Roller bodily sensation apparatus

Abstract

To provide a roller bodily sensation apparatus capable of improving safety.SOLUTION: In a roller bodily sensation apparatus 100, a rear end of an arm 130 is pivotally supported by a base 110 in a swingable manner via a bracket 120. At a front end of the arm 130, an upper roller 140 is pivotally supported in a rotatable manner. A lower roller 150 is pivotally supported by the base 110 in a rotatable manner via a bracket 160. When the fingers Ha of a user are entered between the lower roller 150 and the upper roller 140, the arm 130 is swung (escapes) in a direction of separating from the fingers Ha, so that a load on the fingers Ha is reduced. As a result thereof, catching of the fingers Ha or the like by the rollers can be physically experienced in a safe state.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to a roller somatosensory device, and particularly to a roller somatosensory device capable of improving safety.

Background Art

[0002] There is known a roller somatosensory device that safely allows a user to experience an accident in which a finger or an arm (hereinafter simply referred to as "finger") is pinched between a pair of rollers. For example, in the roller somatosensory device of Non-Patent Document 1, a pair of brackets rise from a base serving as a pedestal, and an upper roller and a lower roller arranged vertically are pivotally supported between the opposing surfaces of the pair of brackets. A vertically extending groove is formed in each of the pair of brackets, and the shaft of the upper roller is slidably supported along this groove. Thus, when a finger is pinched between the upper and lower rollers, the upper roller can be slid upward along the groove of the bracket to increase the distance from the lower roller. Therefore, the load applied when a finger is pinched between the upper and lower rollers can be reduced.

Prior Art Documents

Patent Documents

[0003]

Non-Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the above-described conventional technology, when the upper roller slides along the groove of the bracket, the shaft of the upper roller may tilt. When such a shaft tilt occurs, the resistance during the sliding of the upper roller increases, making it difficult to increase the distance between the upper and lower rollers. Therefore, since the load applied to the finger may not be sufficiently reduced, there is a need for a roller somatosensory device with further improved safety.

[0005] The present invention is made to solve the above-described problems, and an object thereof is to provide a roller tactile device capable of improving safety.

Means for Solving the Problems

[0006] To achieve this object, the roller tactile device of the present invention includes a base, a first roller pivotally supported by the base, a second roller arranged in parallel with the first roller, and an arm having one end pivotally supported by the second roller and the other end pivotally supported by the base. The distance between the first roller and the second roller is changed by the rotation of the arm with respect to the base.

Effects of the Invention

[0007] According to the roller tactile device described in claim 1, since the distance between the first roller and the second roller (hereinafter, these are collectively referred to as "each roller") changes due to the rotation of the arm with respect to the base, when a finger is sandwiched between each roller, the distance between each roller can be widened by the rotation of the arm. As a result, compared with the conventional technique of sliding the roller along the groove of the bracket, the distance between each roller is more likely to widen smoothly, so that the load when a finger is sandwiched between each roller can be reduced. Therefore, there is an effect that the safety of the roller tactile device can be improved.

[0008] According to the roller tactile device described in claim 2, in addition to the effect exhibited by the roller tactile device described in claim 1, the following effect is exhibited. In the initial state before the distance between each roller widens, a plane including the rotation axis of the first roller and the rotation axis of the second roller is defined as a first virtual plane, and a plane orthogonal to the first virtual plane and including the rotation axis of the second roller is defined as a second virtual plane.

[0009] When defined in this way, according to the roller somatosensory device of claim 2, the rotation axis of the arm is arranged on the second virtual plane or in the area on the first roller side of the second virtual plane. Thereby, for example, compared with a configuration in which the rotation axis of the arm is arranged in an area on the opposite side of the first roller across the second virtual plane, when a finger is pinched between the rollers, the reaction force applied from the finger to the second roller (arm) is likely to act in the rotation direction of the arm. Therefore, the interval between the rollers is likely to expand smoothly, and there is an effect that the load applied to the finger can be more effectively reduced.

[0010] According to the roller somatosensory device of claim 3, in addition to the effect exhibited by the roller somatosensory device of claim 2, the following effect is exhibited. When, in the initial state before the interval between the rollers expands, a plane that is perpendicular to the first virtual plane and in contact with the surface of the first roller facing the second roller side is defined as the third virtual plane, the rotation axis of the arm is located on the second virtual plane side of the third virtual plane, so that part or all of the arm can be arranged in an area that does not overlap with the third virtual plane. Thereby, when a finger passes between the rollers and a somatosensory experience such as the forearm or upper arm being pinched by the rollers occurs (that is, when the finger moves along the third virtual plane), it is possible to prevent the finger from hitting the arm. Therefore, there is an effect that an accident in which a finger is deeply pinched between the rollers can be safely experienced.

[0011] According to the roller somatosensory device of claim 4, in addition to the effect exhibited by the roller somatosensory device of claim 1, the following effect is exhibited. It includes a first stopper interposed between the base and the arm. In the initial state before the interval between the rollers expands, a gap is formed between the rollers, and the displacement of the second roller approaching the first roller from that initial state is restricted by the first stopper, so that the gap between the rollers in the initial state can be maintained by the first stopper. By forming such a gap in the initial state, there is an effect that the load when a finger is pinched between the rollers can be more effectively reduced.

[0012] According to the roller tactile device described in claim 5, in addition to the effects achieved by the roller tactile device described in claim 4, since the first stopper is disposed on the end side of the second roller in the axial direction of the second roller rather than at the center of the second roller, when a finger passes between the rollers and a tactile sensation is felt with the forearm or upper arm being pinched by the rollers, it is possible to prevent the finger from hitting the first stopper. Therefore, there is an effect that an accident in which a finger or the like is deeply pinched between the rollers can be safely experienced.

[0013] According to the roller tactile device described in claim 6, in addition to the effects achieved by the roller tactile device described in claim 4, since the first stopper is configured to be able to adjust the size of the gap between the rollers in the initial state, there is an effect that the load when a finger or the like is pinched between the rollers can be adjusted.

[0014] According to the roller tactile device described in claim 7, in addition to the effects achieved by the roller tactile device described in claim 6, since the first stopper includes a base portion that rises from the base toward the arm side and a fastening portion that is fastened to the tip of the base portion by a screw and contacts the arm, the size of the gap between the rollers in the initial state can be adjusted steplessly by adjusting the fastening amount of the fastening portion with respect to the base portion. Therefore, there is an effect that the load applied to a finger or the like can be easily and finely adjusted.

[0015] According to the roller tactile device described in claim 8, in addition to the effects achieved by the roller tactile device described in claim 1, the following effect is achieved. The second roller is disposed above the first roller in the vertical direction, and the second roller returns to its original position by its own weight toward the initial state before the interval between the rollers widens. Thereby, there is an effect that the load when a finger is pinched between the rollers can be effectively reduced as compared with a configuration in which the second roller is returned to the initial position by the elastic force of an elastic body such as a spring.

[0016] According to the roller somatosensory device described in claim 9, in addition to the effects achieved by the roller somatosensory device described in claim 8, the following effects are achieved. It is provided with a second stopper that restricts the displacement of the second roller in a direction away from the first roller. Since the displacement of the second roller toward a region on the side opposite to the first roller across the rotation axis of the arm is restricted by the second stopper, it is possible to suppress the arm from falling toward such a region. Therefore, there is an effect that the safety of the roller somatosensory device can be improved.

[0017] According to the roller somatosensory device described in claim 10, in addition to the effects achieved by the roller somatosensory device described in claim 9, the following effects are achieved. It includes a pair of brackets rising from the base, a pair of arms pivotally supported between the opposing sides of the pair of brackets, a shaft connecting the pair of arms, and screws fastening both longitudinal ends of the shaft to the pair of arms. Therefore, the rigidity of the pair of arms can be ensured by the shaft. Since the second stopper is formed by the heads of the screws that contact the brackets, it is possible to endow the screws with the function of fixing the shaft and the function as the second stopper. Therefore, there is an effect that the structure of the roller somatosensory device can be simplified compared to the case where components having these functions are provided separately.

Brief Description of the Drawings

[0018]

Figure 1

Figure 2

Figure 3

Figure 4

Modes for Carrying Out the Invention

[0019] Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings. FIG. 1 is a perspective view of a roller somatosensory device 100 according to a first embodiment of the present invention. In FIG. 1, the arrows F-B, U-D, and L-R in the figure indicate the front-rear direction, the up-down direction (vertical up-down direction), and the left-right direction of the roller somatosensory device 100, respectively (the same applies to the roller somatosensory device 200).

[0020] Note that in FIG. 1, the state in which the upper roller 140 is arranged at the initial position before the finger Ha (see FIG. 3) is sandwiched between the upper roller 140 and the lower roller 150 (hereinafter, these are collectively referred to as "upper and lower rollers 140, 150") is illustrated (the same applies to FIG. 2). Hereinafter, this state will be defined as the initial state of the roller somatosensory device 100 and described.

[0021] As shown in FIG. 1, the roller somatosensory device 100 is a device for making an operator feel the risk of an accident such as the finger Ha (see FIG. 3) being pinched by a roller. An accident in which the finger Ha is pinched between the rollers is assumed for dangerous work such as cleaning a rotating roller, and the roller somatosensory device 100 can safely make the operator feel such an accident.

[0022] The roller somatosensory device 100 includes a base 110 that serves as its base. The base 110 is a metal plate formed in a rectangular shape when viewed from above (in the direction of arrow D), and a pair of brackets 120 spaced apart in the left-right direction (in the direction of arrow L-R) are fixed to the rear end portion (the end portion in the direction of arrow B) of the base 110.

[0023] The rear end (the other end) side of the arm 130 is rotatably supported by the bracket 120 around a rotation axis Oa extending in the left-right direction (horizontal direction). The upper roller 140 is rotatably supported around a rotation axis Ob extending in the left-right direction on the front end (one end) side of the arm 130.

[0024] Below the upper roller 140 (in the direction of arrow D), a lower roller 150 is arranged. The lower roller 150 is supported by the base 110 via a bracket 160. The brackets 160 are provided in a pair at intervals in the left - right direction, and between the opposing surfaces of the pair of brackets 160, the lower roller 150 is rotatably supported about a rotation axis Oc extending in the left - right direction.

[0025] Although details will be described later, when a user experiences an accident where a finger Ha (see Fig. 3) is pinched between the upper and lower rollers 140, 150, the user operates the handle 170 (see Fig. 1) to rotate the lower roller 150.

[0026] When a finger Ha (see Fig. 3) or an arm is pinched between the upper and lower rollers 140, 150, the upper roller 140 and the arm 130 swing about a rotation axis Oa with respect to the base 110 (bracket 120). Thereby, compared with the prior art in which the upper roller is slid with respect to the bracket, the upper roller 140 can be smoothly released from the finger Ha or the arm. Therefore, the load on the finger Ha or the arm can be reduced, and the safety can be improved.

[0027] Next, with reference to Figs. 2 and 3, the details of the roller experience device 100 will be described. Fig. 2(a) is a side view of the roller experience device 100, Fig. 2(b) is a top view of the roller experience device 100, and Fig. 3 is a side view of the roller experience device 100 in a use state. In addition, in Figs. 2(a) and 3, the handle 170 is omitted from the illustration, and in Fig. 3, the stopper 180 is omitted from the illustration. In Fig. 3, the arm 130 in a state where it is swung to the limit in the opening direction (clockwise direction in Fig. 3) is shown by a dashed line.

[0028] As shown in FIGS. 2 and 3, rubber legs 111 in the shape of truncated cones are attached to each of the four corners of the lower surface of the base 110, and the base 110 is grounded to the ground surface G via the legs 111. A pair of brackets 120 attached to the upper surface of the base 110 are L-shaped metal fittings including a fixed portion 121 screwed to the base 110 and a support portion 122 extending upward (in the direction of arrow U) from the fixed portion 121. A pair of support portions 122 arranged in the left-right direction (in the direction of arrow L-R) face each other in parallel, and the space between the support portions 122 is connected by a fixing shaft 123 (see FIG. 2(b)).

[0029] Since the fixing shaft 123 is connected to the support portions 122, the rigidity between the support portions 122 can be improved. Therefore, the fixing shaft 123 can stably support the swinging of the arm 130.

[0030] The fixing shaft 123 is a cylindrical metal member, and both end surfaces thereof are screwed to a pair of support portions 122. Bearings 124 are respectively attached to both ends of the fixing shaft 123 (see FIG. 2(b)).

[0031] The bearing 124 includes a cylindrical inner ring having a through hole at the center and a cylindrical outer ring disposed outside the inner ring, and the inner ring and the outer ring are configured to be relatively rotatable with respect to each other. The bearing 124 is a free roller bearing that does not limit the rotation direction (both clockwise and counterclockwise rotations in FIG. 2(a)). Both ends of the fixing shaft 123 are press-fitted into the inner ring of the bearing 124. The outer ring of the bearing 124 is respectively screwed to the outer side surfaces of the rear end sides of the left and right arms 130. Here, the outer side surface is the side surface facing the outside in the left-right direction, and in the following description, the side surface facing the opposite side (the central side of the roller sensing device 100 in the left-right direction) is described as the inner side surface.

[0032] The left and right arms 130 are metal plates linearly extending in the front-rear direction (arrow F-B direction), and are arranged to face each other in the left-right direction. The arms 130 are pivotally supported via bearings 124 with respect to the bracket 120 (fixed shaft 123) so as to be swingable about the rotation axis Oa.

[0033] Here, when inserting the finger Ha between the upper and lower rollers 140 and 150, if the finger Ha is inserted biased toward one side in the left-right direction, for example, the left side (arrow L direction side), a difference occurs in the amount of upward push by the reaction force of the finger Ha at the left and right ends of the upper roller 140. When such a difference in the amount of upward push occurs, there is a risk that the left and right arms 130 twist with respect to each other and it becomes difficult for the arms 130 to swing.

[0034] In contrast, in the present embodiment, the bearing 124 is screwed to the outer surface on the rear end side of the arm 130, and the outer surface of this bearing 124 abuts against the inner surface of the pair of brackets 120. Thereby, even if the pair of arms 130 try to twist with respect to each other during swinging, the twisting can be restricted by the contact between the bearing 124 and the bracket 120. Therefore, it becomes easier to maintain the pair of arms 130 in parallel, and the swinging of the arm 130 with respect to the bracket 120 (fixed shaft 123) can be made smooth.

[0035] The pair of arms 130 are connected by a metal shaft 131 between the opposing sides (see Fig. 2(b)). The shaft 131 is formed in a cylindrical shape extending in the left-right direction, and both ends of the shaft 131 are attached to the arms 130 by screws 132. Since the opposing sides of the pair of arms 130 are connected by a plurality (two in this embodiment) of shafts 131, the rigidity against the direction in which the pair of arms 130 twist with respect to each other can be improved.

[0036] On the front end side of the arm 130, the upper roller 140 is pivotally supported by two bearings (not shown). The bearings have the same configuration as the above-described bearing 124, and the outer rings of the two bearings are respectively screwed to both ends of the upper roller 140. A columnar shaft portion 141 is press-fitted into the inner rings of the two bearings, and both ends of the shaft portion 141 are respectively screwed to the left and right arms 130. Thereby, the upper roller 140 is pivotally supported with respect to the arm 130 about the rotation axis Ob.

[0037] Below the upper roller 140, the lower roller 150 is disposed. The diameters of the upper and lower rollers 140 and 150 are the same. From both ends of the lower roller 150, columnar shaft portions 151 project outward in the left-right direction. The shaft portions 151 are pivotally supported by the base 110 via a pair of brackets 160.

[0038] The pair of brackets 160 is a U-shaped metal fitting including a fixed portion 161 screwed to the base 110 and a support portion 162 extending above the fixed portion 161. The pair of support portions 162 arranged on the left and right face each other in parallel. A bearing 163 configured such that the inner ring can rotate relative to the outer ring is disposed on the support portion 162.

[0039] The bearing 163 has the same configuration as the above-described bearing 124, and the outer ring of the bearing 163 is fixed to the support portion 162 of the bracket 160. The shaft portion 151 of the lower roller 150 is press-fitted into the inner ring of the bearing 163. By press-fitting the shaft portion 151 into the inner ring of the bearing 163, the lower roller 150 and the shaft portion 151 are pivotally supported with respect to the bracket 160 about the rotation axis Oc. The rotation axis Oc of the lower roller 150 is substantially parallel to the rotation axis Ob of the upper roller 140 and the rotation axis Oa of the arm 130.

[0040] The left end of the shaft portion 151 projects outside the bearing 163, and a handle 170 is attached to the protruding portion. The left end of the shaft portion 151 is screwed to the handle 170. The handle 170 is a member used for the user to rotate the lower roller 150 (shaft portion 151) (see Fig. 2(b)).

[0041] Here, in the initial state where the roller tactile device 100 is grounded on a horizontal ground surface G, a virtual plane including the rotation axis Ob of the upper roller 140 and the rotation axis Oc of the lower roller 150 is defined as a first virtual plane X, and a virtual plane that is orthogonal to the first virtual plane X and includes the rotation axis Ob of the upper roller 140 is defined as a second virtual plane Y.

[0042] When defined in this way, for example, in a configuration where the rotation axis Oa of the arm 130 is located above the second virtual plane Y (a configuration where the arm 130 slopes downward toward the lower roller 150 side), when a finger Ha is pinched between the upper and lower rollers 140 and 150, the reaction force applied from the finger Ha to the upper roller 140 (arm 130) is less likely to act in the rotation direction of the arm 130 (the direction in which the arm 130 opens). For this reason, the load applied to the finger Ha cannot be sufficiently reduced.

[0043] In contrast, in the present embodiment, the rotation axis Oa of the arm 130 is located below the second virtual plane Y. That is, since the arm 130 slopes upward from the rear end side to the front end side (away from the lower roller 150), when a finger Ha is pinched between the upper and lower rollers 140 and 150, the reaction force applied from the finger Ha to the upper roller 140 (arm 130) is likely to act in the rotation direction of the arm 130 (the direction in which the arm 130 opens). Therefore, the gap L between the upper and lower rollers 140 and 150 is likely to smoothly widen, so that the load applied to the finger Ha can be more effectively reduced.

[0044] Note that in the present embodiment, the angle θ1 of the angle formed by the virtual plane including the rotation axis Ob and the rotation axis Oa and the second virtual plane Y (hereinafter referred to as the inclination angle θ1) is set to 5° (see FIG. 2(a)).

[0045] Also, a virtual plane that is orthogonal to the first virtual plane X and contacts the surface of the lower roller 150 facing the upper roller 140 side is defined as the third virtual plane Z. When defined in this way, for example, in the second embodiment described later, in a configuration where the rotation axis Od of the arm 230 is located below the third virtual plane Z (see Fig. 4(a)), the cavity S2 between the arm 230 and the upper surface of the base 210 becomes narrower. Therefore, depending on the arrangement of the shaft 231 that forms part of the arm 230, when the fingers Ha or the arm are deeply pinched between the upper and lower rollers 140 and 150, the fingers Ha or the arm are likely to hit the shaft 231.

[0046] In contrast, in this embodiment, the rotation axis Oa of the arm 130 is located above the third virtual plane Z. As a result, the entire arm 130 can be arranged on the upper side of the third virtual plane Z, so the shaft 131 that forms part of the arm 130 is less likely to be in the way. That is, a wide cavity S1 can be ensured between the arm 130 and the upper surface of the base 110. Therefore, when the fingers Ha or the arm are deeply pinched between the upper roller 140 and the lower roller 150 (see Fig. 3), it is difficult to bring the fingers Ha that have passed between the upper and lower rollers 140 and 150 into contact with the arm 130 and the shaft 131. Thus, an accident where the fingers Ha or the arm are deeply pinched between the upper and lower rollers 140 and 150 can be safely experienced.

[0047] Also, in a configuration where the rotation axis Od of the arm 230 is located below the third virtual plane Z (see Fig. 4(a)) as in the second embodiment described later, the displacement locus of the upper roller 140 accompanying the rotation of the arm 230 becomes a locus that escapes from the lower roller 150 to the rear side. That is, while the rotation axes Ob and Oc of the upper and lower rollers 140 and 150 are aligned in the vertical direction in the initial state, the positions of their rotation axes Ob and Oc are likely to shift in the horizontal direction. Therefore, the feeling when the fingers Ha are pinched between the upper and lower rollers 140 and 150 is likely to be different from that of an actual roller.

[0048] Therefore, it is preferable that the rotation axis Oa of the arm 130 is located at least above (on the side of the second virtual plane Y) the rotation axis Oc of the lower roller 150. Thereby, in the initial stage of the rotation of the upper roller 140 (arm 130), the rotation locus of the upper roller 140 can be approximated to a locus along the vertical direction (the first virtual plane X). That is, when the finger Ha is sandwiched between the upper and lower rollers 140 and 150 (see FIG. 3), the displacement of the positions of the rotation axes Ob and Oc of the upper and lower rollers 140 and 150 in the horizontal direction can be suppressed, so that a feeling similar to when being sandwiched by the actual rollers can be achieved.

[0049] Between the rotation axis Oa of the arm 130 and the rotation axis Ob of the upper roller 140, in the initial state, a stopper 180 that supports the arm 130 from below is disposed. By supporting the arm 130 from below by the stopper 180, a gap L can be formed between the upper and lower rollers 140 and 150 in the initial state. By forming such a gap L, it becomes easier for the finger Ha to pass between the upper and lower rollers 140 and 150, so that the load on the finger Ha and the arm sandwiched between the upper and lower rollers 140 and 150 can be reduced. As a result, safety can be improved.

[0050] Also, by forming a gap L between the upper roller 140 and the lower roller 150, the upper and lower rollers 140 and 150 can be rotated independently. Therefore, it is possible to experience the feeling of sandwiching the finger Ha with only the lower roller 150 rotated by the handle 170. Furthermore, by rotating the lower roller 150 by the handle 170 while rotating the upper roller 140 by hand, it is also possible to experience the feeling of sandwiching the finger Ha with both the upper and lower rollers 140 and 150 rotated.

[0051] The stopper 180 has a base 181 erected from the base 110, and a fastening portion 182 is attached to the tip side of the base 181. The base 181 is a columnar metal part, and the fastening portion 182 is a frustum-shaped rubber part. The fastening portion 182 is attached to the base 181 with screws so as to be extendable in the height direction (upward). Therefore, by changing the fastening amount of the fastening portion 182 with respect to the base 181, the height of the stopper 180 can be adjusted.

[0052] That is, by increasing the fastening amount of the fastening portion 182 with respect to the base 181, the height of the stopper 180 can be lowered, and by decreasing the fastening amount, the height of the stopper 180 can be increased. Thereby, the size of the gap L between the upper and lower rollers 140 and 150 in the initial state can be adjusted. By making this gap L adjustable, the load when a finger Ha or the like is pinched between the upper and lower rollers 140 and 150 can be adjusted.

[0053] Moreover, since the configuration is such that the gap L between the upper and lower rollers 140 and 150 is adjusted according to the fastening amount of the fastening portion 182 with respect to the base 181, such a gap L can be adjusted steplessly. Therefore, the load applied to the finger Ha or the like can be easily finely adjusted.

[0054] In the direction of the rotation axis Ob of the upper roller 140 (left - right direction), the stopper 180 contacts the arm 130 on the end side rather than the center of the upper roller 140. Thereby, when the finger Ha passes between the upper and lower rollers 140 and 150 and a person feels that the forearm or upper arm is pinched by the upper and lower rollers 140 and 150 (see FIG. 3), it is possible to prevent the finger Ha from hitting the stopper 180. As a result, it is possible to safely feel the accident of the finger Ha or the like being deeply pinched between the upper and lower rollers 140 and 150.

[0055] In the direction of the rotation axis Ob (left - right direction) of the upper roller 140, when the stopper 180 contacts the arm 130 on the end - side rather than the center of the upper roller 140, it means that the entire stopper 180 is located outside the center of the upper roller 140 in the direction of the rotation axis Ob. However, when the total length of the upper roller 140 in the direction of the rotation axis Ob is La, it is preferable that the stopper 180 is arranged outside the position where the distance from the edge of the upper roller 140 in the direction of the rotation axis Ob is La / 4, and it is more preferable that the stopper 180 is arranged outside the position where the distance from the edge of the upper roller 140 in the direction of the rotation axis Ob is La / 8. Further, it is even more preferable that the stopper 180 is arranged outside the edge of the upper roller 140 in the direction of the rotation axis Ob.

[0056] Thus, the roller tactile device 100 mainly assumes sandwiching the finger Ha between the upper and lower rollers 140, 150. However, for example, by sandwiching a simulated finger such as a work glove with cardboard inserted between the upper and lower rollers 140, 150, it is also possible to use the roller tactile device 100 in a simulated manner. During such simulated use, the simulated finger that has passed between the upper and lower rollers 140, 150 is discharged into the cavity S1. For this reason, when each of the pair of arms 130 is supported by the stopper 180, when trying to put a hand into the cavity S1 from the right or left side of the roller tactile device 100 to take out the simulated finger, the stopper 180 gets in the way.

[0057] In contrast, the stopper 180 is arranged only on one side in the left - right direction (in this embodiment, the left side). Therefore, when putting a hand into the cavity S1 from the side of the roller tactile device 100, it is possible to suppress the stopper 180 from getting in the way. As a result, it becomes easier to take out the simulated finger from the cavity S1.

[0058] Also, since the handle 170 (see Fig. 2(b)) is also arranged on the left side (one side) of the lower roller 150, while the operation of the handle 170 (the rotation operation of the lower roller 150) is performed with the right hand, the left hand can be used to pass the simulated finger between the upper and lower rollers 140 and 150, or to take out the simulated finger from the cavity S1. Therefore, the simulated use of the roller somatosensory device 100 can be smoothly performed with both hands.

[0059] In addition, since the plurality of shafts 131 connecting the pair of arms 130 are arranged at a predetermined distance apart in the front-rear direction, the cavity S1 between the arm 130 and the upper surface of the base 110 can be visually recognized from between the opposing sides (above) of each shaft 131. Therefore, it becomes easier to visually recognize the behavior when the simulated finger is pinched (passed through) by the upper and lower rollers 140 and 150.

[0060] Next, with reference to Fig. 3, the usage method of the roller somatosensory device 100 will be described. As shown in Fig. 3, when using the roller somatosensory device 100, first, the lower roller 150 is rotated in the clockwise direction using the handle 170 (see Fig. 2(b)). At this time, the upper roller 140 may be rotated counterclockwise by hand. In this state, the user's finger Ha is brought into contact with the lower roller 150 (or the upper roller 140) from the front (arrow F direction) side. Due to this contact, the finger Ha caught between the upper and lower rollers 140 and 150 is pinched between the upper and lower rollers 140 and 150. Further, when the finger Ha is caught until it enters the cavity S1, the user's arm is pinched between the upper and lower rollers 140 and 150.

[0061] At this time, the upper roller 140 is pushed upward (arrow U direction) by the reaction force from the finger Ha or the arm. Since the rear end of the arm 130 supporting the upper roller 140 is pivotally supported by the bracket 120, when the upper roller 140 is pushed upward, the interval between the upper and lower rollers 140 and 150 can be widened by the rotation of the arm 130. Thereby, the upper roller 140 can be smoothly released from the finger Ha, so that the load applied to the finger Ha or the arm from the upper roller 140 can be reduced.

[0062] In addition, since a cavity S1 is formed on the rear side of the upper and lower rollers 140 and 150, even when a finger Ha is caught and the finger Ha or the arm is sandwiched between the upper and lower rollers 140 and 150 up to the arm, the finger Ha and the arm can be deeply inserted into the cavity S1.

[0063] In addition, since a space is also formed between the fixed shaft 123 (see Fig. 2(b)) and the upper surface of the base 110, even if the user's finger Ha or arm is caught up to the rear side of the cavity S1, the finger Ha and the arm can be inserted further rearward than the cavity S1.

[0064] In addition, since an electric motor or the like is not used for the rotational drive of the upper and lower rollers 140 and 150, the structure can be simplified. Therefore, the manufacturing cost of the roller somatosensory device 100 can be reduced.

[0065] After the finger Ha or the arm is sandwiched between the upper and lower rollers 140 and 150, when the finger Ha is pulled forward (toward the front) from the upper and lower rollers 140 and 150, the upper roller 140 and the arm 130 return to the initial state by their own weights. Therefore, the structure can be simplified as compared with the case where the return to the initial state is performed by a spring or the like. In addition, since no spring for returning the upper roller 140 and the arm 130 to the initial state is used, the load applied to the finger Ha or the arm when sandwiched between the upper and lower rollers 140 and 150 is only the own weight of the upper roller 140 and the arm 130. Therefore, the load applied to the finger Ha and the arm can be reduced, and the safety can be improved.

[0066] On the other hand, since the upper roller 140 and the arm 130 are not provided with means for returning to the initial state other than their own weights, for example, when the user lifts the arm 130 or the upper roller 140, the arm 130 may fall to the side opposite to the user (the rear side across the rotation axis Oa of the arm 130).

[0067] In contrast, in the present embodiment, the fall of the arm 130 facing away from the user as described above is restricted by the screw 132 located on the bracket 120 side (hereinafter referred to as the "screw 132 on the bracket 120 side") among the two screws 132 arranged before and after the arm 130. The heads of these two screws 132 protrude from the respective outer surfaces of the pair of arms 130. When the arm 130 swings in the opening direction, the bracket 120 (support portion 122) exists on the displacement locus of the head of the screw 132 on the bracket 120 side accompanying the swing.

[0068] As a result, even if the arm 130 tries to fall in the rotation direction of falling away from the user, the screw 132 on the bracket 120 side can be brought into contact with the bracket 120 during the rotation. Therefore, it is possible to prevent the arm 130 from falling into the area on the side opposite to the user. As a result, it is possible to prevent the arm 130 and the upper roller 140 from coming into contact with a person on the opposite side of the user and causing injury, thereby improving safety.

[0069] In addition, the screw 132 on the bracket 120 side serves both to fix the shaft 131 to the arm 130 and to prevent the arm 130 from falling to the side opposite to the user. Therefore, compared with the case where components having these functions are provided separately, the structure of the roller haptic device 100 can be simplified.

[0070] Next, with reference to FIG. 4, the roller haptic device 200 in the second embodiment will be described. In the first embodiment, the case where the arm 130 is pivotally supported on the base 110 via the bracket 120 has been described. In contrast, in the second embodiment, the case where the arm 230 is directly pivotally supported on the base 210 will be described. FIG. 4(a) is a side view of the roller haptic device 200 in the second embodiment, and FIG. 4(b) is a top view of the roller haptic device 200. Note that the same parts as those in the first embodiment are denoted by the same reference numerals and their description is omitted. Also, in FIG. 4, the initial state of the roller haptic device 200 is illustrated, and in FIG. 4(a), the handle 170 is omitted from the illustration.

[0071] As shown in FIG. 4, the roller tactile device 200 includes a base 210 serving as its base. The base 210 includes a wide portion 210a having a relatively large width dimension in the left-right direction (arrow L-R direction), and a narrow portion 210b having a smaller width dimension than the wide portion 210a. The wide portion 210a and the narrow portion 210b are integrally formed using a metal plate. The wide portion 210a is located on the front end side of the base 210, and the narrow portion 210b is located on the rear end side.

[0072] The lower roller 150 is pivotally supported around the rotation axis Oc via the bearing 163 of the bracket 160 on the wide portion 210a of the base 210, and columnar pins 212 protruding from both left and right side surfaces thereof are formed on the narrow portion 210b of the base 210. The rear end (the other end) of the arm 230 is pivotally supported around the rotation axis Od on the pin 212, and the upper roller 140 is pivotally supported around the rotation axis Ob at the front end (one end) of the arm 230.

[0073] The left and right arms 230 are a pair of linearly extending metal plates, and are arranged facing each other in the left-right direction. The rotation axis Od of the arm 230 is parallel to the rotation axes Ob and Oc of the upper and lower rollers 140 and 150.

[0074] In the present embodiment, since the rotation axis Od of the arm 230 is located below the second virtual plane Y, when a finger Ha is sandwiched between the upper and lower rollers 140 and 150, the reaction force applied from the finger Ha to the upper roller 140 (arm 230) easily acts in the rotation direction of the arm 230 (the direction in which the arm 230 opens). Therefore, the interval between the upper and lower rollers 140 and 150 easily expands smoothly, so that the load applied to the finger Ha can be more effectively reduced. In the present embodiment, the angle θ2 (hereinafter referred to as the inclination angle θ2) of the angle formed by the virtual plane including the rotation axis Ob and the rotation axis Od and the second virtual plane Y is set to 30° (see FIG. 4(a)).

[0075] In this embodiment, since the inclination angle θ2 is set larger than the inclination angle θ1 of the first embodiment, when the finger Ha is pinched between the upper and lower rollers 140 and 150, the load received by the finger Ha from the arm 230 and the upper roller 140 can be further reduced compared to the load received by the finger Ha in the first embodiment.

[0076] In this embodiment, since the stopper 180 in the first embodiment is omitted, no gap is formed between the upper and lower rollers 140 and 150. That is, since the upper and lower rollers 140 and 150 are in contact with each other, when the lower roller 150 is rotated with the handle 170, the upper roller 140 can be driven. Therefore, the upper and lower rollers 140 and 150 can be rotated without manually rotating the upper roller 140.

[0077] The left and right arms 230 are connected by a metal shaft 231 at the opposing intervals (see Fig. 4(b)). The shaft 231 is formed in a cylindrical shape extending in the left - right direction, and both ends of the shaft 231 are screwed to the arms 230. Since the opposing intervals of the pair of arms 230 are connected by the shaft 231, the rigidity of the pair of arms 230 against twisting relative to each other can be improved.

[0078] The shaft 231 is disposed below the rotation axis Oc (the third virtual plane Z) of the lower roller 150 in a state where the space between the upper and lower rollers 140 and 150 is closed (the initial state in the second embodiment). Therefore, when the finger Ha, the arm, etc. are pinched between the upper and lower rollers 140 and 150, even if the finger Ha, the arm, etc. are inserted between the opposing intervals of the pair of arms 230, it is difficult to bring the shaft 231 into contact with the finger Ha, the arm, etc.

[0079] Further, the shaft 231 is disposed at a predetermined distance rearward from the upper roller 140. Therefore, in a top view of the roller tactile device 200 (see FIG. 4(b)), it is easy to visually recognize both the space between the pair of arms 230 and the space from this space to the upper surface of the base 210 (hollow S2). Thus, when the roller tactile device 200 is simulated using the simulated finger described above, the behavior when the simulated finger is sandwiched (passed through) between the upper and lower rollers 140 and 150 becomes easy to visually recognize.

[0080] According to the roller tactile device 200 of the present embodiment, similar to the roller tactile device 100 of the first embodiment, when the finger Ha is sandwiched between the upper and lower rollers 140 and 150, the upper roller 140 is pushed upward by the reaction force from the finger Ha and the arm. Since the rear end of the arm 230 that supports the upper roller 140 is pivotally supported by the base 210, when the upper roller 140 is pushed upward, the distance between the upper and lower rollers 140 and 150 can be widened by the rotation of the arm 230. Thereby, the upper roller 140 can be smoothly released from the finger Ha, so that the load applied to the finger Ha and the arm from the upper roller 140 can be reduced.

[0081] In addition, since the hollow S2 is formed on the rear side of the upper and lower rollers 140 and 150, even when the finger Ha is caught and the finger Ha and the arm are sandwiched between the upper and lower rollers 140 and 150 up to the arm, the finger Ha and the arm can be deeply inserted into the hollow S2.

[0082] Moreover, since an electric motor or the like is not used for the rotational drive of the upper and lower rollers 140 and 150, the manufacturing cost of the roller tactile device 200 can be reduced.

[0083] When the finger Ha or the arm sandwiched between the upper and lower rollers 140 and 150 is pulled forward (toward the front), the upper roller 140 and the arm 230 return to the initial state by their own weights. Therefore, the structure can be simplified compared to the case where the return to the initial state is performed by a spring or the like. In addition, since a spring for returning the upper roller 140 and the arm 230 to the initial state is not used, the load applied to the finger Ha or the arm when sandwiched between the upper and lower rollers 140 and 150 can be reduced.

[0084] On the other hand, when the upper roller 140 and the arm 230 return to the initial state by their own weights, the arm 230 may fall to the side opposite to the user (the rear side across the rotation axis Od of the arm 230). The fall of the arm 230 is restricted by the protruding portion 232 of the arm 230.

[0085] The protruding portion 232 protrudes from the upper surface of the rear end side of the pair of arms 230 toward the upper surface side of the narrow portion 210b (base 210). The narrow portion 210b (base 210) is configured to be present on the displacement locus of the protruding portion 232 accompanying the swing when the arm 230 swings in the opening direction. Thereby, even if the arm 230 tries to fall in the rotation direction of falling to the side opposite to the user, the protruding portion 232 abuts against the base 210 during the rotation. Therefore, it is possible to prevent the arm 230 and the upper roller 140 from falling into the region on the side opposite to the user, and thus the safety can be improved.

[0086] As described above, the present invention has been described based on the embodiments. However, it can be easily inferred that the present invention is not limited to the above embodiments, and various improvements and modifications are possible without departing from the spirit of the present invention.

[0087] In each of the above embodiments, the case where the user's finger Ha and arm are sandwiched between the upper and lower rollers 140 and 150 has been described. However, the present invention is not limited to this. In addition to the finger Ha and the arm, for example, it is also possible to feel the body such as a foot (leg) or clothing being sandwiched between the upper and lower rollers 140 and 150.

[0088] In each of the above embodiments, the upper and lower rollers 140 and 150 have been described as free roller bearings that do not restrict the rotation direction. However, the upper and lower rollers 140 and 150 may be one-way clutch bearings that rotate only in one direction (the direction in which the finger Ha is pinched). With such a configuration, the upper and lower rollers 140 and 150 will not rotate in the direction of pulling out the finger Ha, so it is possible to experience that it is difficult for the finger Ha to be easily pulled out once it is caught by the upper and lower rollers 140 and 150.

[0089] In each of the above embodiments, the case where the outer diameters of the upper and lower rollers 140 and 150 are substantially the same has been described. However, the outer diameter of the upper and lower rollers 140 and 150 may be such that one roller is larger than the other. In this case, in order to reduce the load applied to the finger Ha, it is preferable that the outer diameter of the upper roller 140 is smaller than that of the lower roller 150.

[0090] In each of the above embodiments, as an example of a stopper (second stopper) that restricts the fall of the arms 130 and 230 to the side opposite to the user, the screw 132 and the protrusion 232 have been exemplified, but it is not necessarily limited to this. For example, the stopper may be provided on the bracket 120 or the base 210. In these cases, the stopper is shaped to protrude on the orbit along which the arms 130 and 230 swing from the bracket 120 or the base 210.

[0091] In each of the above embodiments, the case where the shafts 131 and 231 are cylindrical has been described. However, they may be plate-shaped. Also, the arms 130 and 230 and the shafts 131 and 231 may be integrated. Further, all or part of the shafts 131 and 231 may be omitted.

[0092] In addition, while the case where a pair of arms 130 and 230 are connected by shafts 131 and 231 and a space is formed between the pair of arms 130 and 230 (between the shafts 131 or between the upper roller 140 and the shaft 231) has been described, it is not necessarily limited to this. For example, the space between the pair of arms 130 and 230 may be connected by a plate-like plate, and a configuration in which substantially the entire space between the pair of arms 130 and 230 is blocked by the plate may be used. In such a configuration, as in the first embodiment, it is particularly preferable that the rotation axis Oa of the arm 130 is located above the third virtual plane Z. Thereby, it is possible to suppress the finger Ha that has passed through the upper and lower rollers 140 and 150 from hitting the plate that constitutes a part of the arm 130. Therefore, it is possible to safely experience an accident in which the finger Ha or the arm is deeply pinched between the upper and lower rollers 140 and 150.

[0093] In each of the above embodiments, the case where the arms 130 and 230 are linear has been described, but the arms 130 and 230 may be shaped such that a part or all of them are bent in an L shape or curved in a U shape. As an example of such a configuration, an example is shown in which the arm 230 is formed in an L shape including a vertical portion extending upward from its rotation axis Od and a horizontal portion extending forward from the vertical portion, and the upper roller 140 is pivotally supported on the front end side of the horizontal portion.

[0094] In each of the above embodiments, the case where the rotating means for rotating the upper and lower rollers 140 and 150 is manual (for the lower roller 150, the handle 170) has been described, but the rotating means for the upper and lower rollers 140 and 150 may be an electric motor or the like.

[0095] In each of the above embodiments, the case where the inclination angle θ1 is set to 5° or the inclination angle θ2 is set to 30° when the roller tactile devices 100 and 200 are placed on the ground surface G has been described, but it is not necessarily limited to this. The inclination angle θ1 is preferably set in the range of 0° or more and less than 45°, and more preferably set in the range of 0° or more and less than 15°. Further, the inclination angle θ2 is preferably set in the range of 15° or more and less than 45°, and more preferably set in the range of 20° or more and 40° or less.

[0096] When θ1 is 0°, the rotation axis Oa of the arm 130 is located on the second virtual plane Y. In this configuration, when the finger Ha is sandwiched between the upper and lower rollers 140 and 150, the reaction force applied from the finger Ha to the upper roller 140 (arm 130) is more likely to act in the rotation direction of the arm 130 (the direction in which the arm 130 opens) compared to the case where the rotation axis Oa of the arm 130 is located above the second virtual plane Y.

[0097] However, a configuration in which the inclination angle θ1 is a negative angle, that is, a configuration in which the rotation axis Oa of the arm 130 is located on the side opposite to the lower roller 150 (above the second virtual plane Y) across the second virtual plane Y may also be used.

[0098] In the above first embodiment, the case where the bracket 120 is arranged outside the arm 130 has been described, but the bracket 120 may be arranged inside the arm 130. In this case, the bearing 124 may be arranged between the outer surface of the bracket 120 and the inner surface of the rear end side of the arm 130.

[0099] In the above first embodiment, the case where there is one stopper 180 has been described, but a plurality of stoppers may be provided. Even in this case, it is preferable that the stopper 180 contacts the arm 130 at a position closer to the end side than the center of the upper roller 140 in the rotation axis Ob direction (left - right direction) of the upper roller 140. Also, the stopper 180 may be omitted.

[0100] In the above-described first embodiment, the case where the stopper 180 adjusts the size of the gap L between the lower roller 150 and the upper roller 140 according to the fastening amount of the fastening portion 182 has been described. However, the size of the gap L may also be adjusted by changing the position of the stopper 180 in the front-rear direction (arrow F-B direction) with respect to the base 110. In this case, the gap L can be increased by arranging the stopper 180 on the rear side (arrow B direction) with respect to the base 110, and the gap L can be decreased by arranging the stopper 180 on the front side (arrow F direction) with respect to the base 110.

[0101] Further, the stopper 180 may be configured such that a spacer is additionally provided upward instead of the configuration in which the screw is screwed. For example, instead of the fastening amount of the fastening portion 182, a configuration in which the height of the stopper 180 (the size of the gap L) is adjusted stepwise by stacking a plurality of spacers on the upper surface of the base portion 181 may be used. Also, a configuration in which one spacer having a desired height is selected from among a plurality of spacers having different heights and attached to the upper surface of the base portion 181 may be used.

[0102] In the above-described first embodiment, the case where the displacement of the arm 130 downward is restricted (the gap L between the upper and lower rollers 140 and 150 is formed) by the stopper 180 rising from the base 110 has been described. However, a configuration in which the displacement of the arm 130 downward is restricted by a support portion provided on the bracket 120 may also be used. As an example of such a configuration, a configuration in which a support portion protruding from the bracket 120 toward the arm 130 (or the screw 132 on the bracket 120 side) is brought into contact with the lower surface of the arm 130 (or the screw 132 on the bracket 120 side) in the initial state is exemplified.

[0103] In the above first embodiment, although the description was omitted, the hole for attaching the shaft 131 to the arm 130 (the hole formed in the arm 130 for passing the screw 132) may be a round hole or a long hole extending in the longitudinal direction of the arm 130. When such a hole is a long hole, the attachment position of the shaft 131 (the position of the screw 132 on the bracket 120 side) can be changed along the longitudinal direction of the arm 130. Thereby, the angle of the arm 130 (the degree of opening of the arm 130) when the screw 132 on the bracket 120 side contacts the bracket 120 can be adjusted.

[0104] In the above first embodiment, the case where the bracket 120 that pivotally supports the arm 130 is separate from the base 110 was described, but the bracket 120 may be integral with the base 110.

[0105] In the above first embodiment, the case where the upper roller 140 (second roller) and the lower roller 150 (first roller) that rotate around an axis along the horizontal direction are arranged side by side in the vertical direction was described, but it is not necessarily limited to this. For example, the first roller and the second roller that rotate around an axis along the horizontal direction may be arranged side by side in the horizontal direction.

[0106] As an example of such a configuration, the rear end portion (the end portion on the arrow B direction side) of the roller somatosensory device 100 shown in FIG. 2(a) is grounded to the ground surface G, and the upper roller (second roller) is returned to the initial state by an urging force (elastic force) such as a torsion spring interposed between the arm 130 and the bracket 120. Also, a configuration in which the first roller and the second roller rotate around an axis along the vertical direction may be used.

[0107] That is, the arrangement direction of the first roller and the second roller (upper and lower rollers 140 and 150) can be set as appropriate. Regardless of the arrangement direction, similar to the above embodiments, it is preferable that the rotation axis of the arm is arranged on the second virtual plane Y or in the region on the first roller side with respect to the second virtual plane Y. Further, when the rotation axis of the arm is arranged in the region on the first roller side with respect to the second virtual plane Y, it is preferable that the rotation axis of the arm is located on the second virtual plane Y side with respect to the third virtual plane Z.

Explanation of Signs

[0108] 100, 200 Roller Somatosensory Device 110, 210 Base 120 Bracket 130, 230 Arm 131, 231 Shaft 132 Screw (Second Stopper) 140 Upper Roller (Second Roller) 150 Lower Roller (First Roller) 180 Stopper (First Stopper) 181 Base 182 Fastening Part 232 Protrusion (Second Stopper) Oa, Od Rotation Axis Ob Rotation Axis Oc Rotation Axis X First Virtual Plane Y Second Virtual Plane Z Third Virtual Plane

Claims

1. A base, a first roller pivotally supported on the base, a second roller arranged in parallel with the first roller, and an arm having the second roller pivotally supported at one end and pivotally supported at the other end on the base. A roller tactile device, characterized in that the distance between the first roller and the second roller is changed by the rotation of the arm with respect to the base.

2. In an initial state before the distance between the first roller and the second roller widens, when a plane including the rotation axis of the first roller and the rotation axis of the second roller is defined as a first virtual plane, and a plane orthogonal to the first virtual plane and including the rotation axis of the second roller is defined as a second virtual plane. The roller tactile device according to claim 1, wherein the rotation axis of the arm is arranged on the second virtual plane or in a region on the first roller side with respect to the second virtual plane.

3. In the initial state, when a plane orthogonal to the first virtual plane and in contact with the surface of the first roller facing the second roller side is defined as a third virtual plane. The roller tactile device according to claim 2, wherein the rotation axis of the arm is arranged on the second virtual plane side with respect to the third virtual plane.

4. Comprising a first stopper interposed between the base and the arm. In an initial state before the distance between the first roller and the second roller widens, a gap is formed between the first roller and the second roller, and the displacement of the second roller approaching the first roller from the initial state is restricted by the first stopper. The roller tactile device according to claim 1, characterized in that.

5. The roller tactile device according to claim 4, wherein the first stopper is arranged on the end side with respect to the center of the second roller in the axial direction of the second roller.

6. The roller tactile device according to claim 4, wherein the first stopper is configured to be able to adjust the size of the gap.

7. The first stopper includes a base portion rising from the base toward the arm side, and a fastening portion fastened to the tip of the base portion by a screw and contacting the arm. The roller tactile device according to claim 6, characterized in that the size of the gap can be adjusted by changing the fastening amount of the fastening portion with respect to the base portion.

8. The second roller is arranged above the first roller in the vertical direction, The roller somatosensory device according to claim 1, characterized in that the second roller returns by its own weight toward an initial state before the distance between the first roller and the second roller widens.

9. comprising a second stopper that restricts displacement of the second roller in a direction away from the first roller The roller somatosensory device according to claim 8, characterized in that displacement of the second roller toward a region on the side opposite to the first roller across the rotation axis of the arm is restricted by the second stopper.

10. comprising a pair of brackets rising from the base, a pair of the arms pivotally supported between the opposing pair of brackets, a shaft connecting the pair of the arms, and screws fastening both longitudinal ends of the shaft to the pair of the arms, The roller somatosensory device according to claim 9, characterized in that the second stopper is formed by the heads of the screws that contact the brackets.

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