Adjustment device for friction adjustment portion of section

An adjustment device for a frictional force adjustment portion in a section, the section including an inner circumferential portion provided with a support hole, a frictional force generation portion that generates a frictional force against a rotary shaft inserted through the support hole, and the frictional force adjustment portion that adjusts the frictional force in the frictional force generation portion, and an outer circumferential portion provided with a wire winding portion around which a wire is wound, the adjustment device comprising:

• a rotary shaft rotating actuator that rotates the rotary shaft;
• an adjustment member that is detachably coupled to the frictional force adjustment portion of the section supported by the rotary shaft and enables the frictional force adjustment portion to adjust the frictional force;
• an adjustment member driving actuator that drives the adjustment member in a direction of adjusting the frictional force;
• a support member that supports the adjustment member and the adjustment member driving actuator;
• a movement mechanism that moves the support member in a direction in which the support member is detachably coupled to the frictional force adjustment portion;
• a tilt tolerance mechanism that allows the support member to tilt due to rotation of the rotary shaft in a state where the adjustment member engages with the frictional force adjustment portion;
• a pressure detection portion that detects a pressure received from the support member at the tilting;
• a frictional force calculation unit that calculates the frictional force in the frictional force generation portion from the pressure detected by the pressure detection portion;
• and
• a frictional force control unit that controls the adjustment member driving actuator such that the frictional force calculated by the frictional force calculation unit falls within a predetermined range.