| 摘要 |
PROBLEM TO BE SOLVED: To provide a rocking joint device capable of further reducing electric power consumption or a load of a user, by automatically adjusting torque generated by rocking motion by automatically adjusting rigidity of a joint of making the rocking motion.SOLUTION: A rocking joint device comprises a driving shaft member 6, a first rocking arm 13 rockably supported around a driving shaft 6J of the driving shaft member, a power spring 24 for generating energization torque corresponding to a first rocking angle being a rocking angle of the first rocking arm, apparent spring constant variable means (21 and 25) capable of varying an apparent spring constant of the power spring viewed from the first rocking arm, first angle detection means 11S for detecting the first rocking angle, and control means for controlling the apparent spring constant variable means in response to the detected first rocking angle. The apparent spring constant variable means is shift means capable of adjusting the gear ratio, and the control means adjusts an apparent spring constant of the power spring viewed from the first rocking arm by adjusting the gear ratio of the shift means in response to the first rocking angle.SELECTED DRAWING: Figure 1 |
