JP7725326B2 - support device - Google Patents

Description

The present invention relates to a support device that supports a linear object on a multi-axis robot, which transmits electrical signals or supplies power or fluid to an end effector attached to the tip of the multi-axis robot.

Linear objects such as cables used to transmit optical or electrical signals or supply power, and hoses for supplying air or other fluids, are connected to end effectors such as sensors attached to the tip of the robot arm of a multi-axis robot. The linear objects move in response to the movement of the multi-axis robot's end effector. This can cause the linear object to sag excessively and get caught on the multi-axis robot, interfering with the operation of the multi-axis robot, or conversely, the sag can disappear and the linear object can be stretched lengthwise, resulting in breakage or deterioration.

Technology for adjusting the degree of slack in a linear object has therefore been disclosed. For example, the technology described in Patent Document 1 allows the degree of slack in a cable to be adjusted using a rotating part that winds up the cable and a rotating support part that supports the cable, both of which are installed in the internal space of the arm of an articulated robot.

JP 2016-22570 A

However, with the technology described in Patent Document 1, the rotating part and rotation support part that wind the cable are located in the internal space of the arm, which poses the problem that it is not easy to apply the technology described in Patent Document 1 to multi-axis robots that do not have a rotating part and rotation support part that wind the cable.

The present invention aims to provide a support device that can be easily attached to a multi-axis robot and that can adjust the degree of slack in a linear object connected to the multi-axis robot.

One aspect of the support device of the present invention, which aims to solve the above-mentioned problems, is a support device that supports a linear object on a multi-axis robot, the linear object transmitting optical or electrical signals or supplying power or fluid to an end effector attached to the tip of the multi-axis robot. The support device includes: a length adjustment device that adjusts the length of the linear object by bending and extending the linear object in accordance with the movement of the multi-axis robot; at least one guide that slidably supports the linear object; and an attachment device that attaches the length adjustment device and the guide to the outside of the multi-axis robot.

The present invention allows for easy attachment to a multi-axis robot and allows for adjustment of the degree of slack in a linear object connected to the multi-axis robot.

FIG. 1 is a diagram illustrating an example of a state in which a support device according to a first embodiment is attached to a multi-axis robot. FIG. 2 is an example of a schematic side view of the winding device and the mounting device in the first embodiment. FIG. 3 is a schematic top view of a guide and a mounting device according to the first embodiment. FIG. 4 is a schematic side view of a guide and an attachment device according to the first embodiment. FIG. 5 is a diagram showing an example of the multi-axis robot of FIG. 1 in a state where the joints are bent. FIG. 6 is an example of a schematic side view of a winding device and an attachment device in the second modification. FIG. 7 is an example of a schematic top view of a guide and an attachment device in the second modification. FIG. 8 is an example of a schematic side view of a guide and an attachment device in the second modification. FIG. 9 is an example of a schematic top view of a winding device and an attachment device in the third modification. FIG. 10 is an example of a schematic side view of a guide and an attachment device in the third modification. FIG. 11 is a diagram showing an example of a state in which a support device according to the fourth modification is attached to a multi-axis robot. FIG. 12 is a diagram illustrating a modification of the first embodiment.

The following describes the embodiments with reference to the drawings. Although the same reference numerals are used to designate the same parts in the drawings and descriptions of the examples and variations, the present invention is not limited to the examples and variations, and all application examples consistent with the spirit of the present invention are included within the technical scope of the present invention. Furthermore, the position, size, shape, range, and number of each element shown in the drawings are merely examples to facilitate understanding of the invention, and the position, size, shape, range, and number of each element are not limited to those disclosed in this specification and drawings.

<Configuration>
1 is a diagram showing an example of a state in which the support device 10 according to the present embodiment is attached to a multi-axis robot 500. As shown in FIG. 1, the multi-axis robot 500 is, as an example, a single-arm multi-axis robot, and has a base unit 501, a first arm 510, a joint unit 520, a second arm 530, an end effector 540, and a linear body 550. The multi-axis robot 500 may be, for example, a multi-axis industrial robot (single-arm, double-arm, horizontal multi-joint robot, the number of joints, and the number of rotations are not limited).

The multi-axis robot 500 is placed on the ground surface 600 via the base 501. The end effector 540 is attached to the tip of the moving part of the multi-axis robot 500. The end effector 540 is, for example, a camera, gripper, or air cylinder. The linear body 550 is a cable that transmits light or electrical signals, a cable that supplies power, or a hose that supplies fluid to the end effector 540. The tip 551 of the linear body 550 is connected to the end effector 540.

As shown in FIG. 1, the support device 10 includes a winding device 100a, three guides 200, an attachment device 300a, and three attachment devices 300b. The winding device 100a is a type of length adjustment device. As described below, the length adjustment device bends and stretches the linear body 550 in accordance with the operation of the multi-axis robot 500 to adjust the length of the linear body 550. The winding device 100a is attached to the outer surface (outside) of the first arm 510 of the multi-axis robot 500 via the attachment device 300a. The guide 200 slidably supports the linear body 550. The guide 200 is attached to the outer surface (outside) of the multi-axis robot 500 via the attachment device 300b. In the example shown in FIG. 1, three guides 200 are attached spaced apart on the outer surface of the multi-axis robot 500. There are no limitations on the number or positions of the winding devices 100a and guides 200.

Figure 2 is an example of a schematic side view of the winding device 100a and the attachment device 300a in Example 1. As illustrated in Figure 2, the winding device 100a has a winding drum 110 that can wind and unwind the linear body 550, and a winding attachment force unit 120 that biases the winding drum 110 in the direction of winding the linear body 550.

The winding attachment force unit 120 includes, for example, a coil spring (not shown). One end of the coil spring is attached to the winding drum 110, and the other end is fixed to the base 310 of the attachment device 300a, and the coil spring biases the winding drum 110 in the direction of winding the linear body 550. Instead of a coil spring, the winding attachment force unit 120 may also use a motor connected to the winding drum 110 via a gear.

The winding device 100a bends the linear body 550 when winding it onto the winding drum 110, and stretches the linear body 550 wound around the winding drum 110 when unwinding it. The winding device 100a is a type of length adjustment device. When the degree of slack in the linear body 550 changes in response to the operation of the multi-axis robot 500, the winding device 100a winds or unwinds the linear body 550, thereby bending and stretching the linear body 550 in response to the operation of the multi-axis robot 500, and adjusting the length of the linear body 550 from the winding device 100a to the tip 551. In this way, by being equipped with the winding drum 110, the winding device 100a can reliably adjust the length of the linear body 550.

The winding device 100a only needs to be attached to the outside of the multi-axis robot 500, and may also be provided on the ground surface 600 (see Figure 1) on which the multi-axis robot 500 is placed. Furthermore, the winding device 100a of this embodiment winds up the leading end of the linear body 550. The winding device 100a may also be a winding device that can wind up both the leading end and trailing end of the linear body 550, or may be a winding device that winds up the trailing end of the linear body 550 depending on the position where the winding device 100a is attached.

As shown in FIG. 2, the mounting device 300a includes a base 310, a holding portion 320a, and a first fixing means 330a.

The base 310 is formed in a plate shape and abuts against the first arm 510 (see Figure 1) of the multi-axis robot 500. A first screw hole 311 is provided in the base 310. Furthermore, a second screw hole 511 is provided in the first arm 510 of the multi-axis robot 500 at a position corresponding to the first screw hole 311.

The holding portion 320a holds the winding device (length adjustment device) 100a on the surface 313 opposite the abutment surface 312 of the multi-axis robot 500 of the base 310. The holding portion 320a is, for example, an adhesive that bonds the winding attachment portion 120 of the winding device 100a to the opposite surface 313 of the base 310.

The first fixing means 330a has a first screw hole 311 provided in the base 310, a second screw hole 511 provided in the multi-axis robot 500 corresponding to the first screw hole 311, and a screw 331 that is inserted into the first screw hole 311 in the base 310 and threaded into the second screw hole 511 in the multi-axis robot 500. Here, the screw 331 is inserted into the first screw hole 311 in the base 310 and threaded into the second screw hole 511 in the multi-axis robot 500, thereby screwing the base 310 to the multi-axis robot 500. In this way, the first fixing means 330a fixes the base 310 to the multi-axis robot 500. Here, the winding device 100a is held to the base 310 by the holding portion 320a, and therefore the winding device 100a is held to the multi-axis robot 500 via the base 310. As described above, the mounting device 300a can attach the winding device (length adjustment device) 100a to the outside (outer peripheral surface) of the multi-axis robot 500 by screwing the base 310 into the second screw hole 511 of the multi-axis robot 500.

The material of the base 310 may be resin, metal, rubber, or elastomer. Furthermore, although the base 310 is formed in a plate shape, the shape can be modified as appropriate. For example, if the outer peripheral surface of the multi-axis robot 500 facing the abutment surface 312 of the base 310 is curved, the base 310 may be curved so that the abutment surface 312 of the base 310 can be in close contact with the outer peripheral surface of the multi-axis robot 500.

Figure 3 is an example of a schematic top view of the guide 200 and mounting device 300b. Also, Figure 4 is an example of a schematic side view of the guide 200 and mounting device 300b. As shown in Figure 3, the guide 200 has two adjacent rollers 210. As shown in Figure 4, the rollers 210 have grooves 211 on their sides, a rotation axis 212, and a bearing 213 that rotatably holds the rotation axis 212. As will be described later, the bearing 213 is fixed to the multi-axis robot 500 via the mounting device 300b, and the rollers 210 rotatably held by the bearing 213 can rotate around the rotation axis 212.

The guide 200 supports the linear body 550 slidably by sandwiching it between the grooves 211 of two adjacent rollers 210 (see Figure 1). When the linear body 550 is pulled toward the front or rear end, the two rollers 210 can rotate in accordance with the linear body 550. The material of the guide 200 may be resin, metal, rubber, or elastomer.

In Figure 4, the mounting device 300b is configured similarly to the mounting device 300a described above with reference to Figure 2 for mounting the winding device 100a to the multi-axis robot 500. The mounting device 300b includes a base 310, a holding portion 320b, and a first fixing means 330a. The mounting device 300b differs from the mounting device 300a in that the base 310 has a groove 314 as the holding portion 320b. The bearing 213 of the roller 210 is fitted into the groove 314 of the base 310, and holds the bearing 213. The base 310, which holds the bearing 213 of the roller 210, is screwed to the multi-axis robot 500 by the screw 331 of the first fixing means 330a. As a result, the roller 210 is rotatably held on the multi-axis robot 500 via the base 310.

As described above, the mounting device 300b can mount the guide 200 (two rollers 210) to the outside (outer periphery) of the multi-axis robot 500 by screwing the base 310 into the second screw hole 511 of the multi-axis robot 500.

The guide 200 only needs to be able to slidably support the linear body 550, and instead of the guide 200, for example, a ring, hook, or Snell guide, which is a spiral ring-shaped wire held by the base 310, may be used.

<Action and effect>
Fig. 5 is a diagram showing an example of a state in which the multi-axis robot 500 of Fig. 1 is bent at the joint 520. In Fig. 5, the multi-axis robot 500, the guide 200, and the linear body 550 shown in Fig. 1 in a state before the multi-axis robot 500 is bent at the joint 520 are indicated by two-dot chain lines.

As shown in FIG. 5, as the multi-axis robot 500 bends and stretches at the joint 520, the tip 551 of the linear body 550 moves along with the end effector 540. If the slack in the linear body 550 begins to increase as the tip 551 moves, the winding device 100a winds up the linear body 550 due to the bias of the winding attachment forcer 120 (see FIG. 2), thereby suppressing the slack in the linear body 550. Conversely, if the slack in the linear body 550 begins to decrease as the tip 551 of the linear body 550 moves, the winding device 100a unwinds the linear body 550, thereby suppressing the decrease in the slack in the linear body 550. Here, the guide 200 slidably supports the linear body 550, allowing the winding device 100a to stably wind or unwind the linear body 550.

According to the support device 10 of Example 1, the support device 10 can be attached to the outside of the multi-axis robot 500. This allows the support device 10 to be easily attached to the multi-axis robot 500, and makes it possible to adjust the degree of slack in the linear body 550 connected to the multi-axis robot 500.

Mounting device 300a and mounting device 300b also have first fixing means 330a. The first fixing means 330a uses screws 331 to fasten the base 310 to the second screw holes 511 of the multi-axis robot 500. This allows the winding device 100a (see Figure 2) and guide 200 (see Figure 4) to be attached to the multi-axis robot 500 via the base 310. The support device 10 can be attached to the multi-axis robot 500 simply by providing the second screw holes 511 in the multi-axis robot 500. Therefore, the first fixing means 330a allows the support device 10 to be easily attached to the multi-axis robot 500.

Furthermore, when the linear body 550 is bent at the guide 200 (see the guide 200 at the joint portion 520 in Figure 5), the guide 200 bends the linear body 550 along the roller 210, thereby preventing the linear body 550 from being damaged by excessive bending at the guide 200.

It is preferable that the winding device 100a and guide 200 are provided on the outer circumferential surface of the joint 520 of the multi-axis robot 500. That is, because the multi-axis robot 500 bends and stretches at the joint 520, it is thought that the linear body 550 is likely to sag near the joint 520. In response to this, by providing the winding device 100a on the outer circumferential surface of the joint 520 of the multi-axis robot 500 and having the winding device 100a wind or unwind the linear body 550 to adjust the degree of sag of the linear body 550, it is possible to prevent the linear body 550 from separating from the joint 520 and interfering with the surroundings. Furthermore, by providing the guide 200 on the outer circumferential surface of the joint 520 of the multi-axis robot 500 to support the linear body 550, it is possible to prevent the linear body 550 from separating from the joint 520 and interfering with the surroundings.

<Modification 1>
The stand device 10 of the first modification example differs from the stand device 10 of the first embodiment in that it includes a second fixing means b having a band 332. In the following modifications, the same components as those of the first embodiment are denoted by the same reference numerals, and the description thereof will be omitted.

Figure 6 is an example of a schematic side view of the winding device 100a and the attachment device 300c of Modification 1. Figure 7 is an example of a schematic top view of the guide 200 and the attachment device 300d of Modification 1. Figure 8 is an example of a schematic side view of the guide 200 and the attachment device 300d of Modification 1.

The mounting device 300c of this modified example mounts the winding device 100a to the multi-axis robot 500. The mounting device 300d of this modified example mounts the guide 200 (see Figure 1) attached to the second arm (arm) 530 to the multi-axis robot 500. In this modified example, the guide 200 attached to the joint 520 (see Figure 1) is mounted to the multi-axis robot 500 by the mounting device 300b of Example 1.

As shown in Figures 6 to 8, the second fixing means 330b provided on the mounting device 300c and the mounting device 300d has a band 332 that wraps around the arm (first arm 510 or second arm 530) and base 310 of the multi-axis robot 500, fixing the base 310 to the arm (first arm 510 or second arm 530) of the multi-axis robot 500. The band 332 is, for example, a hook-and-loop fastener or adhesive tape.

The support device 10 of variant 1 can easily attach the winding device 100a or guide 200 to the outside of the multi-axis robot 500 by simply wrapping the band 332 around the arm (first arm 510 or second arm 530) of the multi-axis robot 500 and the base 310 using the second fixing means 330b.

<Modification 2>
The support device 10 of the second modification example differs from the support device 10 of the first embodiment in that it includes a third fixing means 330c having a base 310a formed of a magnet. Here, the multi-axis robot 500 can attach a magnet.

Figure 9 is a diagram showing an example of a schematic side view of the winding device 100a and the attachment device 300e of Modification 2. Figure 10 is a diagram showing an example of a schematic side view of the guide 200 and the attachment device 300f of Modification 2. As shown in Figures 9 and 10, the attachment devices 300e and 300f have a base 310a formed by a magnet as the third fixing means 330c. The attachment devices 300e and 300f are held to the multi-axis robot 500 by the magnetic force of the base 310a formed by the magnet. As a result, the winding device 100a and the guide 200 are held to the multi-axis robot 500 via the attachment device 300e or the attachment device 300f.

With the support device 10 of variant 2, the base 310a formed by the magnet of the third fixing means 330c allows the winding device 100a to be attached to the multi-axis robot 500 simply by attaching the winding device 100a together with the attachment device 300e to the outer periphery of the multi-axis robot 500. Similarly, the guide 200 can be attached to the multi-axis robot 500 simply by attaching the guide 200 together with the attachment device 300f to the outer periphery of the multi-axis robot 500. Therefore, the support device 10 can be easily attached to the outside of the multi-axis robot 500.

<Modification 3>
The support device 10 of Modification 3 differs from the support device 10 of Example 1 in that it includes a fourth fixing means 330d having adhesive. The mounting device 300g of Modification 3 mounts the winding device 100a to the multi-axis robot 500 and includes the fourth fixing means 330d (adhesive). An example of a schematic side view of the winding device 100a and the mounting device 300g is similar to FIG. 9 and therefore not shown. The mounting device 300h of Modification 3 mounts the guide 200 to the multi-axis robot 500 and includes the fourth fixing means 330d (adhesive). An example of a schematic side view of the guide 200 and the mounting device 300h is similar to FIG. 10 and therefore not shown.

The fourth fixing means 330d provided on the mounting device 300g and the mounting device 300h has an adhesive that bonds the abutment surface 312 of the multi-axis robot 500 on the base 310 (see Figures 9 and 10) to the multi-axis robot 500.

The support device 10 of variant 3 can attach the winding device 100a or guide 200 to the multi-axis robot 500 simply by adhesively adhering the base 310 to the outer periphery of the multi-axis robot 500 using the fourth fixing means 330d. Therefore, the support device 10 can be easily attached to the outside of the multi-axis robot 500.

<Modification 4>
The supporting device 10 of the modified example 4 has a pushing and bending device 100b instead of the winding device 100a of the supporting device 10 of the embodiment 1. The pushing and bending device 100b is a type of length adjusting device.

Figure 11 shows an example of the state in which the support device 10 according to this modified example is attached to a multi-axis robot 500. As shown in Figure 11, the pushing and bending device 100b is attached to the multi-axis robot 500 via an attachment device 300i.

The bending device 100b also includes two support sections 130 that slidably support the linear body 550, a contact section 141 that is provided between the two support sections 130 and contacts the linear body 550, and a pressing section 142 that presses the contact section 141 in a direction that presses it against the linear body 550.

The support portion 130 is configured similarly to the roller 210 (see Figure 4) and is held by the base portion 310 of the mounting device 300i.

The pressing biasing portion 142 has a spring 143, one end of which is fixed to the contact portion 141, and a spring holding portion 144, which holds the other end of the spring 143. The spring holding portion 144 is held by the multi-axis robot 500 via the mounting device 300i.

In the state shown in FIG. 11, spring 143 is compressed and biases linear body 550 toward linear body 550 via contact portion 141. Note that instead of spring 143, pressing biasing portion 142 may be configured, for example, so that a rod attached to contact portion 141 is biased toward linear body 550 by a gear attached to the rotating shaft of a motor.

Similar to mounting devices 300a and 300b, mounting device 300i includes a base 310, a holding portion c (adhesive) similar to holding portion 320a (see Figure 2), two holding portions 320b (see groove 314 in Figure 4), and a first fixing means 330a (see Figure 2; first screw hole 311 in base 310, second screw hole 511 in multi-axis robot 500, screw 331). Here, holding portion c is adhesive that bonds the surface 313 (see Figure 2) opposite the abutment surface 312 of the multi-axis robot 500 of the base 310 to the spring holding portion 144. The two holding portions 320b hold the two support portions 130 to the base 310 via grooves 314 (see Figure 4).

As the multi-axis robot 500 bends and stretches at the joint 520, the tip 551 of the linear body 550 moves along with the end effector 540. If the slack in the linear body 550 begins to increase as the tip 551 moves, the pressing and bending device 100b bends the linear body 550 between the two support parts 130 due to the bias of the pressing and bending part 142, thereby shortening the length of the linear body 550 from the tip 551 to the pressing and bending device 100b and suppressing the slack in the linear body 550. Conversely, if the slack in the linear body 550 begins to decrease as the tip 551 of the linear body 550 moves, the linear body 550 between the two support parts 130 stretches, suppressing the reduction in the slack in the linear body 550. Here, the guide 200 slidably supports the linear body 550, allowing the bending device 100b to stably bend and stretch the linear body 550.

In this way, the bending device 100b can bend and stretch the linear body 550, reliably adjusting the length from the tip 551 of the linear body 550 to the bending device 100b.

Furthermore, the pushing and bending device 100b can be attached to the multi-axis robot 500 simply by providing a second screw hole 511 in the multi-axis robot 500 using the attachment device 300i. Therefore, the support device 10 of variant 4 can also be easily attached to the multi-axis robot 500.

In the example of the bending device 100b shown in Figure 11, the contact portion 141 presses the linear body 550 horizontally (to the left in Figure 11), but there are no restrictions on the direction in which the bending device 100b presses the linear body 550, and the orientation of the bending device 100b can be changed. For example, the bending device 100b may be oriented so that it presses the linear body 550 downward.

The present invention is not limited to the above-described embodiments, but includes various modifications and equivalent configurations within the spirit of the appended claims. For example, the above-described embodiments and modifications have been described in detail to clearly explain the present invention, and the present invention is not necessarily limited to those that include all of the described configurations. Furthermore, other configurations may be added to, deleted from, or substituted for part of the configuration of each embodiment.

For example, as shown in FIG. 12, in the configuration of Example 1 described above, a linear body 550 may be wound around the multi-axis robot 500. This allows the linear body 550 to be stably supported around the multi-axis robot 500.

10: Support device 100a: Winding device (length adjustment device)
110: Winding drum 120: Winding attachment portion 100b: Pressing device (length adjusting device)
130: Support portion 141: Contact portion 142: Pressurizing portion 143: Spring 144: Spring holding portion 200: Guide 210: Roller 211: Groove 212: Rotating shaft 213: Bearings 300a to 300i: Mounting device 310: Base 310a: Base (magnet)
311: First screw hole 312: Contact surface 313: Opposite surface 314: Grooves 320a, 320b: Holding portion 330a: First fixing means 330b: Second fixing means 330c: Third fixing means 330d: Fourth fixing means 331: Screw 332: Band 500: Multi-axis robot 501: Base portion 510: First arm 511: Second screw hole 520: Joint portion 530: Second arm 540: End effector 550: Linear body 551: Tip portion 600: Ground surface

Claims (7)

A support device for supporting a linear object on a multi-axis robot, the linear object transmitting an optical or electrical signal or supplying power or fluid to an end effector attached to the tip of a moving arm of the multi-axis robot, comprising:
The support device includes:
a length adjusting device that bends and stretches the linear body in accordance with the operation of the multi-axis robot to adjust the length of the linear body;
a guide that slidably supports the linear object by sandwiching the linear object between grooves of two rotating rollers adjacent to each other ;
a mounting device for mounting the length adjustment device on the outside of another arm of the multi-axis robot;
an attachment device that attaches the guide to the outside of a joint that bends and stretches the moving arm and the other arm of the multi-axis robot;
A support device comprising: 2. The support device of claim 1,
Each of the mounting devices comprises:
a base portion that abuts against the multi-axis robot;
a holding portion that holds the length adjustment device or the guide on a surface of the base opposite to the contact surface of the multi-axis robot;
a first fixing means for fixing the base to the multi-axis robot;
The first fixing means comprises:
a first screw hole provided in the base; a second screw hole provided in the multi-axis robot corresponding to the first screw hole; and a screw that is inserted into the first screw hole of the base and threadedly engages with the second screw hole of the multi-axis robot;
A support device having: 2. The support device of claim 1,
A mounting device attached to the outside of the other arm ,
a base portion that abuts against the other arm of the multi-axis robot;
a holding portion that holds the length adjustment device or the guide on a surface of the base opposite to the contact surface of the multi-axis robot;
a second fixing means for fixing the base to the other arm of the multi-axis robot;
The second fixing means includes:
A support device having a band that wraps around the other arm and the base of the multi-axis robot and secures the base to the other arm of the multi-axis robot. 2. The support device of claim 1,
Each of the mounting devices comprises:
a base portion formed of a magnet and in contact with the multi-axis robot;
a holding portion that holds the length adjustment device or the guide on a surface of the base opposite to the contact surface of the multi-axis robot;
and a third fixing means for fixing the base to the multi-axis robot,
The third fixing means is the base formed by the magnet. 2. The support device of claim 1,
Each of the mounting devices comprises:
a base portion that abuts against the multi-axis robot;
a holding portion that holds the length adjustment device or the guide on a surface of the base opposite to a contact surface of the multi-axis robot,
and a fourth fixing means for fixing the base to the multi-axis robot,
The fourth fixing means is a support device having an adhesive that bonds the abutment surface of the multi-axis robot of the base to the multi-axis robot. 2. The support device of claim 1,
The length adjustment device is
a winding drum that winds the linear body;
a winding attachment biasing portion that biases the winding drum in a direction in which the linear body is wound;
A support device that is a winding device comprising: 2. The support device of claim 1,
The length adjustment device is
two support portions that slidably support the linear body;
a contact portion provided between the two support portions and in contact with the linear body;
a pressing biasing portion that biases the contact portion in a direction pressing the contact portion against the linear body;
A support device that is a bending device comprising: