives a reaction force (compressive load) from the ground as an external load from the start of landing shown in FIG. 11(A) to the end of landing shown in FIG. 11(D). In particular, at the start of landing shown in FIG. 11(A), the reaction force received from the ground increases rapidly, so there is a risk that the knee joint mechanism 30 will bend unintentionally, that is, the knee will buckle. In the electric prosthetic leg 1 of this embodiment, focusing on the fact that the heel H lands at the start of landing, the swing shaft 13b is positioned forward and away from the virtual straight line L1 connecting the heel H and the rotating part 35 of the knee joint mechanism 30, as shown in FIG. 12.

In this way, when the heel H lands during walking, a moment N is generated around the pivot axis 13b, and the pivot side wall 13c pivots relative to the lower side wall body 13a, allowing the operating lever 13e to press down on the second clutch member 108 of the damping unit 100 and mechanically operate the damping unit 100. This damps the movement of the knee joint mechanism 30 and suppresses unintended bending when landing. In addition, because a moment is less likely to be generated in the rotating unit 35 located on the virtual straight line L1, unintended bending when landing can be more reliably suppressed.

As shown in FIG. 12, the swing shaft 13b is located on or near the imaginary straight line L2 that connects the toe T and the rotating part 35 when the toe T lands. In this way, when the toe T lands, no moment N or only a small moment N is generated, and the damping part 100 does not function. This allows the knee joint mechanism 30 to smoothly bend when the electric prosthetic leg 1 is swung up to transition from state (D) to state (E) in FIG. 11.

[Rotary Electric Machine]
When a rotating electric machine is used as a reaction force source, the damping unit 100 described above may be replaced with the rotating electric machine. In this case, a reaction force in the opposite direction to the external force can be generated by regeneratively driving the rotating electric machine or by power driving in a direction that weakens the input rotation. A battery (not shown) can be charged by regeneratively driving the rotating electric machine. Furthermore, the reaction force can be controlled with high precision by using the rotating electric machine.

In addition, the rotating electric machine does not necessarily have to be connected downstream of the first spindle unit SP1 from the motor M, but may be connected to the transmission T.

The rotating electric machine as a reaction force source may be the motor M itself. That is, when the motor M is not driving the rotational power for bending the knee joint mechanism 30 or the power for extending the knee joint mechanism 30, and a load is applied from the outside to the electric prosthesis 1, when the interrupting mechanism 50 is in the first speed change state, the external force is transmitted to the first spindle unit SP1, the first driven gear 79, the first driving gear 78, the second engaging element 52, the first engaging element 51, the actuator 55, the input gear 77, and the output gear 72. Similarly, when the interrupting mechanism 50 is in the second speed change state, the external force is transmitted to the first spindle unit SP1, the second driven gear 81, the second driving gear 80, the fourth engaging element 54, the third engaging element 53, the actuator 55, the input gear 77, and the output gear 72. At this time, a reaction force in the opposite direction to the external force can be generated by regeneratively driving the motor M. A battery (not shown) may be charged by regeneratively driving the motor M. In this way, the battery can be charged by regeneratively driving the motor M as a reaction force source.

In addition, instead of regeneratively driving the motor M, the motor M may be powered in a direction that reduces the input rotation. In order to prevent so-called knee bending, the knee joint mechanism 30 can be powered in the extension direction to generate a reaction force in the opposite direction to the external force.

In addition, with the motor M stopped, the interrupter mechanism 50 may be in the first or second speed change state, and a reaction force may be generated by utilizing the friction of the transmission T and the inertia of the motor M.

When the motor M is used as a reaction force source, and when another rotating electric machine is connected to the transmission T, the damping unit 200 is not required along with the damping unit 100 described above, and the lower side wall 13 is formed such that the lower side wall main body 13a and the oscillating side wall 13c are integrally formed so as not to oscillate.

Although various embodiments have been described above with reference to the drawings, it goes without saying that the present invention is not limited to such examples. It is clear that a person skilled in the art can come up with various modified or revised examples within the scope of the claims, and it is understood that these naturally fall within the technical scope of the present invention. Furthermore, the components in the above embodiments may be combined in any manner as long as it does not deviate from the spirit of the invention.

For example, in the above embodiment, an electric prosthetic leg is exemplified as one embodiment of the joint device of the present invention, but the present invention is not limited to this, and may be applied to the upper limb (arm joint), to animals other than humans, or to robots.

In addition, in the above embodiment, the power of one motor M is configured to be transmitted to the first and second speed change mechanisms T1 and T2 via the interrupting mechanism 50, but this is not limited to the above, and an interrupting mechanism may be provided between each of the two power sources and the first and second speed change mechanisms T1 and T2.

The on-off mechanism 50 is not limited to a mesh clutch, but may be another clutch mechanism such as a friction clutch or a centrifugal clutch, or may be a clutchless mechanism such as a continuous gear ratio change mechanism.

This specification also describes at least the following items. Note that the items in parentheses are the corresponding components in the above-mentioned embodiment, but are not limited to these.

(1) a first member (knee-below member 10);
A second member (above-knee member 20);
a joint portion (knee joint mechanism 30) that connects the first member and the second member in a manner that allows the angle between the first member and the second member to be changed;
A joint device (electric prosthetic leg 1) including an extension device (extension device 40) that can change the angle between the first member and the second member by extending and contracting,
The telescopic device is
A power source (motor M);
a power transmission unit that transmits the power of the power source;
A coupling device comprising: a reaction force source (damping unit 100, motor M) that is arranged to be connected to a power transmission path that transmits the power, and that generates a reaction force in the opposite direction to an external force input from the reaction force source side of the power transmission unit to the power source side.

According to (1), the connecting part can be extended and bent via a power transmission path that transmits the power of the power source. On the other hand, the reaction force source generates a reaction force in the opposite direction to the external force input from the reaction force source side of the power transmission part to the power source side, thereby providing resistance to the external force.

(2) The coupling device according to (1),
The telescopic device further includes an interrupting mechanism (interrupting mechanism 50) for switching between disconnection and connection of power in the power transmission path,
The coupling device further includes a control unit (a motor control unit, an actuator control unit) for controlling the on-off mechanism,
The control unit is
A coupling device that controls the on-off mechanism to switch between a connection state for connecting power in the power transmission path and a disconnection state for disconnecting power in the power transmission path.

According to (2), by switching the on/off mechanism between a connected state and a disconnected state, a reaction force can be generated only when resistance to an external force is required.

(3) The coupling device according to (2),
The joint device is provided to transition between a load-bearing state (standing leg) in which an external load is applied and a non-load-bearing state (free leg) in which no load is applied,
The control unit is
A coupling device that controls the on-off mechanism to be in the disconnected state when in the non-loaded state.

According to (3), by setting the interrupting mechanism to a cut-off state when there is no external load, it is possible to smoothly extend or bend when there is no load.

(4) A coupling device according to any one of (1) to (3),
The power source is an electric machine,
A coupling device, wherein the reaction force of the reaction force source is a reaction force due to regenerative driving of the electric machine or a reaction force due to power driving.

According to (4), by giving the driving source the function of also serving as a reaction force source, the number of parts can be reduced, and the coupling device can be made smaller and lighter.

(5) a first member (knee-below member 10);
A second member (above-knee member 20);
a joint portion (knee joint mechanism 30) that connects the first member and the second member in a manner that allows the angle between the first member and the second member to be changed;
A joint device (electric prosthetic leg 1) including an extension device (extension device 40) that can change the angle between the first member and the second member by extending and contracting,
The telescopic device is
A power source (motor M);
a power transmission unit that transmits the power of the power source;
A coupling device comprising: a reaction force source (a damping unit 100, a motor M) that generates a reaction force in an opposite direction to an external force input to the power transmission unit.

According to (5), the connecting part can be extended and bent via a power transmission path that transmits the power of the power source. On the other hand, the reaction force source generates a reaction force in the opposite direction to the external force input to the power transmission part, thereby providing resistance to the external force.

1 Electric prosthetic leg 10 Lower knee member (first member)
20 Knee-up member (second member)
30 Knee joint mechanism (articulation part)
40 Expansion device 100 Damping section (reaction source)
M Motor (power source, reaction force source)

Claims (10)

A first member;
A second member; and
a connecting portion that connects the first member and the second member in a manner that allows an angle between the first member and the second member to be changed;
A joint device including an extension device capable of changing the angle between the first member and the second member by extending and contracting,
The telescopic device is
A power source;
a power transmission section having a power transmission path for transmitting the power of the power source;
a reaction force source that is provided in a position parallel to the power transmission path so as to be connected to the power transmission path, and that generates a reaction force in an opposite direction to an external force input from a reaction force source side, which is the side of the power transmission unit opposite to the power source , to a power source side , which is the side of the power transmission unit opposite to the power source;
A coupling device comprising: 2. The coupling device according to claim 1,
The telescopic device further includes an interrupting mechanism for switching between disconnection and connection of power in the power transmission path,
The coupling device further includes a control unit that controls the on-off mechanism,
The control unit is
A coupling device that controls the on-off mechanism to switch between a connection state for connecting power in the power transmission path and a disconnection state for disconnecting power in the power transmission path. 3. The coupling device according to claim 2,
The coupling device is provided to transition between a loaded state in which an external load is applied and a non-loaded state in which no load is applied,
The control unit is
A coupling device that controls the on-off mechanism to be in the disconnected state when in the non-loaded state. A coupling device according to any one of claims 1 to 3,
the reaction force source is connected to the power transmission path via a first gear and a second gear that mesh with each other, and is disposed in a position parallel to the power transmission path;
Coupling device. 5. The coupling device according to claim 4,
When the second gear is disposed closer to the reaction force source than the first gear,
A ratio of the rotation speed of the second gear to the rotation speed of the first gear is greater than 1;
Coupling device. A coupling device according to any one of claims 1 to 5,
the power transmission unit has a transmission disposed on the power transmission path,
When the power source side is defined as the upstream side in the power transmission path,
The transmission is
(a) when the reaction force source is connected downstream of the transmission, the reaction force source is provided as a speed increasing mechanism;
Or,
(b) When the reaction force source is connected upstream of the transmission, the reaction force source is provided as a reduction mechanism.
Coupling device. A coupling device according to any one of claims 1 to 6,
The reaction force source is
a rotary damper that is provided so as to generate a damping force that serves as a reaction force in an opposite direction to the external force, and that has a damper body and a rotary shaft and is provided so as to provide a predetermined rotational resistance to the relative rotation between the damper body and the rotary shaft;
Coupling device. A coupling device according to any one of claims 1 to 6,
The power source is a rotating electric machine,
The reaction force source is
Another rotating electric machine is provided to generate a reaction force in an opposite direction to the external force, to perform power running in a direction to weaken the input rotation, or to perform regenerative driving.
Coupling device. A first member;
A second member; and
a connecting portion that connects the first member and the second member in a manner that allows an angle between the first member and the second member to be changed;
A joint device including an extension device capable of changing the angle between the first member and the second member by extending and contracting,
The telescopic device is
A power source;
a power transmission unit that transmits the power of the power source;
a reaction force source that generates a reaction force in an opposite direction to an external force input from a reaction force source side, which is the side of the power transmission unit opposite to the power source , to a power source side, which is the side of the power transmission unit opposite to the power source ,
The power source is a rotating electric machine,
The reaction force source is
The rotating electric machine is provided so as to generate a reaction force in an opposite direction to the external force, so as to perform power running in a direction to weaken the input rotation, or to perform regenerative driving.
Coupling device. 10. The coupling device of claim 9,
When the external force is input in a state in which the rotating electric machine serving as the power source is not powered,
The rotating electric machine serving as the reaction force source is provided to be regeneratively driven.
Coupling device.

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