Drive unit, manipulator, puppet operation device and movable base

Abstract

A drive device (7) that operates an operated object (41, 551, 552) by feeding a wire (WR) that is connected to the operated object at a prescribed tension in a first direction and pulling the wire in the direction opposite the first direction comprises a motor (71), a first rotary member (74) that can be rotated by the motor around a rotational axis (Rx5) in a second direction and the direction opposite the second direction, a pulling member (TM) that can rotate around the same axis as the first rotary member, holds an end part (WR1) of the wire, rotates in the second direction to feed the wire in the first direction, and rotates in the direction opposite the second direction to pull the wire in the direction opposite the first direction, and a pulling member–side urging member (77) that urges the pulling member in the direction opposite the second direction relative to the first rotary member. When the wire is moved in the first direction by an external factor, the pulling member rotates in the second direction against the urging force of the pulling member–side urging member to feed the wire in the first direction.

Description

[Technical Field]

[0001] The present invention relates to a drive device, a manipulator, a puppet operation device, and a movable base. [Background technology]

[0002] BACKGROUND ART Conventionally, robot hands that are attached to machines such as robot arms and grip objects are known (see, for example, Patent Document 1). The robot hand described in Patent Document 1 has three fingers and a control unit that controls the position of the tip of each finger in an opening / closing direction. The control unit has a control wire and a control main unit, and the control wire is provided corresponding to each finger. The control main unit is configured with a motor such as a servo motor, and pulls and sends out the control wire. When the motor of the control main unit rotates and pulls each finger via each control wire, the tips of each finger become widely open. When the motor is rotated in the reverse direction from this state, the motor sends out the control wire, and the tips of each finger move in a closing direction. Through this operation, the robot hand grasps an object. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2018-99755 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the configuration of the robot hand described in Patent Document 1, if stress is unintentionally applied to the fingers due to an external factor, the fingers may not operate normally. For example, if an external factor causes stress on the fingers in a direction that opens the tips of the fingers, the control wire is pulled toward the fingers, forcing the motor to rotate in the reverse direction, which may place a load on the motor. Furthermore, for example, if an external factor causes stress on the fingers in a direction that closes the tips of the fingers, the control wire will become loose, which may cause the fingers to malfunction even if the motor rotates and pulls the control wire. There has been a demand for a configuration that can solve at least some of these problems. [Means for solving the problem]

[0005] A drive device according to a first aspect of the present invention is a drive device that feeds out a wire connected to an object to be operated with a predetermined tension in a first direction and pulls the wire in a direction opposite to the first direction to operate the object to be operated, and includes a motor, a first rotating member that can rotate around a rotation axis by the motor in a second direction and in a direction opposite to the second direction, a pulling member that is rotatable coaxially with the first rotating member, engages an end of the wire, rotates in the second direction to feed out the wire in the first direction, and rotates in the direction opposite to the second direction to pull the wire in the direction opposite to the first direction, and a pulling member side biasing member that biases the pulling member in the direction opposite to the second direction relative to the first rotating member, and when the wire is moved in the first direction by an external factor, the pulling member rotates in the second direction against the biasing force of the pulling member side biasing member to feed out the wire in the first direction.

[0006] A drive device according to a second aspect of the present invention is a drive device that feeds out a wire connected to an object to be operated with a predetermined tension in a first direction and pulls the wire in a direction opposite to the first direction, thereby moving the object to be operated, and includes a motor, a rotating member that can rotate around a rotation axis by the motor in a second direction and in a direction opposite to the second direction, a connecting member that is rotatable coaxially with the rotating member and connected to the wire, that rotates integrally with the rotating member in the second direction to feed out the wire in the first direction, and that rotates integrally with the rotating member in the direction opposite to the second direction to pull the wire in the direction opposite to the first direction, and a connecting member side biasing member that biases the connecting member in the direction opposite to the second direction, and when the wire is moved in the direction opposite to the first direction due to an external factor, the connecting member rotates in the direction opposite to the second direction independently of the rotating member due to the biasing force of the connecting member side biasing member, and pulls the wire in the direction opposite to the first direction.

[0007] A manipulator according to a third aspect of the present invention comprises an arm having a plurality of links that can be bent relative to each other, a wire connected to at least one of the plurality of links, and a drive device according to the first or second aspect that feeds out the wire in the first direction and pulls the wire in a direction opposite to the first direction to drive the arm.

[0008] A puppet manipulation device according to a fourth aspect of the present invention is a puppet manipulation device that is mounted inside a puppet and moves the puppet, and comprises the manipulator according to the third aspect described above and a support member, wherein the manipulator comprises a plurality of sets of the arm, the wire, and the drive unit, and the plurality of arms include a first arm attached so as to extend leftward from the left part of the support member when viewed from the front, a second arm attached so as to extend rightward from the right part of the support member when viewed from the front, and a third arm and a fourth arm attached so as to extend upward from the upper part of the support member when viewed from the front, and the third arm is positioned to the left of the fourth arm when viewed from the front of the support member.

[0009] A movable base according to a fifth aspect of the present invention comprises a first base, a second base arranged opposite the first base, a support mechanism provided on the second base and supporting the first base, a wire, and a drive unit according to the first or second aspect that feeds and pulls the wire, wherein the support mechanism comprises a drive link having a drive link side mounting portion attached to one of the first and second bases and a drive link side sliding portion that can slide along the other base, and the drive unit either pulls or feeds the wire, thereby sliding the drive link side sliding portion and thereby tilting the first base relative to the second base. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a schematic diagram showing the configuration of an operation system according to a first embodiment. [Figure 2] FIG. 1 is a block diagram showing the configuration of an operating device according to a first embodiment. [Figure 3] FIG. 1 is a perspective view showing a puppet operating device according to a first embodiment. [Figure 4] FIG. 1 is a perspective view showing a puppet operating device according to a first embodiment. [Figure 5]FIG. 2 is a perspective view showing an operation unit according to the first embodiment. [Figure 6] FIG. 2 is a perspective view showing a base unit according to the first embodiment. [Figure 7] FIG. 2 is a perspective view showing a base unit according to the first embodiment. [Figure 8] FIG. 3 is a plan view showing a second base in the first embodiment. [Figure 9] FIG. 3 is a perspective view showing a driving link in the first embodiment. [Figure 10] FIG. 3 is a diagram schematically showing the position of the center of gravity of the first pedestal in the initial state in the first embodiment. [Figure 11] FIG. 3 is a side view showing the base unit in the initial state in the first embodiment. [Figure 12] FIG. 4 is a diagram schematically showing the position of the center of gravity of the first base when the sliding portion is moved in the first embodiment. [Figure 13] FIG. 4 is a diagram schematically showing the position of the center of gravity of the first base when the sliding portion is moved in the first embodiment. [Figure 14] FIG. 2 is a perspective view showing a drive unit according to the first embodiment. [Figure 15] FIG. 2 is a perspective view showing a drive unit according to the first embodiment. [Figure 16] FIG. 2 is a plan view showing the pulley unit and the drive device according to the first embodiment. [Figure 17] FIG. 2 is a perspective view showing a drive unit and a pulley according to the first embodiment. [Figure 18] FIG. 2 is a perspective view showing a drive unit and a pulley according to the first embodiment. [Figure 19] FIG. 2 is an exploded perspective view showing the drive device according to the first embodiment. [Figure 20] FIG. 2 is an exploded perspective view showing the drive device according to the first embodiment. [Figure 21] FIG. 2 is a perspective view showing a cover member in the first embodiment. [Figure 22] FIG. 2 is a diagram showing a drive device in a reference state according to the first embodiment. [Figure 23] FIG. 2 is a diagram showing a drive device according to the first embodiment. [Figure 24]FIG. 2 is a diagram showing a drive device according to the first embodiment. [Figure 25] FIG. 2 is a diagram showing a drive device according to the first embodiment. [Figure 26] FIG. 2 is a diagram showing a drive device according to the first embodiment. [Figure 27] FIG. 1 is a block diagram showing the configuration of a puppet operation device according to a first embodiment. [Figure 28] FIG. 10 is a perspective view showing a puppet operation device of the operation system in the second embodiment. [Figure 29] FIG. 10 is a perspective view showing a base unit according to a second embodiment. [Figure 30] FIG. 10 is a perspective view showing a base unit according to a second embodiment. [Figure 31] FIG. 10 is an exploded perspective view showing a base unit according to a second embodiment. [Figure 32] FIG. 10 is an exploded perspective view showing a base unit according to a second embodiment. [Figure 33] FIG. 10 is a perspective view showing a pulley unit according to a third embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0011] [First embodiment] A first embodiment of the present invention will be described below with reference to the drawings. [Outline of the operating system] FIG. 1 is a schematic diagram showing the configuration of an operation system 1 according to this embodiment. 1, the manipulation system 1 according to this embodiment includes a manipulation device 11, a magnetic field generator 12, a first control device 13, a second control device 14, and a puppet manipulation device 2. In the manipulation system 1, the manipulation device 11 remotely controls the puppet manipulation device 2, to which the puppet PP is attached, via the first control device 13 and the second control device 14, and the manipulation device 11 makes the user perceive a stimulus detected by the puppet manipulation device 2. The puppet PP is a hollow doll having a body PP1, a head PP2, a right arm PP3, and a left arm PP4, and is made of, for example, cloth. Furthermore, the magnetic field generating device 12 generates a magnetic field that is detected by the position and orientation detecting unit 112 of the operating device 11.

[0012] [Configuration of operation device] FIG. 2 is a block diagram showing the configuration of the operation device 11. As shown in FIG. The operating device 11 remotely controls the puppet operating device 2. Specifically, the operating device 11 detects the user's movements, transmits an operation signal corresponding to the detected user movements to the first control device 13, and operates the puppet operating device 2 via the first control device 13 and the second control device 14. The operating device 11 also applies an external stimulus to the user in response to a control signal received from the first control device 13 based on the detection result by the puppet operating device 2. As shown in FIG. 1, the operating device 11 includes a glove-shaped wearing unit 111 that is worn on one hand of the user, and also includes a position and orientation detection unit 112, an approach detection unit 113, a temperature detection unit 114, a stimulus generation unit 115, and a control unit 119, as shown in FIG. 2.

[0013] The position and orientation detection unit 112 is provided in the wearing unit 111, and detects the position and orientation of the user's fingers (hand and fingers), and further detects the movement of the user's fingers. The approach detection unit 113 is provided in the wearing unit 111, and detects the approach of an object to the user's fingers and the pressure from the contacting object. The temperature detection unit 114 is provided in the attachment unit 111 and detects the temperature of the user's fingers.

[0014] The stimulus generator 115 is provided in the wearing unit 111 and operates based on a control signal received from the first control device 13 to provide an external stimulus to the user. That is, the stimulus generator 115 simulates a stimulus to the puppet PP based on a control signal corresponding to the detection result by the puppet operating device 2, which detects the stimulus to the puppet PP. The stimulus generator 115 includes a vibration generator 116, a temperature adjuster 117, and a pressure unit 118. The vibration generating unit 116 applies vibration to the user, thereby creating an illusion that an object is touching the user's fingers. The temperature adjusting unit 117 provides a warm or cool sensation to the user's fingers. The pressing portion 118 presses against the user's fingers to apply pressure to the user.

[0015] The control unit 119 controls the operation of the operating device 11. The control unit 119 transmits an operation signal indicating the position and posture of the fingers detected by the position and posture detection unit 112 to the first control unit 13. The control unit 119 transmits a detection signal indicating the detection result by the approach detection unit 113 to the first control unit 13. The control unit 119 transmits a detection signal indicating the temperature detected by the temperature detection unit 114 to the first control unit 13. The control unit 119 operates the stimulus generation unit 115 based on the control signal received from the first control unit 13.

[0016] [Configuration of first control device] 1 communicates with the operation device 11 and also communicates with the second control device 14 via the network NT. The first control device 13 transmits to the second control device 14 operation information corresponding to an operation signal input from the operation device 11 and detection information corresponding to a detection signal input from the operation device 11, and also operates the operation device 11 based on the detection information received from the second control device 14. In other words, the first control device 13 controls part of the configuration of the operation device 11. For example, the first control device 13 generates operation information suitable for operating the puppet operation device 2 based on an operation signal input from the operation device 11, and transmits the generated operation information to the second control device 14. The first control device 13 also generates a control signal for operating the stimulus generation unit 115 of the operation device 11 based on the detection information received from the second control device 14, and transmits the generated control signal to the operation device 11 to operate the stimulus generation unit 115.

[0017] [Configuration of the second control device] The second control device 14 communicates with the puppet operation device 2, and also communicates with the first control device 13 via the network NT. The second control device 14 controls the operation of the puppet operation device 2. Specifically, the second control device 14 operates the puppet operation device 2, and further the puppet PP, in accordance with the operation information received from the first control device 13. For example, the second control device 14 transmits a control signal based on the operation information received from the first control device 13 to the puppet operation device 2. The second control device 14 also transmits detection information indicating the detection result by the puppet operation device 2 to the first control device 13.

[0018] [Configuration of puppet operation device] The puppet operation device 2 is an object operated by the operation device 11. The puppet operation device 2 is inserted inside the puppet PP and moves the puppet PP. The puppet operation device 2 is operated by a user other than the user using the operation device 11, and can also be said to be an operation device that gives external stimuli to the user through the operation device 11. In other words, the puppet operation device 2 is a communication tool that allows communication between the user using the operation device 11 and other users who come into contact with the puppet operation device 2.

[0019] FIG. 3 is a perspective view showing the puppet operating device 2 as seen from the front side, and FIG. 4 is a perspective view showing the puppet operating device 2 as seen from the back side. As shown in FIGS. 3 and 4, the puppet operation device 2 includes an operating unit 3 and a driving unit 6. In the following description, mutually perpendicular directions are referred to as the +X direction, +Y direction, and +Z direction. The +Z direction is the direction in which the operating unit 3 is disposed relative to the drive unit 6, and is the upward direction as viewed in Figures 3 and 4. The +Y direction is the right direction when viewed from the +X direction so that the +Z direction faces upward. Although not shown in the figures, the direction opposite the +X direction is referred to as the -X direction, the direction opposite the +Y direction is referred to as the -Y direction, and the direction opposite the +Z direction is referred to as the -Z direction. Furthermore, among the surfaces of an object, the surface facing in a direction perpendicular to the +Z direction and intersecting the +X direction and the +Y direction at 45 degrees to each other is defined as the front surface, and the surface opposite the front surface is defined as the back surface.

[0020] [Configuration of operation units] FIG. 5 is a perspective view showing the operating unit 3 as viewed from the front side. The operation unit 3 is disposed in the +Z direction relative to the drive unit 6, and is operated by the drive unit 6. The operation unit 3 includes an arm unit 4 and a base unit 5, as shown in FIGS.

[0021] [Arm unit configuration] The arm unit 4 is inserted into the puppet PP to bend and extend the head PP2, right arm PP3, and left arm PP4 of the puppet PP. The arm unit 4 includes four arms 41 and a support member 42 that supports the four arms 41.

[0022] [Support member configuration] First, the support member 42 will be described. The support member 42 supports each arm 41 . The support member 42 is fixed to a first base 51 (described later) of the base unit 5. Of the four arms 41, a right arm 41R and a left arm 41L are attached to a front surface 42A of the support member 42, as shown in FIGS. Two pulleys 43 and bearings (not shown) that rotatably support each pulley are provided on the front surface 42A. Of the two pulleys 43, a wire WR connected to the right arm 41R is wound around the pulley 431 in the +X direction, and a wire WR connected to the left arm 41L is wound around the pulley 432 in the +Y direction. As shown in FIG. 4, two upper arms 41H are attached to the rear surface 42B of the support member 42 so as to extend in the +Z direction.

[0023] [Arm configuration] At least one arm 41 of the plurality of arms 41 and at least one arm 41 of the plurality of driving devices 7 that constitute the driving unit 6 constitute a manipulator MP. That is, the manipulator MP includes an arm 41, a wire WR, and a driving device 7. The arm 41 has a plurality of links that can be bent relative to each other. The wire WR is connected to at least one of the plurality of links and moves in a first direction and a direction opposite to the first direction to drive the arm 41. As will be described in detail later, the driving device 7 feeds out the wire WR in the first direction and pulls the wire WR in the direction opposite to the first direction to drive the arm 41.

[0024] The four arms 41 operate the parts PP2 to PP4 of the puppet PP. The four arms 41 include a right arm 41R, a left arm 41L, and two upper arms 41H. The right arm 41R corresponds to the first arm. When viewed from the front of the support member 42, the right arm 41R is attached so as to extend leftward from the left portion of the support member 42. In other words, the right arm 41R is attached so as to extend in the +X direction from the +X direction portion of the support member 42. The right arm 41R operates the right arm part PP3 when the arm unit 4 is attached to the puppet PP. The left arm 41L corresponds to the second arm. When the support member 42 is viewed from the front, the left arm 41L is attached to the right part of the support member 42 so as to extend in the right direction. In other words, the left arm 41L is attached to the support member 42 so as to extend in the +Y direction from the +Y direction part. The left arm 41L operates the left arm part PP4 when the arm unit 4 is attached to the puppet PP.

[0025] The two upper arms 41H are attached to an upper portion of the support member 42 so as to extend upward when viewed from the front of the support member 42. One of the two upper arms 41H is an upper first arm 41HA, and the other is an upper second arm 41HB. The upper first arm 41HA corresponds to the third arm, and the upper second arm 41HB corresponds to the fourth arm. The upper first arm 41HA is disposed on the left side of the upper second arm 41HB when viewed from the front of the support member 42. In other words, the upper first arm 41HA and the upper second arm 41HB are attached to extend in the +Z direction from a portion of the support member 42 in the +Z direction when viewed from the front of the support member 42. The upper first arm 41HA is disposed on the left side of the upper second arm 41HB when viewed from the front of the support member 42. When the arm unit 4 is attached to the puppet PP, the first upper arm 41HA and the second upper arm 41HB each operate the head PP2 independently of each other.

[0026] Each arm 41HA, 41HB, 41R, 41L is connected to a corresponding one of the multiple drive devices 7 via a wire WR. When the corresponding drive device 7 feeds or pulls the wire WR, each arm 41HA, 41HB, 41R, 41L bends in the same way as bending fingers on a hand, or extends in the same way as extending fingers on a hand. As a result, the right arm PP3 of the puppet PP is bent or extended by the arm 41R, and the left arm PP4 is bent or extended by the arm 41L. The head PP2 of the puppet PP is bent or extended by the arms 41HA and 41HB at a portion corresponding to the neck of the puppet PP. At this time, by bending the first upper arm 41HA of the upper arm 41H toward the front while keeping the second upper arm 41HB extended upward, the head PP2 can be tilted to the left as viewed from the front. Also, for example, by bending the second upper arm 41HB of the upper arm 41H toward the front while keeping the first upper arm 41HA of the upper arm 41H extended upward, the head PP2 can be tilted to the right as viewed from the front. A predetermined tension is applied to the wire WR connecting the arm 41 and the drive device 7. Therefore, if the arm 41 is extended due to an external factor such as another user, a load is applied to the drive device 7. Furthermore, if the arm 41 is bent due to an external factor, the wire WR may become loose, which may prevent the arm 41 from operating properly. The drive device 7 has a configuration to address such problems. The configuration of the drive device 7 will be described in detail later.

[0027] [Base unit configuration] 3 to 5, the base unit 5 supports the arm unit 4 and tilts the arm unit 4 relative to an imaginary plane perpendicular to the +Z direction. The base unit 5 constitutes a movable base MV. More specifically, the movable base MV includes the base unit 5, a wire WR, and a drive device 7 that feeds and pulls the wire WR.

[0028] FIG. 6 is a perspective view showing the base unit 5 as seen from the front side, and FIG. 7 is a perspective view showing the base unit 5 as seen from the rear side. 6 and 7, the base unit 5 includes a first base 51, a second base 52, a plurality of guide rails 53, and a support mechanism 54. As will be described in detail later, the drive device 7 pulls or feeds the wire WR to cause the sliding portions 5512, 5522 of the drive links 551, 552 of the support mechanism 54 to slide along the second base 52. As a result, in the base unit 5, the first base 51 is tilted relative to the second base 52. Each component of the base unit 5 will be described below.

[0029] [Configuration of the first base] The first pedestal 51 supports the arm unit 4 on a surface 51A in the +Z direction. The first pedestal 51 is formed in a ring shape when viewed from the +Z direction, and an opening 511 is provided in the center of the first pedestal 51. The wire WR (see FIG. 3) is inserted through the opening 511 along the +Z direction. 7, the first base 51 has a plurality of connection portions 512 provided on the surface 51B in the -Z direction. Each of the plurality of connection portions 512 rotatably supports a corresponding one of the four links 55 that configure the support mechanism 54. That is, the first base 51 has four connection portions 512.

[0030] [Configuration of the second base] The second seat 52 corresponds to the other of the first seat 51 and the second seat 52. As shown in FIGS. 6 and 7, the second seat 52 is disposed in the −Z direction relative to the first seat 51 and is disposed opposite the first seat 51. The second seat 52 is formed in a ring shape when viewed from the +Z direction, similar to the first seat 51, and an opening 521 is provided in the center of the second seat 52. The wire WR (see FIG. 3) is inserted into the opening 521 along the +Z direction.

[0031] [Guide rail configuration] FIG. 8 is a plan view showing the second pedestal 52 as viewed from the +Z direction. 6 to 8, the plurality of guide rails 53 are provided on a surface 52A of the second base 52 facing the +Z direction. In this embodiment, four guide rails 53 are provided. As shown in FIG. 8, the four guide rails 53 include two first guide rails 531 and 532 and two second guide rails 533 and 534. The first guide rail 531 is disposed in the −X direction with respect to the opening 521 and extends along the −X direction. The first guide rail 531 has an opening 5311 that is aligned with the −X direction, which is the extension direction of the first guide rail 531, and that opens in the +Z direction. Of the four links 55, the sliding portion 5512 of the driving link 551 is disposed inside the first guide rail 531 via the opening 5311, and as a result, the sliding portion 5512 is connected to the first guide rail 531 so as to be slidable along the +X direction. The first guide rail 532 is disposed in the -Y direction with respect to the opening 521 and extends along the -Y direction. The first guide rail 532 has an opening 5321 that is aligned with the -Y direction, which is the extension direction of the first guide rail 532, and that opens in the +Z direction. Of the four links 55, the -Z direction sliding portion 5522 of the driving link 552 is disposed inside the first guide rail 532 via the opening 5321, whereby the sliding portion 5522 is coupled to the first guide rail 532 so as to be slidable along the +Y direction. The sliding portions 5512 and 5522 correspond to first sliding portions.

[0032] The first guide rail 531 has a hole 5312 at its end on the opening 521 side that communicates with the inside of the first guide rail 531. The wire WR connected to the sliding portion 5512 extends to the outside of the first guide rail 531 through the hole 5312. Similarly, the first guide rail 532 has a hole 5322 at its end on the opening 521 side that communicates with the inside of the first guide rail 532. The wire WR connected to the sliding portion 5522 extends to the outside of the first guide rail 532 through the hole 5322.

[0033] Second guide rail 533 is disposed in the +X direction with respect to opening 521 and extends along the +X direction. Second guide rail 534 is disposed in the +Y direction with respect to opening 521 and extends along the +Y direction. Second guide rail 533 has an opening 5331 that is aligned with the extension direction of second guide rail 533 and opens in the +Z direction. Similarly, second guide rail 534 has an opening 5341 that is aligned with the extension direction of second guide rail 534 and opens in the +Z direction. Of the four links 55, the -Z direction sliding portion 5532 of the driven link 553 is disposed inside the second guide rail 533 via the opening 5331, whereby the sliding portion 5532 is slidably coupled to the second guide rail 533 along the -X direction. The -Z direction sliding portion 5542 of the driven link 554 is disposed inside the second guide rail 534 via the opening 5341, whereby the sliding portion 5542 is slidably coupled to the second guide rail 534 along the -Y direction. The sliding portions 5532 and 5542 correspond to second sliding portions.

[0034] [Support mechanism configuration] The support mechanism 54 is provided on the second seat 52 and supports the first seat 51. As shown in FIGS. 6 to 8, the support mechanism 54 includes a plurality of links 55 connected to each of the first seat 51 and the second seat 52. In this embodiment, the support mechanism 54 includes four links 55. The four links 55 include two driving links 551, 552, two driven links 553, 554, and a biasing member (not shown).

[0035] FIG. 9 is a perspective view showing the driving link 551. An end of a wire WR (see FIG. 3) is connected to each of the drive links 551, 552, and each of the drive links 551, 552 is moved individually by a drive device 7. That is, a plurality of drive devices 7, which will be described later, are provided corresponding to the drive links 551, 552. As shown in FIG. 9, the driving link 551 has an attachment portion 5511 provided at the end in the +Z direction, and a sliding portion 5512 provided at the end in the -Z direction. The mounting portion 5511 corresponds to a driving link side mounting portion of the driving link 551. The mounting portion 5511 is attached to a corresponding one of the multiple connecting portions 512 provided on the first pedestal 51 so as to be rotatable about a rotation axis Rx1 that intersects with the extension direction of the driving link 551. In other words, the mounting portion 5511 is rotatable about the rotation axis Rx1 along the +Y direction. In other words, the position of the mounting portion 5511 on the XY plane is fixed. The first pedestal 51 corresponds to one of the first pedestal 51 and the second pedestal 52.

[0036] The sliding portion 5512 corresponds to the driving link side sliding portion of the driving link 551. The sliding portion 5512 is formed in a spherical shape. The sliding portion 5512 is connected to a first guide rail 531 provided on the second base 52 so as to be slidable along the +X direction. That is, the sliding portion 5512 is slidable along the +X direction by the first guide rail 531. The sliding portion 5512 has a connecting portion 5513 provided on the outer surface of the sliding portion 5512. The connecting portion 5513 is a hole portion that locks the end portion of the inserted wire WR, and the end portion of the wire WR is connected to the sliding portion 5512 at the connecting portion 5513. The wire WR connected to the sliding portion 5512 extends linearly, passes through the hole portion 5312 (see FIG. 7) of the first guide rail 531, and passes through the opening portion 521 in the −Z direction. This makes it possible to prevent the wire WR from being twisted.

[0037] As shown in FIG. 8, similar to the drive link 551, the drive link 552 has a mounting portion 5521 in the +Z direction and a sliding portion 5522 in the −Z direction. The attachment portion 5521 corresponds to the driving link side sliding portion of the driving link 552. The attachment portion 5521 is connected to a corresponding one of the multiple connection portions 512 so as to be rotatable about a rotation axis Rx2 along the +X direction intersecting the extension direction of the driving link 552. The sliding portion 5522 corresponds to the driving link side sliding portion of the driving link 552. The sliding portion 5522 is formed in a spherical shape, and is connected to the first guide rail 532 so as to be slidable along the +Y direction. Although not shown, the sliding portion 5522 has a connection portion similar to the connection portion 5513, and one end of a wire WR extending from a driving device 7 different from the driving device 7 connected to the driving link 551 via the wire WR is connected to the sliding portion 5522 at the connection portion. Then, as the sliding portions 5512 and 5522 slide, the angle with respect to the second base 52 changes. In this way, when viewed from the +Z direction, the directions in which the sliding portions 5512, 5522 of the driving links 551, 552 can slide intersect with each other.

[0038] The driven links 553 and 554 are displaced in accordance with the displacement of the driving links 551 and 552. The driven link 553 is provided spaced apart from the driving link 551 in the ±X directions, which are directions in which the sliding portion 5512 is slidable. Similar to the driving link 551, the driven link 553 has an attachment portion 5531, which is the end portion in the +Z direction, and a sliding portion 5532, which is the end portion in the −Z direction. The attachment portion 5531 corresponds to a driven link side attachment portion of the driven link 553. The attachment portion 5531 is connected to a corresponding one of the multiple connection portions 512 so as to be rotatable around a rotation axis Rx3 along the +Y direction intersecting the extension direction of the driven link 553. The sliding portion 5532 corresponds to the sliding portion on the driven link side of the driven link 553. The sliding portion 5532 is connected to the second guide rail 533 so as to be slidable along the +X direction. The sliding portion 5532 is formed in a spherical shape. Such a sliding portion 5532 is not provided with a connection portion to which the wire WR is connected.

[0039] The driven link 554 is provided spaced apart from the drive link 552 in the ±Y directions, which are directions in which the sliding portion 5522 is slidable. Similar to the driven link 553, the driven link 554 has an attachment portion 5541 connected to a corresponding one of the multiple connection portions 512 so as to be rotatable about a rotation axis Rx4 along the +X direction intersecting the extension direction of the driven link 554, and a spherical sliding portion 5542 connected to the second guide rail 534 so as to be slidable along the +Y direction. The attachment portion 5541 corresponds to the driven link side attachment portion of the driven link 553, and the sliding portion 5542 corresponds to the driven link side sliding portion of the driven link 553. Such a sliding portion 5542 does not have a connection portion to which the wire WR is connected. In this way, when viewed from the +Z direction, the directions in which the sliding portions 5532, 5542 of the respective driven links 553, 554 can slide intersect with each other. In the initial state of the base unit 5, the sliding portions 5512, 5522, 5532, and 5542 are disposed at positions farthest from the opening 521 within the slidable range of each of the sliding portions 5512, 5522, 5532, and 5542.

[0040] The biasing members are provided corresponding to the respective links 55 and bias the respective links 55 so that the base unit 5 returns to its initial state. Specifically, the biasing member corresponding to the driving link 551 biases the sliding portion 5512 in the −X direction, and the biasing member corresponding to the driving link 552 biases the sliding portion 5522 in the −Y direction. The biasing member corresponding to the driven link 553 biases the sliding portion 5532 in the +X direction, and the biasing member corresponding to the driven link 554 biases the sliding portion 5542 in the +Y direction. An example of such a biasing member is a torsion coil spring having one end fixed to the first base 51 and the other end connected to the link 55.

[0041] Here, the longitudinal dimensions of the driven links 553, 554 are larger than the longitudinal dimensions of the driving links 551, 552. That is, the dimension between the mounting portions 5531, 5541 and the sliding portions 5532, 5542 in the driven links 553, 554 is larger than the dimension between the mounting portions 5511, 5521 and the sliding portions 5512, 5522 in the driving links 551, 552. More specifically, the dimension between the mounting portion 5511 and the sliding portion 5512 in the driving link 551 is the same as the dimension between the mounting portion 5521 and the sliding portion 5522 in the driving link 552. The dimension between the mounting portion 5531 and the sliding portion 5532 in the driven link 553 is the same as the dimension between the mounting portion 5541 and the sliding portion 5542 in the driven link 554. On the other hand, the dimension between the mounting portion 5531 and the sliding portion 5532 in the driven link 553 is larger than the dimension between the mounting portion 5511 and the sliding portion 5512 in the driving link 551.

[0042] Fig. 10 is a diagram schematically showing the center of gravity CP of the first base 51 when the base unit 5 is in the initial state. Fig. 11 is a side view of the base unit 5 in the initial state as viewed from the +X direction. 10, when the base unit 5 is in the initial state, the center of gravity CP of the structure made up of the first base 51 and the arm unit 4 placed on the first base 51 is shifted in the -X and -Y directions with respect to the center CN of the opening 521 of the second base 52 when viewed from the +Z direction. Note that the center CN of the opening 521 coincides with the center of the opening 511 of the first base 51 when viewed from the +Z direction. At this time, as shown in FIG. 11, the first pedestal 51 is inclined in the −X direction and the −Y direction with respect to the XY plane perpendicular to the +Z direction.

[0043] FIG. 12 is a diagram schematically showing the center of gravity position CP of the first base 51 when the sliding portions 5512 and 5522 of the driving links 551 and 552 are moved. When the drive unit 6 positions the sliding portion 5512 furthest in the +X direction and the sliding portion 5522 furthest in the +Y direction, the sliding portion 5532 is positioned furthest in the +X direction, and the sliding portion 5542 is positioned furthest in the +Y direction, as shown in Fig. 12. In this case, the center of gravity position CP is shifted in the +X direction and the +Y direction with respect to the center CN. At this time, although not shown in the figure, the first pedestal 51 is tilted in the +X direction and the +Y direction with respect to the XY plane.

[0044] FIG. 13 is a diagram schematically showing the center of gravity position CP of the first base 51 when the sliding portions 5512 and 5522 of the driving links 551 and 552 are moved. 13, when the drive unit 6 positions the sliding portion 5512 furthest in the +X direction and the sliding portion 5522 furthest in the -Y direction, the sliding portion 5532 is positioned furthest in the +X direction, and the sliding portion 5542 is positioned approximately in the center of the slidable range along the -Y direction. In this case, the center of gravity position CP is shifted in the +X direction and the -Y direction with respect to the center CN. At this time, although not shown in the figure, the first pedestal 51 is tilted in the +X direction and the -Y direction with respect to the XY plane.

[0045] Furthermore, although not shown, when the drive unit 6 positions the sliding portion 5512 furthest in the -X direction and the sliding portion 5522 furthest in the +Y direction, the sliding portion 5542 is positioned furthest in the +Y direction, and the sliding portion 5532 is positioned approximately in the center of the slidable range along the -X direction. In this case, the center of gravity position CP is shifted in the -X direction and the +Y direction with respect to the center CN. At this time, the first pedestal 51 is tilted in the -X direction and the +Y direction with respect to the XY plane. In this way, the tilt direction and tilt amount of the first pedestal 51 with respect to the XY plane can be adjusted by adjusting the positions of the sliding parts 5512 and 5522. Therefore, the orientation of the arm unit 4 placed on the first pedestal 51 can be adjusted.

[0046] [Drive unit configuration] FIG. 14 is a perspective view showing the drive unit 6 as seen from the +Z direction, and FIG. 15 is a perspective view showing the drive unit 6 as seen from the -Z direction. The drive unit 6 operates the operation unit 3. Specifically, the drive unit 6 bends and extends the four arms 41 of the arm unit 4, and also slides the sliding portions 5512, 5522 of the drive links 551, 552 of the base unit 5 to adjust the orientation of the first base 51 on which the arm unit 4 is disposed. As shown in FIGS. 14 and 15 , the drive unit 6 includes a base member 61, a support column 62, a support plate 63, a pulley unit 64, and six drive devices 7.

[0047] [Configuration of base member, support column and support plate] The base member 61 is a flat plate-like member that supports the support column 62, the pulley unit 64, and each of the driving devices 7. The base member 61 is formed in a disk shape when viewed from the +Z direction. The support pillars 62 stand in the +Z direction from a surface 61A of the base member 61 in the +Z direction, and support the support plate 63. A plurality of support pillars 62 are provided. In this embodiment, the plurality of support pillars 62 are provided in threes at approximately equal intervals along the circumferential direction centered on the center CT (see FIG. 16) of the base member 61 when viewed from the +Z direction. As shown in FIG. 14 , the support plate 63 is a flat plate formed in a ring shape when viewed from the +Z direction, and supports the second pedestal 52 of the pedestal unit 5 from the -Z direction. The support plate 63 is disposed in the +Z direction with respect to the base member 61, and is supported by a plurality of support columns 62. The support plate 63 has an opening 631 provided in the center of the support plate 63 when viewed from the +Z direction. The wire WR extending from the drive device 7 passes through the opening 631 and extends in the +Z direction. The support plate 63 may also serve as the second pedestal 52.

[0048] [Pulley unit configuration] FIG. 16 is a plan view showing the pulley unit 64 and the six driving devices 7 as viewed from the +Z direction. The pulley unit 64 is provided at approximately the center of the base member 61 when viewed from the +Z direction. As shown in Fig. 16 , the pulley unit 64 has a plurality of pulleys 65 and a housing 66 that houses the plurality of pulleys 65 therein.

[0049] The plurality of pulleys 65 are hung with wires WR extending from corresponding ones of the plurality of drive devices 7, and change the extending direction of the wires WR to the +Z direction. The plurality of pulleys 65 include pulleys 651 to 656. The pulleys 651 to 654 are arranged in the circumferential direction around the center CT. Wires WR connected to the upper second arm 41HB, the left arm 41L, the right arm 41R, and the upper first arm 41HA, respectively, are suspended on the pulleys 651 to 654. Pulleys 655 and 656 are provided at positions spaced apart from pulleys 651 to 654. A wire WR connected to a sliding portion 5522 of the driving link 552 is suspended from pulley 655. A wire WR connected to a sliding portion 5512 of the driving link 551 is suspended from pulley 656. The arrangement of the pulleys 651 to 656 is not limited to the above and can be changed as appropriate. Each of the pulleys 651 to 655 is provided in the housing 66 so as to be rotatable about a rotation axis that is perpendicular to the extending direction of the wire WR extending from the corresponding one of the plurality of driving devices 7 and that is along the XY plane.

[0050] [Driver configuration] The drive device 7 feeds out the wire WR, which is connected to the object to be operated with a predetermined tension, in a first direction, and pulls the wire WR in a direction opposite to the first direction, thereby moving the object to be operated. Specifically, the multiple drive devices 7 included in the drive unit 6 operate the four arms 41 and the two drive links 551, 552 by feeding out and pulling the wire WR. The multiple drive devices 7 include drive devices 7A to 7F arranged at approximately equal intervals clockwise around the center CT. The driving unit 7A is disposed in the -X direction relative to the pulley unit 64 and operates the upper second arm 41HB. The driving unit 7B is disposed in the +Y direction relative to the pulley unit 64 and operates the left arm 41L. The driving unit 7C is disposed in the +X and +Y directions relative to the pulley unit 64 and operates the right arm 41R. The driving unit 7D is disposed in the +X direction relative to the pulley unit 64 and operates the upper first arm 41HA. The driving unit 7E is disposed in the -Y direction relative to the pulley unit 64 and operates the drive link 552. The driving unit 7F is disposed in the -X and -Y directions relative to the pulley unit 64 and operates the drive link 551.

[0051] In the following description, the three mutually perpendicular directions are referred to as the +E1 direction, +E2 direction, and +E3 direction. In this embodiment, the +E1 direction and the +E2 direction are directions included in the XY plane. The +E1 direction is the direction in which the drive device 7 feeds out the wire WR. The +E3 direction is the same as the +Z direction. Furthermore, the direction opposite to the +E1 direction is referred to as the -E1 direction, the direction opposite to the +E2 direction is referred to as the -E2 direction, and the direction opposite to the +E3 direction is referred to as the -E3 direction. The +E1 direction corresponds to the first direction, and the -E1 direction corresponds to the direction opposite to the first direction.

[0052] 17 and 18 are perspective views showing the drive unit 7 and the pulley 65 corresponding to the drive unit 7. More specifically, FIG. 17 is a perspective view showing the drive unit 7 and the pulley 65 as viewed from the +E3 direction, and FIG. 18 is a perspective view showing the drive unit 7 and the pulley 65 as viewed from the -E3 direction. Also, FIGS. 19 and 20 are exploded perspective views showing the drive unit 7. More specifically, FIG. 19 is an exploded perspective view showing the drive unit 7 as viewed from the +E3 direction, and FIG. 20 is an exploded perspective view showing the drive unit 7 as viewed from the -E3 direction. 21 to 24, the drive device 7 includes a motor 71, a fixed member 72, a cover member 73, a first rotating member 74, a second rotating member 75, a connecting member 76, a first biasing member 77, and a second biasing member 78. In other words, the drive device 7 includes the motor 71, a fixed member 72, a cover member 73, a rotating member RM, a connecting member 76, and a second biasing member 78. In further other words, the drive device 7 includes the motor 71, a fixed member 72, a cover member 73, a first rotating member 74, a traction member TM, and a second biasing member 78.

[0053] The rotation member RM includes a first rotation member 74, a second rotation member 75, and a first biasing member 77. The rotation member RM is rotatable by a motor 71 in the +D direction and the −D direction around a rotation axis Rx5. The pulling member TM includes a second rotating member 75, a connecting member 76, and a first biasing member 77. It is rotatably provided coaxially with the first rotating member 74 and engages the end WR1 of the wire WR. The pulling member TM rotates in the +D direction to feed the wire WR in the +E1 direction, and rotates in the -D direction to pull the wire WR in the -E1 direction. The +D direction corresponds to the second direction and is counterclockwise when viewed from the -E3 direction. The +D direction is the rotation direction of the rotating members 74, 75 and the connecting member 76 when the driving device 7 feeds out the wire WR in the +E1 direction. The -D direction corresponds to the opposite direction to the second direction and is clockwise when viewed from the -E3 direction. The -D direction is the rotation direction of the rotating members 74, 75 and the connecting member 76 when the driving device 7 pulls the wire WR in the -E1 direction. Each component of the drive device 7 will be described in detail below.

[0054] [Motor configuration] The motor 71 rotates the first rotating member 74 around a rotation axis Rx5 along the +E3 direction. In this embodiment, the motor 71 has a housing 711 as shown in Fig. 19, and is also configured as a servo motor having a shaft 712 and a servo horn 713 as shown in Fig. 20. The housing 711 is configured in a substantially rectangular prism shape, as shown in Fig. 19. Inside the housing 711, a rotor that rotates the shaft 712 is disposed. 20, the shaft 712 is an axial member that protrudes in the −E3 direction from the housing part 711. The shaft 712 is rotated by a rotor inside the housing part 711 about a rotation axis Rx5 that extends along the +E3 direction. Servo horn 713 is attached to the tip of shaft 712 and rotates integrally with shaft 712. Servo horn 713 is formed in a circular shape when viewed from the −E3 direction, and first rotating member 74 is fixed to servo horn 713.

[0055] [Configuration of fixed parts] 17 , fixing member 72 has a first fixing surface 721 and a second fixing surface 722 that is perpendicular to first fixing surface 721, and is formed in a substantially L-shape when viewed from the +E2 direction. First fixing surface 721 is fixed to housing unit 711, and second fixing surface 722 is fixed to cover member 73.

[0056] [Cover material configuration] The cover member 73 is attached to the motor and covers the sides of the rotating members 74, 75 and the connecting member 76. The cover member 73 is fixed to the base member 61 while being fixed to the housing part 711 by the fixing member 72. In this way, the drive device 7 is fixed to the base member 61. As shown in FIGS. 19 and 20, the cover member 73 has an attachment portion 731, an upright portion 732, and a notch 733.

[0057] Mounting portion 731 comes into contact with the surface of housing portion 711 in the +E3 direction. As shown in Fig. 20, mounting portion 731 is formed in a substantially semicircular shape when viewed from the -E3 direction. Mounting portion 731 has a circular opening 7311 at approximately the center when viewed from the -E3 direction. Servo horn 713 is disposed within opening 7311. The standing portion 732 stands in the -E3 direction from the periphery of the mounting portion 731 when viewed from the -E3 direction. The standing portion 732 covers the sides of the rotating members 74, 75, the connecting member 76, and the biasing members 77, 78. The standing portion 732 has a connecting portion 7321 to which one end of the second biasing member 78 is connected. The cutout 733 is a portion that exposes the rotating members 74, 75 and the connecting member 76 in the +E2 direction. The wire WR that is locked to the connecting member 76 extends to the outside of the cover member 73 through the cutout 733.

[0058] FIG. 21 is a perspective view showing the cover member 73. As shown in FIG. The cover member 73 further includes restricting portions 734 and 735 in addition to the above configuration. The restricting portion 734 is provided on the edge of the notch 733 in the -E1 direction. Although details will be described later, the restricting portion 734 comes into contact with the connecting member 76 when the connecting member 76 has rotated the most in the -D direction pulling the wire WR in the -E1 direction, thereby restricting further rotation of the connecting member 76 in the -D direction. The restricting portion 735 stands in the -E3 direction from the mounting portion 731. Specifically, the restricting portion 735 is provided at a position corresponding to the connecting portion 7321. Although details will be described later, the second rotating member 75 comes into contact with the restricting portion 735 when the second rotating member 75 has rotated the most in the -D direction, and restricts further rotation of the second rotating member 75 in the +D direction.

[0059] [Configuration of the first rotating member] The first rotating member 74 shown in FIGS. 19 and 20 constitutes the rotating member RM. The first rotating member 74 constitutes the rotating member RM. The first rotating member 74 is disposed in the -E3 direction relative to the motor 71, sandwiching the mounting portion 731 of the cover member 73 therebetween. The first rotating member 74 is rotated in the ±D directions around the rotation axis Rx5 by the motor 71. The first rotating member 74 is rotated in the +D direction by the motor 71, causing the connecting member 76, which engages the other end of the wire WR, to rotate together with the second rotating member 75, thereby feeding out the wire WR in the +E1 direction. The first rotating member 74 is also rotated in the -D direction by the motor 71, causing the connecting member 76, which rotates together with the second rotating member 75, to pull the wire WR in the -E1 direction.

[0060] The first rotating member 74 has an attachment portion 741 , a shaft portion 742 , protrusions 743 and 744 , and a connection portion 745 . As shown in Figures 19 and 20, the mounting portion 741 is formed in a substantially circular shape when viewed from the ±E3 directions. The mounting portion 741 is attached to the servo horn 713 from the -E3 direction and fixed with screws S1. The mounting portion 741 has a plurality of holes 7411 formed along the circumferential direction centered on the rotation axis Rx5. The plurality of screws S1 inserted into the plurality of holes 7411 are fixed to the servo horn 713, thereby fixing the first rotating member 74 to the servo horn 713. The shaft portion 742 is a columnar portion that protrudes in the −E3 direction from the center of the attachment portion 741 when viewed from the −E3 direction. The shaft portion 742 is inserted into the second rotating member 75 and the connecting member 76.

[0061] The protruding portion 743 corresponds to a first protruding portion. The protruding portion 743 protrudes from the periphery of the mounting portion 741 to the outside of the mounting portion 741. The protruding portion 743 can come into contact with the protruding portion 753 of the second rotating member 75. The protruding portion 744 protrudes outward from the peripheral edge of the mounting portion 741 on the opposite side of the shaft portion 742 from the protruding portion 743. A recessed portion 7441 recessed in the +D direction is provided on the surface of the protruding portion 744 facing the -D direction. The contact portion 754 of the second rotating member 75 can come into contact with the recessed portion 7441. That is, the protrusions 743 and 744 define the range in which the second rotating member 75 can rotate. The connecting portion 745 is connected to one end of the first biasing member 77. The connecting portion 745 is provided at the tip end of the protruding portion 744.

[0062] [Configuration of the second rotating member] The second rotating member 75 constitutes the rotating member RM and also constitutes the pulling member TM. The second rotating member 75 is rotatably provided coaxially with the first rotating member 74 and is connected to a first biasing member 77. The second rotating member 75 is rotatable in the ±D directions integrally with the first rotating member 74, and is also rotatable in the ±D directions independently of the first rotating member 74 about a rotation axis Rx5. The second rotating member 75 is disposed in the −E3 direction with respect to the first rotating member 74, and extends in a direction perpendicular to the rotation axis Rx5. The second rotating member 75 has an insertion opening 751, a connecting portion 752, a protruding portion 753, a contact portion 754, and a guide protrusion 755.

[0063] The insertion opening 751 is formed in a circular shape at approximately the center of the second rotating member 75 when viewed from the -E3 direction, and penetrates the second rotating member 75 in the -E3 direction. When the shaft portion 742 is inserted through the insertion opening 751, the second rotating member 75 is supported by the first rotating member 74 so as to be rotatable around the rotation axis Rx5. The connecting portion 752 is provided at one end 75A in a direction perpendicular to the rotation axis Rx5. The connecting portion 752 is connected to the first biasing member 77. The first biasing member 77 biases the second rotating member 75 in the −D direction relative to the first rotating member 74.

[0064] The protruding portion 753, the contact portion 754, and the guide protrusion 755 are provided on an end portion 75B of the second rotating member 75 opposite to the end portion 75A with respect to the insertion opening 751. The protruding portion 753 corresponds to a second protruding portion. The protruding portion 753 protrudes radially outward from the insertion opening 751 and is capable of coming into contact with the protruding portion 743 of the first rotating member 74. When the first rotating member 74 and the second rotating member 75 are combined so that the shaft portion 742 is inserted through the insertion opening 751, the protruding portion 753 is disposed in the +D direction relative to the protruding portion 743. In other words, the traction member TM has the protruding portion 753 that is disposed in the +D direction relative to the protruding portion 743 and is capable of coming into contact with the protruding portion 743.

[0065] The contact portion 754 is provided on the end surface of the end portion 75B in the +D direction. The contact portion 754 is capable of coming into contact with the recessed portion 7441 of the first rotating member 74. The guide protrusion 755 protrudes in the −E3 direction from the end portion 75B. The guide protrusion 755 is inserted into the guide groove 765 of the connecting member 76 when the second rotating member 75 and the connecting member 76 are combined together.

[0066] [Configuration of connecting members] The connecting member 76 constitutes a traction member TM. The connecting member 76 is disposed in the −E3 direction relative to the second rotating member 75, and is rotatable in the ±D directions around a rotation axis Rx5. The connecting member 76 is connected to the wire WR and is rotatable coaxially with the second rotating member 75. In more detail, the connecting member 76 is rotatable integrally with the second rotating member 75, and is also rotatable independently of the second rotating member 75. The connecting member 76 engages the end WR1 of the wire WR. Therefore, when the connecting member 76 rotates in the +D direction, the drive unit 7 feeds the wire WR in the +E1 direction. When the connecting member 76 rotates in the -D direction, the drive unit 7 pulls the wire WR in the -E1 direction. That is, the connecting member 76 is rotatably provided coaxially with the rotating member RM and is connected to the wire WR. The connecting member 76 rotates integrally with the rotating member RM in the +D direction to feed the wire WR in the +E1 direction. The connecting member 76 rotates integrally with the rotating member RM in the -D direction to pull the wire WR in the -E1 direction. As will be described in more detail later, when the wire WR is moved in the -E1 direction due to an external factor, the connecting member 76 rotates in the -D direction independently of the rotating member RM due to the biasing force of the second biasing member 78, pulling the wire WR in the -E1 direction.

[0067] As shown in FIG. 20, the connecting member 76 has an insertion opening 761, a locking portion 762, and a connecting portion 763. The insertion hole 761 is formed in a circular shape when viewed from the +E3 direction. The shaft portion 742, which has passed through the insertion hole 751, is inserted into the insertion hole 761 along the -E3 direction. This causes the connecting member 76 to be rotatably supported by the first rotating member 74. The locking portion 762 locks the end WR1 of the wire WR on the side of the driving device 7. The end of the wire WR on the side of the operation target is locked to one of the four arms 41 and the drive links 551, 552, as described above. The connecting portion 763 is provided in the vicinity of the locking portion 762. The connecting portion 763 is connected to the second biasing member 78.

[0068] As shown in FIG. 19, the connecting member 76 further includes an arc-shaped portion 764, a guide groove 765, and a contact portion 766. The arc-shaped portion 764 is a portion that extends from the locking portion 762 in an arc shape centered at the center of the insertion opening 761 when viewed from the +E3 direction. The arc-shaped portion 764 has a groove portion 7641 that follows the arc-shaped portion 764, and the wire WR, whose end portion is locked by the locking portion 762, is suspended in the groove portion 7641. The wire WR extends from the arc-shaped portion 764 along the +E1 direction.

[0069] The guide groove 765 is a groove recessed in the -E3 direction from the surface of the connecting member 76 in the +E3 direction. The guide groove 765 is formed in an arc shape centered at the center of the insertion opening 761 when viewed from the +E3 direction. When the second rotating member 75 and the connecting member 76 are combined, the guide protrusion 755 is inserted into the guide groove 765 from the +E3 direction. That is, the guide protrusion 755 is provided in the guide groove 765 so as to be slidable along the +D direction. Contact portion 766 is provided in guide groove 765 and comes into contact with the surface of guide protrusion 755 facing the -D direction. More specifically, contact portion 766 is provided on the inner surface of guide groove 765 on the side of locking portion 762. The contact between contact portion 766 and guide protrusion 755 will be described in detail later.

[0070] [Configuration of first biasing member] The first biasing member 77 corresponds to the pulling member side biasing member and the rotating member side biasing member. The first biasing member 77 biases the second rotating member 75 constituting the pulling member TM in the -D direction relative to the first rotating member 74. That is, the first biasing member 77 biases the second rotating member 75 in the -D direction relative to the first rotating member 74. As described above, the first biasing member 77 is connected to the connection portion 745 and the connection portion 752. In this embodiment, the first biasing member 77 is configured by a tension coil spring, but may also be configured by a torsion coil spring. When the second rotating member 75 is urged in the -D direction by the first urging member 77, the protruding portion 753 comes into contact with the protruding portion 743. On the other hand, when the second rotating member 75 rotates in the +D direction against the urging force of the first urging member 77, the protruding portion 753 moves away from the protruding portion 743. When the second rotating member 75 rotates most in the +D direction relative to the first rotating member 74, the contact portion 754 comes into contact with the recessed portion 7441. In this way, the second rotating member 75 can rotate between a position where the protruding portion 753 contacts the protruding portion 743 and a position where the contact portion 754 contacts the protruding portion 744.

[0071] [Configuration of second biasing member] The second biasing member 78 corresponds to the connecting member side biasing member. The second biasing member 78 biases the connecting member 76, which locks the end WR1 of the wire WR, in the -D direction, and adjusts the tension of the wire WR to a value within a predetermined range. As described above, the second biasing member 78 is connected to the connection portion 7321 of the cover member 73 and the connection portion 763 of the linking member 76. In this embodiment, the second biasing member 78 is configured by a tension coil spring, but may also be configured by a torsion coil spring.

[0072] [Driver reference state] FIG. 22 is a view of the driving device 7 in the reference state as viewed from the -E3 direction. In the reference state, the shaft 712 of the motor 71 is positioned at the center of the rotational range of the shaft 712. The reference state is a state in which the drive device 7 can both feed and pull the wire WR, and the position in the reference state is the reference position of each component of the drive device 7. As described above, a tension within a predetermined range is acting on the wire WR that connects the arm 41 and the drive links 551, 552, which are the operation targets of the drive device 7, to the connecting member 76, and the connecting member 76 is pulled in the +D direction. Meanwhile, a biasing force in the -D direction is acting on the connecting member 76 from the second biasing member 78. If the tension of the wire WR in the reference state is defined as the initial tension, the biasing force of the second biasing member 78 is smaller than the initial tension of the wire WR. Therefore, in the reference state, the connecting member 76 is pulled by the wire WR and is positioned at a position where the contact portion 766 and the guide protrusion 755 come into contact with each other. On the other hand, the biasing force of the first biasing member 77 on the second rotating member 75 is greater than the initial tension of the wire WR. Therefore, the second rotating member 75 rotates in the -D direction relative to the first rotating member 74, and the protruding portion 753 (see FIG. 19) and the protruding portion 743 (see FIG. 19) of the first rotating member 74 are maintained in contact with each other. As a result, the second rotating member 75 rotates integrally with the first rotating member 74 unless the tension of the wire WR exceeds the upper limit of the predetermined range. In other words, the biasing force of the first biasing member 77 is greater than the biasing force of the second biasing member 78.

[0073] [Wire delivery by drive unit] FIG. 23 is a view of the drive device 7 when the rotary members 74, 75 and the connecting member 76 are positioned at the maximum feed position, as viewed from the -E3 direction. When the shaft 712 has rotated the most in the +D direction (second direction) from the reference position, the first rotating member 74 is disposed at the maximum feed position, which is the position where it has rotated the most in the +D direction, as shown in Fig. 23. The second rotating member 75 is in a state where the protruding portion 743 and the protruding portion 753 are in contact with each other due to the biasing force of the first biasing member 77, so the second rotating member 75 is rotated integrally with the first rotating member 74 in the -D direction. Furthermore, since the initial tension of the wire WR is greater than the biasing force in the −D direction by the second biasing member 78, the connecting member 76 is rotated together with the second rotating member 75 in the +D direction. As a result, the wire WR is sent out from the driving device 7 in the +E1 direction.

[0074] [Wire pulling by driving device] FIG. 24 is a view of the driving device 7 when the rotating members 74, 75 and the connecting member 76 are positioned at the maximum traction position, as viewed from the -E3 direction. When the shaft 712 rotates the most in the -D direction (opposite to the second direction) from the reference position, the first rotating member 74 is positioned at the maximum traction position, which is the position where it has rotated the most in the -D direction, as shown in Fig. 24. At this time, the second rotating member 75 is in a state where the protruding portion 743 and the protruding portion 753 are in contact with each other, so the second rotating member 75 rotates integrally with the first rotating member 74 in the -D direction. Furthermore, due to the rotation of second rotating member 75 in the -D direction, guide protrusion 755, which is in contact with contact portion 766 on the surface facing the -D direction, moves in the -D direction. As a result, contact portion 766 is pressed in the -D direction by guide protrusion 755, and connecting member 76 rotates in the -D direction together with second rotating member 75. This pulls the wire WR in the −E1 direction.

[0075] When the connecting member 76 is placed in the maximum pulling position, the connecting member 76 comes into contact with the restricting portion 734 of the cover member 73, and the rotating members 74, 75 and the connecting member 76 are restricted from further rotation in the +D direction. This prevents the drive device 7 from pulling the wire WR too much in the -E1 direction, and prevents a load from being applied to the operation target.

[0076] [Driver protection] Here, if the drive device 7 is not driven and the wire WR is pulled in the +E1 direction due to an external factor, for example, causing the shaft 712 to rotate unintentionally in the -D direction, a load is applied to the motor 71. For example, if the arm 41 is pulled in the opposite direction to the bending direction by another user, the wire WR connected to the arm 41 is pulled in the +E1 direction. In such a case, if the shaft 712 is forcibly rotated in the -D direction, the motor 71 may be damaged.

[0077] FIG. 25 is an example of a view of the driving device 7 viewed from the -E3 direction when the wire WR is pulled in the +E1 direction by an external factor. In contrast, in the present embodiment, the second rotating member 75 that rotates the connecting member 76 is configured to be rotatable independently of the first rotating member 74. That is, the biasing force of the first biasing member 77 is smaller than the rotational force of the second rotating member 75 in the +D direction due to an external factor, and therefore the second rotating member 75 rotates in the +D direction against the biasing force of the first biasing member 77 and feeds out the wire WR in the +E1 direction, as shown in Fig. 25 . More specifically, when the wire WR is pulled in the +E1 direction by an external factor, the contact portion 766 of the connecting member 76 presses the guide protrusion 755 in the +D direction, causing the second rotating member 75 to rotate in the +D direction against the biasing force of the first biasing member 77.

[0078] That is, when the wire WR is moved in the +E1 direction due to an external factor, the pulling member TM rotates in the +D direction relative to the first rotating member 74 against the biasing force of the first biasing member 77, and feeds out the wire WR in the +E1 direction. More specifically, when the wire WR is moved in the +E1 direction due to an external factor, the second rotating member 75 rotates in the +D direction integrally with the connecting member 76 against the biasing force of the first biasing member 77, and feeds out the wire WR in the +E1 direction.

[0079] Therefore, the first rotating member 74 and the shaft 712 do not rotate in the +D direction, and the pulling member TM formed by the second rotating member 75 and the connecting member 76 rotates in the +D direction, thereby feeding out the wire WR in the +E1 direction. This prevents a load from being applied to the motor 71, and prevents damage to the drive device 7. When the external factor is removed and the load on the wire WR in the +E1 direction is eliminated, the pulling member TM rotates in the -D direction due to the biasing force of the first biasing member 77. As a result, the pulling member TM returns to the position it was in before the wire WR was pulled in the +E1 direction by the external factor.

[0080] [Maintaining tension] As described above, in order to move the operation target in accordance with the rotational state of the connecting member 76, it is necessary to keep the tension of the wire WR suspending the operation target and the connecting member 76 within a predetermined range. However, for example, when the arm 41 is bent due to an external factor, or when the end of the first base 51 on the drive links 551, 552 side is tilted in the +Z direction, for example, and the sliding parts 5512, 5522 are moved toward the inside of the second base 52 due to an external factor, the wire WR is pulled in the -E1 direction relative to the drive device 7.

[0081] FIG. 26 is an example of a view of the drive device 7 viewed from the -E3 direction when the wire WR is fed in the -E1 direction due to an external factor. In contrast, the connecting member 76 can rotate in the -D direction by the biasing force of the second biasing member 78, independently of the rotating member RM formed by the first rotating member 74 and the second rotating member 75. In addition, the biasing force of the second biasing member 78 is greater than the tension of the wire WR when the wire WR is fed in the -E1 direction due to an external factor. 26, the connecting member 76 rotates in the -D direction by the biasing force of the second biasing member 78, independently of the rotating member RM. At this time, the contact portion 766 moves away from the guide protrusion 755. As a result, the wire WR is pulled in the -E1 direction, so that the tension of the wire WR can be maintained at a value within the predetermined range. When the external factor is removed and the wire WR is pulled in the +E1 direction, the connecting member 76 rotates in the +D direction due to the tension of the wire WR, returning the connecting member 76 to the position it was in before the wire WR was fed in the -E1 direction due to the external factor.

[0082] [Other configurations of puppet manipulation device] FIG. 27 is a block diagram showing the configuration of the puppet operation device 2. In addition to the above configuration, the puppet operating device 2 includes, for example, a detection unit 81 and a temperature adjustment unit 84 as shown in FIG. The detection unit 81 detects a stimulus acting on the puppet operating device 2, and outputs the detection result to the second control device 14. The detection unit 81 includes a tactile sensor 82 and a temperature sensor 83. The tactile sensor 82 detects the approach of an object without contact. The tactile sensor 82 also detects the pressure being applied to the object it comes into contact with. In other words, the tactile sensor 82 detects the pressure acting from the object it comes into contact with. The tactile sensor 82 is provided, for example, at the tip of each arm 41 in the puppet operation device 2. The tactile sensor 82 sends the detection results to the second control device 14. The tactile sensor 82 has the function of a proximity sensor that detects the approach of an object and the function of a pressure sensor that detects pressure. However, this is not limited to this, and the tactile sensor 82 may have either the function as a proximity sensor or the function as a pressure sensor. Furthermore, at least one of a proximity sensor and a pressure sensor may be provided instead of the tactile sensor 82. Temperature sensor 83 detects temperature. For example, temperature sensors 83 are provided in positions corresponding to the torso PP1, head PP2, right arm PP3, and left arm PP4 of puppet PP in puppet operation device 2, and transmit the detected temperatures to second control device 14. Based on the detection results of such temperature sensors 83, control unit 119 of operation device 11 can operate temperature adjustment unit 117, thereby feeding back the temperature and cold sensation information detected by puppet operation device 2 to the user wearing operation device 11.

[0083] The temperature adjustment unit 84 operates in response to a control signal received from the second control device 14 to give the user a feeling of warmth or coolness. The control signal is, for example, a control signal based on the detection result by the temperature detection unit 114 of the operation device 11. Although not shown in detail, the temperature adjustment unit 84 is provided, for example, in a position corresponding to the torso PP1 of the puppet PP in the puppet operation device 2. The temperature adjustment unit 84 can be configured, for example, by a thermoelectric conversion element such as a Peltier element.

[0084] The puppet operation device 2 may further include at least one of an image sensor and an audio sensor (microphone). In this case, the puppet operation device 2 transmits information about the surroundings of the puppet operation device 2 detected by the at least one sensor to the second control device 14, along with the detection results from the tactile sensor 82 and the temperature sensor 83. The second control device 14 then transmits the detection results from the at least one sensor to the first control device 13 via the network NT. For example, if a large movement or volume exceeding a predetermined threshold is detected for a predetermined period of time, the control unit 119 of the operation device 11 determines that the surroundings of the puppet operation device 2 are lively and lively, and converts the surroundings of the puppet operation device 2 into stimulus information and transmits it to the operation device 11 by vibrating the user with the vibration generation unit 116 or warming the user with the temperature control unit 117. Through such transmission, the operation system 1 can present information for richer communication. For this reason, the operation system 1 can also be called a communication system.

[0085] [Effects of the first embodiment] The operation system 1 according to the present embodiment described above provides the following effects. The driving device 7 feeds out the wire WR, which is connected with a predetermined tension to the operation objects such as the arm 41 and the drive links 551, 552, in the +E1 direction and pulls the wire WR in the -E1 direction to move the operation objects. The driving device 7 includes a motor 71, a first rotating member 74, a pulling member TM, and a first biasing member 77. The first rotating member 74 is rotatable in the ±D directions around the rotation axis Rx5 by the motor 71. The pulling member TM is rotatably provided coaxially with the first rotating member 74 and engages the end WR1 of the wire WR. The pulling member TM rotates in the +D direction to feed the wire WR in the +E1 direction, and rotates in the -D direction to pull the wire WR in the -E1 direction. The first biasing member 77 corresponds to the pulling member side biasing member and biases the pulling member TM in the -D direction relative to the first rotating member 74. When the wire WR is moved in the +E1 direction due to an external factor, the pulling member TM rotates in the +D direction against the biasing force of the first biasing member 77 and feeds the wire WR in the +E1 direction.

[0086] With this configuration, the wire WR connected to the operation object can be sent out in the +E1 direction by rotating the first rotating member 74 and the pulling member TM in the +D direction by the motor 71. Also, the wire WR can be pulled in the -E1 direction by rotating the first rotating member 74 and the pulling member TM in the -D direction by the motor 71. This allows the operation object to be operated. Furthermore, when the wire WR is moved in the +E1 direction due to an external factor, the pulling member TM rotates in the +D direction against the biasing force of the first biasing member 77, thereby allowing the wire WR to be fed in the +E1 direction without rotating the first rotating member 74. This makes it possible to prevent a load caused by an external factor from being applied to the motor 71.

[0087] In the driving device 7, the first rotating member 74 has a protrusion 743 as a first protrusion. The second rotating member 75 constituting the pulling member TM is disposed in the +D direction relative to the protrusion 743 and has a protrusion 753 that can come into contact with the protrusion 743. The protrusion 753 corresponds to the second protrusion. According to this configuration, when the pulling member TM is rotated in the -D direction by the first biasing member 77, the protrusion 753 comes into contact with the protrusion 743. This makes it possible to limit the rotation of the pulling member TM in the +D direction relative to the first rotating member 74 when the wire WR is moved in the +E1 direction due to an external factor.

[0088] In the drive device 7, the pulling member TM has a second rotating member 75, a connecting member 76, and a second biasing member 78. The second rotating member 75 is rotatably provided coaxially with the first rotating member 74, and is connected to the first biasing member 77. The connecting member 76 is connected to the wire WR, and is rotatable coaxially with the second rotating member 75. The second biasing member 78 biases the connecting member 76 in the -D direction. The second biasing member 78 corresponds to the connecting member side biasing member. According to this configuration, when the biasing force of the second biasing member 78 is smaller than the tension of the wire WR, the second rotating member 75 and the connecting member 76 rotate integrally. Therefore, as described above, when the wire WR is moved in the +E1 direction due to an external factor, the pulling member TM rotates in the +D direction against the biasing force of the second biasing member 78, thereby allowing the wire WR to be fed in the +E1 direction. On the other hand, if an external factor causes the wire WR to move in the -E1 direction and the biasing force of the second biasing member 78 becomes greater than the tension in the wire WR, the connecting member 76 rotates in the -D direction due to the biasing force of the second biasing member 78, and the wire WR is pulled in the -E1 direction. This allows the tension in the wire WR to be maintained within a predetermined range. Therefore, slack in the wire WR can be suppressed, and the operation target can be stably operated.

[0089] In the drive unit 7, the second rotating member 75 has a guide protrusion 755. The connecting member 76 has a guide groove 765 and a contact portion 766. The guide groove 765 is provided with the guide protrusion 755 so as to be slidable along the +D direction. The contact portion 766 is provided in the guide groove 765. The contact portion 766 comes into contact with the surface of the guide protrusion 755 facing the -D direction. According to this configuration, when the wire WR is moved in the +E1 direction due to an external factor, the guide protrusion 755 disposed in the guide groove 765 presses the contact portion 766, thereby allowing the connecting member 76 connected to the wire WR to rotate in the +D direction together with the second rotating member 75 against the biasing force of the first biasing member 77. In other words, the second rotating member 75 and the connecting member 76 can be rotated in the +D direction without rotating the first rotating member 74. Therefore, the wire WR can be fed in the +E1 direction, and therefore load on the motor 71 can be reduced.

[0090] In the driving device 7, the biasing force of the first biasing member 77 serving as the pulling member side biasing member and the rotating member side biasing member is greater than the tension of the wire WR in the reference state. Also, the biasing force of the second biasing member 78 serving as the connecting member side biasing member is less than the tension of the wire WR in the reference state. Note that the reference state is a state in which no force due to an external factor other than the driving device 7 is applied to the wire. With this configuration, the first rotating member 74, the second rotating member 75, and the connecting member 76 can rotate integrally, except when the wire WR is moved in the ±E1 direction due to an external factor. Furthermore, when the wire WR is moved in the +E1 direction due to an external factor and the tension of the wire WR becomes greater than the biasing force of the first biasing member, the second rotating member 75 and the connecting member 76 can be rotated in the +D direction relative to the first rotating member 74. This allows the wire WR to be fed in the +E1 direction, thereby suppressing the load on the motor 71. Furthermore, when the wire WR is moved in the -E1 direction due to an external factor and the tension of the wire WR becomes smaller than the biasing force of the second biasing member 78, the connecting member 76 can be rotated in the -D direction relative to the second rotating member 75. This allows the wire WR to be pulled in the -E1 direction, and the tension of the wire WR can be maintained within a predetermined range.

[0091] The driving device 7 also feeds out the wire WR, which is connected with a predetermined tension to the operation objects such as the arm 41 and the drive links 551, 552, in the +E1 direction and pulls the wire WR in the -E1 direction to move the operation objects. The driving device 7 includes a motor 71, a rotating member RM, a connecting member 76, and a second biasing member 78. The rotating member RM is rotatable in the ±D directions around the rotation axis Rx5 by the motor 71. The connecting member 76 is rotatably provided coaxially with the rotating member RM and is connected to the wire WR. The connecting member 76 rotates integrally with the rotating member RM in the +D direction and feeds out the wire WR in the +E1 direction. The connecting member 76 rotates integrally with the rotating member RM in the -D direction and pulls the wire WR in the -E1 direction. The second biasing member 78 corresponds to the connecting member side biasing member and biases the connecting member 76 in the -D direction. When the wire WR is moved in the -E1 direction due to an external factor, the connecting member 76 rotates in the -D direction independently of the rotating member RM due to the biasing force of the second biasing member 78 and pulls the wire WR in the -E1 direction.

[0092] With this configuration, as described above, the wire WR connected to the operation object can be sent out in the +E1 direction by rotating the rotating member RM and the connecting member 76 in the +D direction by the motor 71. Also, the wire WR can be pulled in the -E1 direction by rotating the rotating member RM and the connecting member 76 in the -D direction by the motor 71. This allows the operation object to be operated. Furthermore, if the wire WR is moved in the -E1 direction due to an external factor, the biasing force of the second biasing member 78 causes the connecting member 76 to rotate in the -D direction, which is the rotation direction of the connecting member 76 when pulling the wire WR in the -E1 direction, thereby pulling the wire WR in the -E1 direction without rotating the rotating member RM. This allows the tension of the wire WR to be maintained within a predetermined range. Therefore, the operation object can be operated stably.

[0093] In the drive device 7, the rotating member RM has a first rotating member 74, a second rotating member 75, and a first biasing member 77. The first rotating member 74 is rotatable in the ±D directions around a rotation axis Rx5 by a motor 71. The second rotating member 75 is provided coaxially with the first rotating member 74 and rotatable in the ±D directions. The first biasing member 77 corresponds to a rotating member-side biasing member and biases the second rotating member 75 in the -D direction relative to the first rotating member 74. When the wire WR is moved in the +E1 direction due to an external factor, the second rotating member 75 rotates in the +D direction together with the connecting member 76 against the biasing force of the first biasing member 77, and feeds out the wire WR in the +E1 direction.

[0094] According to this configuration, when the biasing force of the first biasing member 77 is greater than the tension of the wire WR, the first rotating member 74 and the second rotating member 75 rotate integrally. Therefore, the wire WR can be moved in the ±E1 directions depending on the driving state of the motor 71 that rotates the first rotating member 74. On the other hand, when an external factor moves the wire WR in the +E1 direction and the tension of the wire WR becomes greater than the biasing force of the first biasing member 77, the second rotating member 75 rotates in the +D direction against the biasing force of the first biasing member 77, thereby allowing the wire WR to be fed in the +E1 direction without rotating the first rotating member 74. This makes it possible to suppress the load on the motor 71.

[0095] The driving device 7 includes a cover member 73 attached to the motor 71. The second biasing member 78 is connected to the connecting member 76 and the cover member 73. With this configuration, the second biasing member 78 can be stably disposed.

[0096] The manipulator MP includes an arm 41, a wire WR, and a driving device 7 (7A to 7D). The arm 41 has a plurality of links that can bend relative to each other. The wire WR is connected to at least one of the plurality of links. The driving device 7 (7A to 7D) feeds the wire WR in the +E1 direction and pulls the wire WR in the -E1 direction to drive the arm 41. Such a configuration can achieve the same effects as the driving device 7. This also allows the arm 41 to operate stably.

[0097] The puppet manipulation device 2 is attached inside the puppet PP and moves the puppet PP. The puppet manipulation device 2 includes a manipulator MP and a support member 42. The manipulator MP includes multiple sets of arms 41, wires WR, and drive units 7. The multiple arms 41 include a right arm 41R, a left arm 41L, and an upper arm 41H. The right arm 41R corresponds to the first arm. The right arm 41R is attached so as to extend leftward from the left part of the support member 42 when viewed from the front. The left arm 41L corresponds to the second arm. The left arm 41L is attached so as to extend rightward from the right part of the support member 42 when viewed from the front. The upper arm 41H is attached so as to extend upward from the upper part of the support member 42 when viewed from the front. The upper arm 41H includes an upper first arm 41HA as a third arm and an upper second arm 41HB as a fourth arm. The upper first arm 41HA is disposed on the left side of the upper second arm 41HB when the support member 42 is viewed from the front. With this configuration, for example, the right arm PP3 and the left arm PP4 of the puppet PP can be moved by the right arm 41R and the left arm 41L. Also, for example, the head PP2 of the puppet PP can be moved by the upper arm 41H. Therefore, the puppet PP can be moved in a variety of ways.

[0098] In the puppet operating device 2, the right arm 41R operates the right arm PP3 of the puppet PP, and the left arm 41L operates the left arm PP4 of the puppet PP. Additionally, the upper first arm 41HA and the upper second arm 41HB each operate the head PP2 of the puppet PP independently of each other. With this configuration, by independently operating the first upper arm 41HA and the second upper arm 41HB, it is possible to tilt the head PP2 to the right or left as viewed from the front, thereby enabling the puppet PP to move in a variety of ways.

[0099] The movable base MV that constitutes the puppet operating device 2 includes a first base 51, a second base 52, a support mechanism 54, a wire WR, and a driving device 7 (7E, 7F). The second pedestal 52 is disposed opposite the first pedestal 51. The support mechanism 54 is provided on the second pedestal 52 and supports the first pedestal 51. The drive device 7 (7E, 7F) feeds and pulls the wire WR. The support mechanism 54 has drive links 551, 552. The drive link 551 has an attachment portion 5511 attached to the first pedestal 51 and a sliding portion 5512 that can slide along the second pedestal 52. The drive link 552 has an attachment portion 5521 attached to the first pedestal 51 and a sliding portion 5522 that can slide along the second pedestal 52. The attachment portions 5511, 5521 correspond to drive link side attachment portions, and the sliding portions 5512, 5522 correspond to drive link side sliding portions. Moreover, the first seat 51 corresponds to one of the first seat 51 and the second seat 52, and the second seat 52 corresponds to the other seat. The driving device 7 (7E, 7F) performs one of pulling and feeding of the wire WR to slide the sliding portions 5512, 5522, thereby tilting the first pedestal 51 relative to the second pedestal 52. This configuration can achieve the same effects as the above-described drive unit 7. This also makes it possible to stably operate the drive links 551, 552, and ultimately to stably tilt the first pedestal 51 relative to the second pedestal 52.

[0100] In the movable base MV, the support mechanism 54 includes driven links 553 and 554. The driven link 553 has an attachment portion 5531 attached to the first base 51 and a sliding portion 5532 that is slidable along the second base 52. The driven link 554 has an attachment portion 5541 attached to the first base 51 and a sliding portion 5542 that is slidable along the second base 52. The attachment portions 5531 and 5541 correspond to driven link side attachment portions, and the sliding portions 5532 and 5542 correspond to driven link side sliding portions. The driven link 553 is spaced apart from the drive link 551 in the +X direction in which the sliding portion 5512 is slidable, and the driven link 554 is spaced apart from the drive link 552 in the +Y direction in which the sliding portion 5522 is slidable. According to this configuration, the first base 51 is supported on the second base 52 by the drive links 551, 552 and the driven links 553, 554, so that the first base 51 can be stably supported. Furthermore, the sliding portions 5512, 5522 of the drive links 551, 552 are slid by the drive units 7E, 7F, while the sliding portions 5532, 5542 of the driven links 553, 554 are not slid by the drive units 7, but slide in accordance with the sliding portions 5512, 5522. Therefore, compared to a configuration in which the sliding portions 5532, 5542 are slid by the drive units 7, the number of drive units 7 that operate the movable base MV can be reduced.

[0101] Movable base MV includes two drive links 551, 552 and two driven links 553, 554. Driving devices 7E, 7F are provided corresponding to the two drive links 551, 552. The ±X directions in which sliding portion 5512 can slide and the ±Y directions in which sliding portion 5522 can slide intersect with each other, and the ±X directions in which sliding portion 5532 can slide and the ±Y directions in which sliding portion 5542 can slide intersect with each other. With this configuration, the first pedestal 51 can be stably supported. Furthermore, by arranging the drive links 551, 552 and the driven links 553, 554 as described above, the inclination direction of the first pedestal 51 can be increased.

[0102] In the movable base MV, of the two drive links 551, 552, if the drive link 551 is the first drive link, the drive link 552 is the second drive link. Of the two driven links 553, 554, if the driven link 553 is the first driven link, the driven link 554 is the second driven link. The direction in which the sliding portion 5512 (first drive link side sliding portion) of the drive link 551 can slide (+X direction) is parallel to the direction in which the sliding portion 5532 (driven link side sliding portion) of the driven link 553 can slide (+X direction). The direction in which the sliding portion 5522 (drive link side sliding portion) of the drive link 552 can slide (+Y direction) is parallel to the direction in which the sliding portion 5542 (driven link side sliding portion) of the driven link 554 can slide (+Y direction). The direction in which the sliding portion 5512 of the drive link 551 can slide (+X direction) is perpendicular to the direction in which the sliding portion 5522 of the drive link 552 can slide (+Y direction). With this configuration, the two drive links 551, 552 and the two driven links 553, 554 are arranged radially from the position between the drive link 551 and the driven link 553. By independently sliding the sliding portions 5512, 5522 of the drive links 551, 552, respectively, the first base can be tilted in any direction relative to the second base. This improves the convenience of the movable base MV.

[0103] In the movable base MV, the longitudinal dimensions of the driving links 551 and 552 are smaller than the longitudinal dimensions of the driven links 553 and 554. Here, the inclination angle of the driving links 551, 552 relative to the second pedestal 52 increases as the sliding portions 5512, 5522 and the mounting portions 5511, 5521 approach each other when viewed from the first pedestal 51 side, and decreases as the sliding portions 5512, 5522 and the mounting portions 5511, 5521 move farther apart. Since one driving link 551 and one driven link 553 are disposed opposite each other in the +X direction, if the longitudinal dimension of the driving link 551 and the longitudinal dimension of the driven link 553 are the same, the first pedestal 51 can only incline toward the driven link 553 relative to the driving link 551, even if the sliding portion 5512 is moved. Similarly, if the longitudinal dimension of the driving link 552 and the longitudinal dimension of the driven link 554 are the same, the first base 51 can only tilt toward the driven link 554 side relative to the driving link 552.

[0104] In contrast, the longitudinal dimensions of the drive links 551, 552 are smaller than the longitudinal dimensions of the driven links 553, 554. As a result, by sliding the sliding portion 5512 and reducing the inclination angle of the drive link 551 relative to the second seat 52, the first seat 51 can be tilted toward the drive link 551. Furthermore, by sliding the sliding portion 5512 and increasing the inclination angle of the drive link 551 relative to the second seat 52, the first seat 51 can be tilted toward the driven link 553. The same applies to the drive link 552 and the driven link 554. Therefore, the direction of inclination of the first seat 51 can be increased.

[0105] In the movable base MV, of the first base 51 and the second base 52, the base to which the mounting portions 5511, 5521, 5531, and 5541 are attached is the first base 51, and the base on which the sliding portions 5512, 5522, 5532, and 5542 slide is the second base 52. According to this configuration, when second seat 52 is disposed below first seat 51, second seat 52 can be configured to be larger than first seat 51. This allows the sliding range of each of sliding portions 5512, 5522, 5532, and 5542 to be increased.

[0106] In the movable base MV, the wire WR is connected to the sliders 5512 and 5522. According to this configuration, the wire WR that is fed and pulled by the driving device 7 can make the sliding portions 5512 and 5522 slide easily.

[0107] The movable base MV includes a first guide rail 531 that slidably supports a sliding portion 5512 of the drive link 551, and a first guide rail 532 that slidably supports a sliding portion 5522 of the drive link 552. The first guide rail 531 is provided in the sliding direction (+X direction) of the sliding portion 5512 supported by the first guide rail 531, and has a hole 5312 through which a wire WR connected to the sliding portion 5512 is inserted. Similarly, the first guide rail 532 is provided in the sliding direction (+Y direction) of the sliding portion 5522 supported by the first guide rail 532, and has a hole 5322 through which a wire WR connected to the sliding portion 5522 is inserted. According to this configuration, the wires WR can be connected to the sliding portions 5512 and 5522 without being twisted, thereby improving the reliability of the movable base MV.

[0108] [Second embodiment] Next, a second embodiment of the present invention will be described. The operation system according to this embodiment has the same configuration as the operation system 1 according to the first embodiment, but the configuration of the puppet operation device is different. Specifically, in the puppet operation device of the operation system according to this embodiment, the base unit is different from the base unit 5 of the puppet operation device 2 of the operation system 1 according to the first embodiment. In the following explanation, parts that are the same or approximately the same as parts already explained will be assigned the same reference numerals and explanations thereof will be omitted.

[0109] [Outline of the operation system and puppet operation device] FIG. 28 is a perspective view showing a puppet operation device 2A of the operation system in this embodiment. The operation system according to this embodiment has the same configuration and functions as the operation system 1 according to the first embodiment, except that it has a puppet operation device 2A shown in FIG. The puppet operation device 2A has the same configuration and functions as the puppet operation device 2 according to the first embodiment, except that it has an operation unit 3A instead of the operation unit 3. That is, the puppet operation device 2A has the operation unit 3A and a drive unit 6. Also, the operation unit 3A has the same configuration and functions as the operation unit 3 according to the first embodiment, except that it has a base unit 5A instead of the base unit 5. That is, the operation unit 3A has an arm unit 4 and a base unit 5A. The movable base MVA according to this embodiment includes a base unit 5A, as well as a wire WR and a driving device 7, although not shown in FIG.

[0110] [Base unit configuration] Fig. 29 is a perspective view of the base unit 5A seen from the +Z direction, Fig. 30 is a perspective view of the base unit 5A seen from the -Z direction, Fig. 31 is an exploded perspective view of the base unit 5A seen from the +Z direction, and Fig. 32 is an exploded perspective view of the base unit 5A seen from the -Z direction. Similar to the base unit 5, the base unit 5A supports the arm unit 4 and tilts the arm unit 4 relative to an imaginary plane perpendicular to the +Z direction. As shown in Figures 29 to 32, the base unit 5A includes a first base 51, a second base 52, a support base 5A1, a first arch 5A4, a second arch 5A5, and an axis-shaped member 5A6.

[0111] [Support base configuration] When viewed from the +Z direction, the support base 5A1 is disposed approximately in the center of the second base 52. As shown in FIGS. 29 and 31, the support base 5A1 has a first support frame 5A2 and a second support frame 5A3. The first support frame 5A2 supports the first arch 5A4 and the second arch 5A5. The first support frame 5A2 has a first support portion 5A21 and a second support portion 5A22. The first support portion 5A21 supports the first arch 5A4 rotatably about a rotation axis Rx6 perpendicular to the +Z direction. Although not shown, the first support portion 5A21 is formed by a protrusion that protrudes outward from the outer surface of the first support frame 5A2 and is inserted into the first arch 5A4. The second support portion 5A22 supports the second arch 5A5 rotatably about a rotation axis Rx7 that is perpendicular to both the +Z direction and the rotation axis Rx6. Although not shown, the second support portion 5A22, like the first support portion 5A21, is formed by a protrusion that protrudes outward from the outer surface of the first support frame 5A2 and is inserted into the first arch 5A4.

[0112] The second support frame 5A3 is a rectangular member arranged inside the first support frame 5A2 when viewed from the +Z direction, and supports the shaft member 5A6. As shown in Fig. 32, the second support frame 5A3 has a support surface 5A31 provided on the inside of the second support frame 5A3. The support surface 5A31 supports the shaft member 5A6 so that it can tilt relative to the XY plane. The support surface 5A31 is formed in a substantially hemispherical shape, and a spherical portion 5A62 (described later) of the shaft member 5A6 comes into contact with the support surface 5A31.

[0113] [Configuration of the 1st and 2nd arches] The first arch 5A4 and the second arch 5A5 are each formed in an arc shape that bulges in the +Z direction. As described above, the first arch 5A4 is supported by the support base 5A1 to be rotatable around the rotation axis Rx6, and the second arch 5A5 is supported by the support base 5A1 to be rotatable around the rotation axis Rx7. The first arch 5A4 has an opening 5A41 at a position sandwiched between both ends supported by the support base 5A1. The shaft member 5A6 is inserted into the opening 5A41 along the +Z direction. Although detailed illustration is omitted, the first arch 5A4 is connected to one of the driving devices 7E, 7F (see FIG. 16) via a wire WR. When the wire WR is fed or pulled by one of the driving devices 7, the first arch 5A4 rotates in one direction or the other around the rotation axis Rx6. As a result, the shaft member 5A6 tilts relative to the second base 52 around the rotation axis Rx6.

[0114] The second arch 5A5 has an opening 5A51 at a position sandwiched between both ends supported by the support base 5A1. A shaft-shaped member 5A6 is inserted through the opening 5A51 along the +Z direction. Although detailed illustration is omitted, the second arch 5A5 is connected to the other of the drive units 7E and 7F via a wire WR. When the other drive unit 7 feeds or pulls the wire WR, the second arch 5A5 rotates in one direction or the other about the rotation axis Rx7. As a result, the shaft-shaped member 5A6 tilts relative to the second base 52 about the rotation axis Rx7.

[0115] [Configuration of shaft-shaped member] The shaft-shaped member 5A6 supports the first pedestal 51 and is supported by the support pedestal 5A1 so as to be tiltable relative to the second pedestal 52. The shaft-shaped member 5A6 tilts relative to the second pedestal 52 depending on the rotational states of the first arch 5A4 and the second arch 5A5. The shaft-shaped member 5A6 has a through portion 5A61, a spherical portion 5A62, a contact portion 5A63, and a connecting portion 5A64. 32, the through-hole 5A61 penetrates the shaft-shaped member 5A6 along the +Z direction. A wire WR connected to each driving device 7 of the driving unit 6 is inserted into the through-hole 5A61 along the +Z direction. The spherical portion 5A62 is provided at the end of the shaft-shaped member 5A6 in the -Z direction. The spherical portion 5A62 is formed in a substantially spherical shape and contacts the support surface 5A31, which is formed in a semispherical shape, from the +Z direction. This allows the shaft-shaped member 5A6 to be tiltably supported relative to the second pedestal 52 along the support surface 5A31.

[0116] The contact portion 5A63 is provided on the shaft-shaped member 5A6 in the +Z direction with respect to the spherical portion 5A62. The contact portion 5A63 is a portion that comes into contact with the inner edge of the opening 5A41 of the first arch 5A4 and the inner edge of the opening 5A51 of the second arch 5A5. In this embodiment, the contact portion 5A63 is formed in the shape of a quadrangular prism centered on an axis along the +Z direction, and of the four outer surfaces of the contact portion 5A63, two surfaces are perpendicular to the rotation axis Rx6 and the other two surfaces are perpendicular to the rotation axis Rx7. The connecting portion 5A64 is a portion that is connected to the first pedestal 51. The connecting portion 5A64 is disposed at the end of the shaft-shaped member 5A6 in the +Z direction. That is, the connecting portion 5A64 is provided on the opposite side of the contact portion 5A63 from the spherical portion 5A62.

[0117] [Pedestal unit operation] When at least one of the rotation of the first arch 5A4 about the rotation axis Rx6 and the rotation of the second arch 5A5 about the rotation axis Rx7 occurs, the shaft-shaped member 5A6 tilts relative to the second pedestal 52 along the hemispherical support surface 5A31 with which the spherical portion 5A62 comes into contact. As a result, the first pedestal 51 connected to the connecting portion 5A64 of the shaft-shaped member 5A6 tilts relative to the second pedestal 52. In other words, the first pedestal 51 tilts relative to the XY plane. This allows the arm unit 4 supported by the first pedestal 51 to tilt relative to the XY plane.

[0118] [Effects of the second embodiment] The operation system according to this embodiment described above can achieve the same effects as the operation system 1 according to the first embodiment.

[0119] [Third embodiment] Next, a third embodiment of the present invention will be described. The operation system according to this embodiment has a configuration similar to that of the operation system 1 according to the first embodiment or the operation system according to the second embodiment, but the configuration of the pulley unit provided in the drive unit is different. In the following explanation, parts that are the same or approximately the same as parts already explained will be assigned the same reference numerals and explanations thereof will be omitted.

[0120] FIG. 33 is a plan view of the pulley unit 64B provided in the puppet operating device of the operating system according to this embodiment, viewed from the +Z direction. The operation system according to this embodiment has the same configuration and functions as the operation system 1 according to the first embodiment or the operation system according to the second embodiment, except that it has a pulley unit 64B shown in Fig. 33 instead of the pulley unit 64. That is, the puppet operation device according to this embodiment has the same configuration and functions as the puppet operation device 2 or the puppet operation device 2A, except that it has a pulley unit 64B instead of the pulley unit 64.

[0121] Like the pulley unit 64, the pulley unit 64B includes a plurality of pulleys 65 and a housing 66B that houses the plurality of pulleys 65 therein. In the pulley unit 64B, the multiple pulleys 65 are arranged at approximately equal intervals along the circumferential direction centered on the center of the housing 66B when viewed from the +Z direction. As described above, the wires WR extending from corresponding ones of the multiple drive devices 7 are suspended on the multiple pulleys 65, and the extending direction of the wires WR is changed to the +Z direction. Of the plurality of pulleys 65, pulleys 651 to 654 are provided with wires WR that are respectively connected to the upper second arm 41HB, the left arm 41L, the right arm 41R, and the upper first arm 41HA. When the puppet manipulation device according to this embodiment includes the base unit 5, a wire WR connected to the sliding part 5522 of the drive link 552 is suspended from the pulley 655, and a wire WR connected to the sliding part 5512 of the drive link 551 is suspended from the pulley 656. On the other hand, when the puppet manipulation device according to this embodiment includes the base unit 5A, a wire WR connected to one of the first arch 5A4 and the second arch 5A5 is suspended from the pulley 655, and a wire WR connected to the other of the first arch 5A4 and the second arch 5A5 is suspended from the pulley 656.

[0122] The housing 66B is formed in a substantially hexagonal shape when viewed from the +Z direction. The housing 66B rotatably supports a plurality of pulleys 65 therein. The housing 66B has a plurality of first openings 66B1 and one second opening 66B2. The multiple first openings 66B1 are provided on the side surface of the housing 66B facing the six drive devices 7. A wire WR extending from the drive device 7 is inserted into each first opening 66B1. The wire WR inserted into each first opening 66B1 is suspended on a corresponding one of the multiple pulleys 65. The second opening 66B2 is provided on the surface of the housing 66B facing the +Z direction. The wires WR, whose extension direction has been changed to the +Z direction by the pulleys 65, are inserted into the second opening 66B2. This makes it possible to align the extension directions of the wires WR extending from the drive devices 7 in the +Z direction, and also makes it possible to reduce the area through which each wire WR passes on the XY plane.

[0123] [Effects of the third embodiment] The operation system according to this embodiment described above has the same effects as the operation system 1 according to the first embodiment or the operation system according to the second embodiment.

[0124] [Modification of the embodiment] The present invention is not limited to the above-described embodiments, and modifications and improvements within the scope of achieving the object of the present invention are included in the present invention. In each of the above embodiments, the operation object operated by the driving device 7 by letting out and pulling the wire WR is the arm 41 constituting the manipulator MP. Furthermore, in the above first and third embodiments, the operation object of the driving device 7 is the drive links 551, 552 constituting the movable base MV, and in the above second and third embodiments, the operation object is the first arch 5A4 and the second arch 5A5 constituting the movable base MVA. However, this is not a limitation, and the operation object operated by the driving device 7 is not limited thereto. For example, the operation object may be a robot hand.

[0125] In each of the above embodiments, the drive device 7 includes the motor 71, the fixed member 72, the cover member 73, the first rotating member 74, the second rotating member 75, the connecting member 76, the first biasing member 77, and the second biasing member 78. Of these, the first rotating member 74, the second rotating member 75, and the first biasing member 77 constitute the rotating member RM, and the second rotating member 75, the connecting member 76, and the second biasing member 78 constitute the pulling member TM. However, this is not limited thereto, and for example, the drive device 7 may include the motor 71, the rotating member RM, the connecting member 76, and the second biasing member 78, but may not include other components. Also, for example, the drive device 7 may include the motor 71, the first rotating member 74, and the pulling member TM, but may not include other components.

[0126] In each of the above embodiments, the first rotating member 74 has the protruding portion 743 as a first protruding portion, and the second rotating member 75 constituting the pulling member TM has the protruding portion 753 as a second protruding portion that is disposed in the +D direction with respect to the protruding portion 743 and is capable of contacting the protruding portion 743. However, this is not limiting, and the protruding portions 743, 753 may be omitted as long as the second rotating member 75 can be switched between a state in which it is rotatable relative to the first rotating member 74 in the +D direction against the biasing force of the first biasing member 77 and a state in which it is not rotatable relative to the first rotating member 74, depending on the tension of the wire WR.

[0127] In each of the above embodiments, the second rotating member 75 has the guide protrusion 755, and the connecting member 76 has the guide groove 765 and the contact portion 766. However, this is not limiting, and the guide protrusion 755, the guide groove 765, and the contact portion 766 may be omitted. For example, if the connecting member 76 has a contact portion that comes into contact with the second rotating member 75 and rotates the second rotating member 75 in the +D direction when the wire WR is moved in the +E1 direction due to an external factor, the guide protrusion 755 and the guide groove 765 in which the guide protrusion 755 is disposed may be omitted. Furthermore, the connecting member 76 only needs to be connected to the wire WR, and does not necessarily need to lock the end WR1 of the wire WR. That is, the connecting portion of the wire WR with the connecting member 76 does not necessarily have to be the end WR1.

[0128] In each of the above embodiments, the second biasing member 78 is connected to the connecting member 76 and the cover member 73. However, this is not limiting, and the component to which the second biasing member 78 is connected other than the connecting member 76 may have another configuration, such as the motor 71.

[0129] In each of the above embodiments, the manipulator MP includes four arms 41 (41HA, 41HB, 41R, 41L), four drive devices 7 (7A to 7D), and four wires WR. However, this is not a limitation, and the number of sets of arms 41, drive devices 7, and wires WR included in the manipulator MP can be changed as appropriate. Furthermore, the arrangement and configuration of the arms 41 are not limited to the above arrangement and configuration, and can be changed as appropriate.

[0130] In the first embodiment, the support mechanism 54 of the movable base MV includes the driven links 553, 554 in addition to the drive links 551, 552. However, the present invention is not limited to this, and the number of drive links and the number of driven links included in the support mechanism 54 can be changed as appropriate. For example, the support mechanism 54 may include one or more drive links but no driven links. Furthermore, for example, the support mechanism 54 may include another link instead of the driven link. In this case, one end of the other link may be connected to the first base 51 to be rotatable about an axis of rotation intersecting the extension direction of the other link, and the other end of the other link may be connected to the second base 52 to be rotatable about an axis of rotation intersecting the extension direction of the other link.

[0131] In the first embodiment, the drive link 551 and the driven link 553, whose sliding portions 5512 and 5532 are slidable in the ±X directions, are arranged spaced apart from each other in the +X direction. Specifically, a virtual line connecting the drive link 551 and the driven link 553 is parallel to the +X direction when viewed from the +Z direction. The drive link 552 and the driven link 554, whose sliding portions 5522 and 5542 are slidable in the ±Y directions, are arranged spaced apart from each other in the +Y direction. Specifically, a virtual line connecting the drive link 552 and the driven link 554 is parallel to the +Y direction when viewed from the +Z direction. However, the present invention is not limited to this, and the arrangement of the drive link and the driven link provided in the support mechanism 54 can be changed as appropriate.

[0132] In the first embodiment, the longitudinal dimensions of the driving links 551, 552 are smaller than the longitudinal dimensions of the driven links 553, 554. However, this is not limiting, and the longitudinal dimensions of the driving links may be larger than or the same as the longitudinal dimensions of the driven links. Furthermore, the longitudinal dimensions of the links 55 included in the support mechanism 54 may differ from one another. That is, the longitudinal dimension of at least one of the links 55 included in the support mechanism 54 may be different from the longitudinal dimensions of the other links 55.

[0133] In the first embodiment, the base to which each of the mounting portions 5511, 5521, 5531, and 5541 is rotatably connected is the first base 51, which is one of the first base 51 and the second base 52. Furthermore, the base to which each of the sliding portions 5512, 5522, 5532, and 5542 is slidably connected is the second base 52, which is the other of the first base 51 and the second base 52. However, this is not limiting, and each of the mounting portions 5511, 5521, 5531, and 5541 may be rotatably connected to the second base 52, and each of the sliding portions 5512, 5522, 5532, and 5542 may be slidably connected to the first base 51.

[0134] In the first embodiment, the wire WR is connected to the sliding portions 5512 and 5522 of the driving links 551 and 552. However, the present invention is not limited to this, and the connection position of the wire WR on the driving links 551 and 552 may be other positions as long as the wire WR can slide on the sliding portions 5512 and 5522.

[0135] In the first embodiment, the wire WR connected to the sliding portion 5512 of the driving link 551 is inserted through the hole 5312 of the first guide rail 531, and the wire WR connected to the sliding portion 5522 of the driving link 552 is inserted through the hole 5322 of the first guide rail 532. However, this is not limiting, and such holes 5312, 5322 may be omitted.

[0136] In the first embodiment, the drive device that feeds and pulls the wire WR connected to the drive links 551, 552 is the drive device 7. In the second embodiment, the drive device that feeds and pulls the wire WR connected to the first arch 5A4 and the second arch 5A5 is the drive device 7. In other words, the drive device that constitutes the movable bases MV, MVA is the drive device 7 that is equipped with the protection mechanism and tension maintaining mechanism described above. However, this is not limiting, and the drive device that constitutes the movable bases MV, MVA may be a drive device that does not have a protection mechanism and tension maintaining mechanism. An example of such a drive device is a motor such as a servo motor.

[0137] In the above embodiments, the manipulator MP and the movable bases MV, MVA are applied to the puppet operation devices 2, 2A that operate the puppet PP. However, this is not limiting, and the manipulator MP and the movable bases MV, MVA may each be applied to other electronic devices or configured as independent devices.

[0138] [Summary of the present invention] The present invention will be summarized below. [1] A drive device according to a first aspect of the present invention is a drive device that feeds out a wire connected to an object to be operated with a predetermined tension in a first direction and pulls the wire in a direction opposite to the first direction to operate the object to be operated, and includes a motor, a first rotating member that can rotate around a rotation axis by the motor in a second direction and in a direction opposite to the second direction, a pulling member that is rotatable coaxially with the first rotating member, engages an end of the wire, rotates in the second direction to feed out the wire in the first direction, and rotates in the direction opposite to the second direction to pull the wire in the direction opposite to the first direction, and a pulling member side biasing member that biases the pulling member in the direction opposite to the second direction relative to the first rotating member, and when the wire is moved in the first direction by an external factor, the pulling member rotates in the second direction against the biasing force of the pulling member side biasing member to feed out the wire in the first direction.

[0139] With this configuration, the wire connected to the object to be operated can be fed in the first direction by rotating the first rotating member and the pulling member in the second direction by the motor. Also, the wire can be pulled in the direction opposite to the first direction by rotating the first rotating member and the pulling member in the direction opposite to the second direction by the motor. This allows the object to be operated. Furthermore, if the wire is moved in the first direction due to an external factor, the pulling member rotates in the second direction, which is the rotation direction of the pulling member when letting out the wire in the first direction, against the biasing force of the pulling member-side biasing member, thereby allowing the wire to be let out in the first direction without rotating the first rotating member. This makes it possible to prevent a load caused by an external factor from being applied to the motor.

[0140] [2] In the driving device described in [1], the first rotating member may have a first protrusion, and the traction member may have a second protrusion arranged in the second direction relative to the first protrusion and capable of contacting the first protrusion. With this configuration, when the pulling member is rotated in the direction opposite to the second direction by the pulling member-side biasing member, the second protrusion of the pulling member abuts against the first protrusion of the first rotating member. This makes it possible to limit the rotation of the pulling member in the second direction relative to the first rotating member when the wire is moved in the first direction due to an external factor.

[0141] [3] In the driving device described in [1] or [2], the pulling member may have a second rotating member that is rotatable coaxially with the first rotating member and connected to the pulling member side biasing member, a connecting member that is connected to the wire and rotatable coaxially with the second rotating member, and a connecting member side biasing member that biases the connecting member in a direction opposite to the second direction. With this configuration, when the biasing force of the connecting member-side biasing member is smaller than the tension of the wire, the second rotating member and the connecting member rotate together. Therefore, when the wire is moved in the first direction due to an external factor, as described above, the pulling member rotates in the second direction against the biasing force of the pulling member-side biasing member, thereby allowing the wire to be fed in the first direction. On the other hand, if an external factor causes the wire to move in the direction opposite to the first direction, causing the biasing force of the connecting member biasing member to become greater than the tension in the wire, the connecting member will rotate in the direction opposite to the second direction due to the biasing force of the connecting member biasing member, and the wire will be pulled in the direction opposite to the first direction. This allows the tension in the wire to be maintained within a predetermined range. Therefore, loosening of the wire can be prevented, and the operation target can be operated stably.

[0142] [4] In the driving device described in [3], the second rotating member may have a guide protrusion, and the connecting member may have a guide groove in which the guide protrusion is provided so as to be slidable along the second direction, and a contact portion provided in the guide groove and contacting a surface of the guide protrusion in the direction opposite to the second direction. With this configuration, when the wire is moved in the first direction due to an external factor, the guide protrusion disposed in the guide groove presses the contact portion, causing the connecting member connected to the wire to rotate in the second direction together with the second rotating member against the biasing force of the pulling member biasing member. In other words, the pulling member can be rotated in the second direction without rotating the first rotating member. Therefore, the wire can be fed in the first direction, thereby suppressing load on the motor.

[0143] [5] In the driving device described in [3] or [4], the biasing force of the pulling member side biasing member may be greater than the tension of the wire in a reference state, and the biasing force of the connecting member side biasing member may be smaller than the tension of the wire in the reference state. With this configuration, the first rotating member and the pulling member can be rotated integrally except when the wire is moved in the first direction or the direction opposite to the first direction due to an external factor. Furthermore, when an external factor causes the wire to move in the first direction and the tension in the wire becomes greater than the biasing force of the pulling member-side biasing member, the second rotating member can be rotated in the second direction relative to the first rotating member, thereby reducing the load on the motor. Furthermore, when an external factor causes the wire to move in the direction opposite to the first direction and the tension in the wire becomes smaller than the biasing force of the connecting-member-side biasing member, the connecting member can be rotated in the direction opposite to the second direction relative to the second rotating member, thereby maintaining the tension in the wire within a predetermined range.

[0144] [6] A drive device according to a second aspect of the present invention is a drive device that feeds out a wire connected to an object to be operated with a predetermined tension in a first direction and pulls the wire in a direction opposite to the first direction, thereby moving the object to be operated, and includes a motor, a rotating member that can rotate around a rotation axis by the motor in a second direction and in a direction opposite to the second direction, a connecting member that is rotatable coaxially with the rotating member and connected to the wire, that rotates integrally with the rotating member in the second direction to feed out the wire in the first direction, and that rotates integrally with the rotating member in the direction opposite to the second direction to pull the wire in the direction opposite to the first direction, and a connecting member side biasing member that biases the connecting member in the direction opposite to the second direction, and when the wire is moved in the direction opposite to the first direction due to an external factor, the connecting member rotates in the direction opposite to the second direction independently of the rotating member due to the biasing force of the connecting member side biasing member, and pulls the wire in the direction opposite to the first direction.

[0145] With this configuration, the motor rotates the rotating member and the connecting member in the second direction, thereby feeding the wire connected to the object to be operated in the first direction. Furthermore, the motor rotates the rotating member and the connecting member in the direction opposite to the second direction, thereby pulling the wire in the direction opposite to the first direction. This allows the object to be operated. Furthermore, if an external factor causes the wire to move in the direction opposite to the first direction, the biasing force of the connecting member biasing member causes the connecting member to rotate in the direction opposite to the second direction, which is the rotation direction of the connecting member when pulling the wire in the direction opposite to the first direction, thereby pulling the wire in the direction opposite to the first direction without rotating the rotating member. This allows the tension in the wire to be maintained within a predetermined range. Therefore, the operation object can be operated stably.

[0146] [7] In the drive device described in [6], the rotating member comprises a first rotating member that can be rotated around the rotation axis by the motor in the second direction and in the direction opposite to the second direction, a second rotating member that is coaxial with the first rotating member and can be rotated in the second direction and in the direction opposite to the second direction, and a rotating member side biasing member that biases the second rotating member in the direction opposite to the second direction relative to the first rotating member, and when the wire is moved in the first direction by an external factor, the second rotating member may rotate in the second direction integrally with the connecting member against the biasing force of the rotating member side biasing member, and feed the wire in the first direction. With this configuration, when the biasing force of the rotational-member-side biasing member is greater than the tension of the wire, the first rotational member and the second rotational member rotate together, and therefore the wire can be moved in a first direction or a direction opposite to the first direction depending on the driving state of the motor that rotates the first rotational member. On the other hand, when an external factor causes the wire to move in the first direction and the tension in the wire becomes greater than the biasing force of the rotating-member-side biasing member, the second rotating member rotates in the second direction against the biasing force of the rotating-member-side biasing member, thereby allowing the wire to be fed in the first direction without rotating the first rotating member, thereby reducing the load on the motor.

[0147] [8] In the driving device described in [7], the second rotating member may have a guide protrusion, and the connecting member may have a guide groove in which the guide protrusion is provided so as to be slidable along the second direction, and a contact portion provided in the guide groove and contacting a surface of the guide protrusion in the direction opposite to the second direction. According to this configuration, similar to the drive device according to the first aspect, when the wire is moved in the first direction due to an external factor, the guide protrusion disposed in the guide groove presses the contact portion, causing the connecting member connected to the wire to rotate in the second direction together with the second rotating member against the biasing force of the connecting member biasing member. In other words, the second rotating member and the connecting member can be rotated in the second direction without rotating the first rotating member. Therefore, the wire can be fed in the first direction, thereby suppressing load on the motor.

[0148] [9] In the driving device described in [7] or [8], the biasing force of the rotating member side biasing member may be greater than the tension of the wire in a reference state, and the biasing force of the connecting member side biasing member may be smaller than the tension of the wire in the reference state. According to this configuration, it is possible to achieve the same effects as the drive device according to the first aspect. That is, except when the wire is moved in the first direction or the direction opposite to the first direction due to an external factor, the rotating member and the connecting member can be rotated integrally. Furthermore, when an external factor causes the wire to move in the first direction and the tension in the wire becomes greater than the biasing force of the rotating-member-side biasing member, the second rotating member can be rotated in the second direction relative to the first rotating member, thereby reducing the load on the motor. Furthermore, when an external factor causes the wire to move in the direction opposite to the first direction and the tension in the wire becomes smaller than the biasing force of the connecting-member-side biasing member, the connecting member can be rotated in the direction opposite to the second direction relative to the second rotating member, thereby maintaining the tension in the wire within a predetermined range.

[0149]

[10] In the drive device described in any one of [3] to [9], a cover member may be provided that is attached to the motor, and the connecting member side biasing member may be connected to the connecting member and the cover member. According to this configuration, the connecting member side biasing member can be stably disposed.

[0150]

[11] A manipulator according to a third aspect of the present invention comprises an arm having a plurality of links that can be bent relative to each other, a wire connected to at least one of the plurality of links, and a drive device according to the first or second aspect that feeds out the wire in the first direction and pulls the wire in a direction opposite to the first direction to drive the arm. This configuration can achieve the same effects as the drive devices according to the first and second aspects, and also allows the arm to operate stably.

[0151]

[12] A fourth aspect of the present invention provides a puppet manipulation device that is mounted inside a puppet and operates the puppet, comprising the manipulator described in

[11] and a support member, wherein the manipulator comprises a plurality of sets of the arm, the wire, and the drive unit, and the plurality of arms include a first arm attached so as to extend leftward from the left part of the support member when viewed from the front, a second arm attached so as to extend rightward from the right part of the support member when viewed from the front, and a third arm and a fourth arm attached so as to extend upward from the upper part of the support member when viewed from the front, wherein the third arm is positioned to the left of the fourth arm when viewed from the front. With this configuration, for example, the right and left arms of the puppet can be moved by the first and second arms, and the head of the puppet can be moved by the third and fourth arms. Therefore, the puppet can be moved in a variety of ways.

[0152]

[13] In the puppet operating device described in

[12] , the first arm may operate the right arm of the puppet, the second arm may operate the left arm of the puppet, and the third arm and the fourth arm may each operate the head of the puppet independently of each other. With this configuration, by independently operating the third and fourth arms, it is possible to tilt the head of the puppet to the right or left when viewed from the front, thereby enabling the puppet to move in a variety of ways.

[0153]

[14] A movable base according to a fifth aspect of the present invention comprises a first base, a second base arranged opposite the first base, a support mechanism provided on the second base and supporting the first base, a wire, and a drive unit according to the first or second aspect that feeds and pulls the wire, wherein the support mechanism comprises a drive link having a drive link side mounting portion attached to one of the first and second bases and a drive link side sliding portion that can slide along the other base, and the drive unit performs one of pulling and feeding the wire, thereby sliding the drive link side sliding portion and thereby tilting the first base relative to the second base. This configuration can achieve the same effects as the drive devices according to the first and second aspects, and also allows the drive link to operate stably, thereby allowing the first base to tilt stably relative to the second base.

[0154]

[15] In the movable base described in

[14] , the support mechanism includes a driven link having a driven link side mounting portion attached to one of the bases and a driven link side sliding portion that can slide along the other base, and the driven link may be arranged spaced apart from the driving link in the direction in which the driving link side sliding portion can slide. With this configuration, the first base is supported on the second base by the drive link and the driven link, so the first base can be stably supported. Also, while the drive link sliding part is slid by the drive device, the driven link sliding part is not slid by the drive device but slides following the drive link sliding part. Therefore, the number of drive devices that operate the movable base can be reduced compared to a configuration in which the driven link sliding part is slid by the drive device.

[0155]

[16] In the movable base described in

[15] , a plurality of the driving links may be provided, a plurality of the driven links may be provided, the driving device may be provided according to the plurality of driving links, the directions in which the driving link side sliding portion of each of the plurality of driving links can slide may intersect with each other, and the directions in which the driven link side sliding portion of each of the plurality of driven links can slide may intersect with each other. With this configuration, the first base can be stably supported. Furthermore, by arranging the plurality of driving links and the plurality of driven links as described above, the number of inclination directions of the first base can be increased.

[0156]

[17]

[16] In the movable base described above, the plurality of driving links may include a first driving link and a second driving link, and the plurality of driven links may include a first driven link and a second driven link, and the direction in which the driving link side sliding portion of the first driving link can slide may be parallel to the direction in which the driven link side sliding portion of the first driven link can slide, the direction in which the driving link side sliding portion of the second driving link can slide may be parallel to the direction in which the driven link side sliding portion of the second driven link can slide, and the direction in which the driving link side sliding portion of the first driving link can slide may be perpendicular to the direction in which the driving link side sliding portion of the first driving link can slide. With this configuration, the first driving link, the second driving link, the first driven link, and the second driven link are arranged radially from a position between the first driving link and the first driven link. By independently sliding the driving link-side sliding portion of the first driving link and the driving link-side sliding portion of the second driving link, the first base can be tilted in any direction relative to the second base. This improves the convenience of the movable base.

[0157]

[18] In the movable base described in any one of

[15] to

[17] , the longitudinal dimension of the driving link may be smaller than the longitudinal dimension of the driven link. Here, the tilt angle of the driving link relative to the second base increases as the driving link side sliding part and the driving link side mounting part approach each other when viewed from the first base, and decreases as the driving link side sliding part and the driving link side mounting part move away from each other. Therefore, for example, when one driving link and one driven link are arranged opposite each other, if the longitudinal dimension of the driving link and the longitudinal dimension of the driven link are the same, moving the driving link side sliding part will only allow the first base to tilt toward the driven link side relative to the driving link.

[0158] In contrast, the longitudinal dimension of the driving link is smaller than the longitudinal dimension of the driven link. As a result, by sliding the driving link side sliding part and reducing the inclination angle of the driving link relative to the second seat, the first seat can be tilted toward the driving link. Also, by sliding the driving link side sliding part and increasing the inclination angle of the driving link relative to the second seat, the first seat can be tilted toward the driven link. Therefore, the direction of inclination of the first seat can be increased.

[0159]

[19] In the movable base described in any one of

[15] to

[18] , the one base may be the first base, and the other base may be the second base. With this configuration, when the second seat on which the driving link side sliding part and the driven link side sliding part are disposed is disposed below the first seat, the second seat can be configured to be larger than the first seat, thereby increasing the sliding range of the driving link side sliding part and the sliding range of the driven link side sliding part.

[0160]

[20] In the movable base described in any one of

[14] to

[19] , the wire may be connected to the driving link side sliding portion. With this configuration, the driving link side sliding portion can be easily slid by the wire that is fed and pulled by the driving device.

[0161]

[21]

[20] The movable base described in

[21] and

[20] may include a guide rail that slidably supports the driving link side sliding part, the guide rail being provided in the sliding direction of the driving link side sliding part supported by the guide rail, and having a hole through which the wire connected to the driving link side sliding part is inserted. With this configuration, the wires can be connected to the driving link side sliding portions without being twisted, thereby improving the reliability of the movable base. [Explanation of symbols]

[0162] 1...operation system, 11...operation device, 13...first control device, 14...second control device, 2, 2A...puppet operation device, 3...movement unit, 4...arm unit, 41...arm, 41H...upper arm, 41HA...upper first arm, 41HB...upper second arm, 41L...left arm, 41R...right arm, 5...base unit, 51...first base, 52...second base, 53...guide rail, 531, 532...first Guide rail, 533, 534... second guide rail, 54... support mechanism, 55... link, 551, 552... driving link, 5511, 5521... mounting portion (driving link side mounting portion), 5512, 5522... sliding portion (driving link side sliding portion), 553, 554... driven link, 5531, 5541... mounting portion (driven link side mounting portion), 5532, 5542... sliding portion (driven link side sliding portion), 6... drive unit, 61 ...Base member, 62...Support column, 63...Support plate, 64, 64B...Pulley unit, 65...Pulley, 7, 7A, 7B, 7C, 7D, 7E, 7F...Drive unit, 71...Motor, 711...Housing part, 712...Shaft, 713...Servo horn, 72...Fixing member, 73...Cover member, 731...Mounting part, 732...Upright part, 733...Notch, 734, 735...Regulating part, 74...First rotating member, 743...Protruding part (first protruding part) protrusion portion), 75...second rotating member, 753...protrusion portion (second protrusion portion), 755...guide protrusion, 76...connecting member, 765...guide groove, 766...contact portion, 77...first biasing member (pulling member side biasing member, rotating member side biasing member), 78...second biasing member (connecting member side biasing member), MP...manipulator, MV, MVA...movable base, PP...puppet, RM...rotating member, TM...pulling member, WR...wire, WR1...end portion.

Claims

1. A drive device that moves an object to be operated by feeding a wire connected to the object to be operated with a predetermined tension in a first direction and pulling the wire in a direction opposite to the first direction, A motor and a first rotating member that can be rotated around a rotation axis by the motor in a second direction and in a direction opposite to the second direction; a pulling member that is rotatably provided coaxially with the first rotating member, that holds an end of the wire, that rotates in the second direction to feed the wire in the first direction, and that rotates in a direction opposite to the second direction to pull the wire in a direction opposite to the first direction; a pulling member side biasing member that biases the pulling member in a direction opposite to the second direction relative to the first rotating member, When the wire is moved in the first direction by an external factor, the pulling member rotates in the second direction against the biasing force of the pulling member side biasing member, thereby feeding out the wire in the first direction.

2. 2. The drive device according to claim 1, the first rotary member has a first protrusion, The driving device, characterized in that the pulling member has a second protrusion that is arranged in the second direction relative to the first protrusion and is capable of contacting the first protrusion.

3. 3. The drive device according to claim 1, The traction member is a second rotating member that is rotatable coaxially with the first rotating member and is connected to the pulling member side biasing member; a connecting member connected to the wire and rotatable coaxially with the second rotating member; a connecting member side biasing member that biases the connecting member in a direction opposite to the second direction.

4. 4. The drive device according to claim 3, the second rotating member has a guide protrusion, The connecting member is a guide groove in which the guide protrusion is provided so as to be slidable along the second direction; a contact portion provided in the guide groove and configured to come into contact with a surface of the guide protrusion facing in a direction opposite to the second direction.

5. 5. The drive device according to claim 3 or 4, The biasing force of the pulling member side biasing member is greater than the tension of the wire in a reference state, The driving device according to claim 1, wherein the biasing force of the connecting member side biasing member is smaller than the tension of the wire in the reference state.

6. A drive device that moves an object to be operated by feeding a wire connected to the object to be operated with a predetermined tension in a first direction and pulling the wire in a direction opposite to the first direction, A motor and a rotating member rotatable around a rotation axis by the motor in a second direction and in a direction opposite to the second direction; a connecting member that is rotatably provided coaxially with the rotating member and is connected to the wire, that rotates integrally with the rotating member in the second direction to feed the wire in the first direction, and that rotates integrally with the rotating member in a direction opposite to the second direction to pull the wire in the direction opposite to the first direction; a connecting member side biasing member that biases the connecting member in a direction opposite to the second direction, A driving device characterized in that, when the wire is moved in the direction opposite to the first direction due to an external factor, the connecting member rotates in the direction opposite to the second direction independently of the rotating member due to the biasing force of the connecting member side biasing member, thereby pulling the wire in the direction opposite to the first direction.

7. 7. The drive device according to claim 6, The rotating member is a first rotating member rotatable around the rotation axis by the motor in the second direction and in a direction opposite to the second direction; a second rotating member provided coaxially with the first rotating member and rotatable in the second direction and in a direction opposite to the second direction; a rotational member side biasing member that biases the second rotational member in a direction opposite to the second direction relative to the first rotational member, A driving device characterized in that, when the wire is moved in the first direction by an external factor, the second rotating member rotates in the second direction integrally with the connecting member against the biasing force of the rotating member side biasing member, thereby feeding the wire in the first direction.

8. 8. The drive device according to claim 7, the second rotating member has a guide protrusion, The connecting member is a guide groove in which the guide protrusion is provided so as to be slidable along the second direction; a contact portion provided in the guide groove and configured to come into contact with a surface of the guide protrusion facing in a direction opposite to the second direction.

9. 9. The drive device according to claim 7 or 8, The biasing force of the rotation-member-side biasing member is greater than the tension of the wire in a reference state, The driving device according to claim 1, wherein the biasing force of the connecting member side biasing member is smaller than the tension of the wire in the reference state.

10. The drive device according to any one of claims 3 to 9, a cover member attached to the motor; The drive device, wherein the connecting member side biasing member is connected to the connecting member and the cover member.

11. an arm having a plurality of links that are mutually bendable; a wire connected to at least one of the plurality of links; 11. A manipulator comprising: a drive device according to claim 1, which feeds out the wire in the first direction and pulls the wire in a direction opposite to the first direction to drive the arm.

12. A puppet operation device that is attached inside a puppet and operates the puppet, A manipulator according to claim 11; a support member; the manipulator includes a plurality of sets of the arm, the wire, and the drive device; The plurality of arms include: a first arm attached to the support member so as to extend leftward from a left portion of the support member when viewed from the front; a second arm attached to the support member so as to extend rightward from a right portion of the support member when viewed from the front; a third arm and a fourth arm attached to the support member so as to extend upward from an upper portion of the support member when the support member is viewed from the front, A puppet operating device, characterized in that the third arm is positioned to the left of the fourth arm when viewing the support member from the front.

13. 13. The puppet manipulation device according to claim 12, The first arm operates the right arm of the puppet, The second arm operates the left arm of the puppet, A puppet operating device, characterized in that the third arm and the fourth arm each move the head of the puppet independently of each other.

14. A first pedestal; a second seat disposed opposite the first seat; a support mechanism provided on the second seat and supporting the first seat; Wire and and a drive device according to any one of claims 1 to 10 that delivers and pulls the wire, the support mechanism includes a drive link having a drive link side mounting portion attached to one of the first base and the second base, and a drive link side sliding portion slidable along the other base, The drive device performs one of pulling and feeding of the wire to slide the drive link side sliding portion, thereby tilting the first base relative to the second base.

15. 15. The movable base of claim 14, the support mechanism includes a driven link having a driven link side mounting portion attached to the one base and a driven link side sliding portion slidable along the other base, The movable base is characterized in that the driven link is provided spaced apart from the driving link in a direction in which the driving link side sliding portion is slidable.

16. 16. The movable base of claim 15, The driving link is provided in plurality, The driven link is provided in plurality, the drive device is provided corresponding to the plurality of drive links, directions in which the driving link side sliding portions of the driving links can slide intersect with each other, The movable base is characterized in that the directions in which the driven link side sliding portions of the plurality of driven links are slidable intersect with each other.

17. 17. The movable base of claim 16, the plurality of drive links include a first drive link and a second drive link; the plurality of driven links include a first driven link and a second driven link; a direction in which the driving link side sliding portion of the first driving link can slide and a direction in which the driven link side sliding portion of the first driven link can slide are parallel to each other, a direction in which the driving link side sliding portion of the second driving link can slide and a direction in which the driven link side sliding portion of the second driven link can slide are parallel to each other, a direction in which the driving link side sliding portion of the first driving link is slidable and a direction in which the driving link side sliding portion of the second driving link is slidable are perpendicular to each other.

18. 18. The movable base according to any one of claims 15 to 17, A movable base, wherein the longitudinal dimension of the driving link is smaller than the longitudinal dimension of the driven link.

19. 19. The movable base according to any one of claims 15 to 18, the one seat is the first seat, The movable base is characterized in that the other base is the second base.

20. 20. The movable base according to any one of claims 14 to 19, The movable base is characterized in that the wire is connected to the driving link side sliding portion.

21. 21. The movable base of claim 20, a guide rail that slidably supports the driving link side sliding portion, the guide rail is provided in a sliding direction of the driving link side sliding part supported by the guide rail, and has a hole through which the wire connected to the driving link side sliding part is inserted.

Images