Intermittent device

Abstract

To provide an intermittent device capable of switching states from a cut-off state to a connection state appropriately.SOLUTION: A first intermittent mechanism 210 includes a roller 281 disposed between a first follower gear 184 and a second shaft 182; an operation mechanism 240 for operating the roller 281 into an engagement state in which the first follower gear 184 and the second shaft 182 can rotate in an integrated manner, and a non-engagement state in which the first follower gear 184 and the second shaft 182 can relatively rotate; a retainer 282; a pin 283; and a guide 284. The retainer 282 includes an abutment switching mechanism 290 provided so as to transit to an abutment state and a non-abutment state. The abutment switching mechanism 290 is provided so as to abut against the first follower gear 184 with first pressure in the abutment state, and abut against the first follower gear 184 with second pressure weaker than the first pressure in the non-abutment sate, or provided not to abut against the first follower gear 184.SELECTED DRAWING: Figure 8

Description

[Technical Field]

[0001] The present invention relates to an interrupter device. [Background technology]

[0002] Conventionally, there has been known a disconnecting device that switches between a state in which rotating bodies rotate integrally and a state in which they rotate relative to each other. Such a disconnecting device is used in a drive unit of a vehicle, a working part of a work machine, a joint device for a prosthetic limb, etc.

[0003] Such a disconnecting device is required to be able to appropriately switch between the two aforementioned states depending on the situation. For example, Patent Document 1 discloses a configuration in which an elastic member such as a rubber ball or an O-ring is provided on the outer peripheral surface of a retainer disposed between two rotating bodies, and an appropriate friction is generated between the outer rotating body and the retainer, thereby appropriately switching the rotating bodies from a state in which they can rotate relative to each other to a state in which they can rotate together. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] International Publication No. 2022 / 260098 Summary of the Invention [Problem to be solved by the invention]

[0005] However, the elastic member disposed between the outer rotor and the retainer is subject to wear because it is in constant sliding contact with the outer rotor when the rotors are rotatable relative to each other, which can cause the interrupter to malfunction.

[0006] The present invention provides a connecting / disconnecting device that can appropriately switch between a state in which rotating bodies are rotatable together and a state in which they are rotatable relative to each other. [Means for solving the problem]

[0007] The present invention provides an engaging element disposed between the first rotating body and the second rotating body; an operating unit that operates the engaging element between an engaged state in which the first rotating body and the second rotating body can rotate integrally and a disengaged state in which the first rotating body and the second rotating body can rotate relatively, The operation unit includes: an actuator that moves the engagement element; an operator that is provided so as to be able to operate the engagement element via the actuator or so as to be able to operate the engagement element without the actuator; The first rotating body and the second rotating body are The rotation axes of the two are aligned, and are arranged so as to overlap at least a portion of each other when viewed in an orthogonal direction perpendicular to the rotation axis, The operator is an advancing / retracting element provided so as to be movable back and forth along a direction perpendicular to the rotation axis; an extension portion that extends along the rotation axis and is provided so as to be movable forward and backward along the rotation axis, the operating element includes a retainer that is provided on the same diameter as the engaging element in the circumferential direction relative to the rotation axis and that holds the advancing / retracting element, the retainer has a contact portion that is provided so as to be able to transition between a first state and a second state, The contact portion is abutting against the first rotor with a first pressure in the first state, The rotor is provided so as to come into contact with the first rotor at a second pressure weaker than the first pressure in the second state, or not come into contact with the first rotor. [Effects of the Invention]

[0008] According to the present invention, it is possible to appropriately switch between a state in which the rotating bodies are rotatable together and a state in which the rotating bodies are rotatable relative to each other. [Brief explanation of the drawings]

[0009] [Figure 1]1 is a perspective view of an electric prosthetic leg 1 of a first embodiment, seen obliquely from the front. [Figure 2] FIG. 1 is an exploded perspective view of an electric prosthetic leg 1. [Figure 3] FIG. 1 is a cross-sectional view of an electric prosthetic leg 1. [Figure 4] FIG. 1 is a cross-sectional view of an extension device 140. [Figure 5] 1 is a cross-sectional view of a main part showing a bent state of the electric prosthetic leg 1. FIG. [Figure 6] FIG. 2 is a cross-sectional view of a main part showing the maximum bending state of the electric prosthetic leg 1. [Figure 7] FIG. 2 is a cross-sectional view of a two-way clutch. [Figure 8] FIG. 2 is an exploded perspective view of a main part of a retainer 282. [Figure 9] 10A and 10B are diagrams showing the operation of the operating mechanism 240, in which (A) shows the state in which the intermittent unit 212 and the intermittent unit 222 are off, (B) shows the state in which the intermittent unit 212 is off and the intermittent unit 222 is on, and (C) shows the state in which the intermittent unit 212 is on and the intermittent unit 222 is off. [Figure 10] 10A is a cross-sectional view showing the state in which the interrupter 222 is in the OFF state, and FIG. 10B is a diagram showing the position of the operating rod 241 at that time. [Figure 11] 10A is a cross-sectional view showing the process in which the interrupter 222 transitions from OFF to ON, and FIG. 10B is a diagram showing the position of the operating rod 241 at that time. [Figure 12] 10A is a cross-sectional view showing the on state of the interrupter 222, and FIG. 10B is a diagram showing the position of the operating rod 241 at that time. [Figure 13] 1A and 1B are diagrams showing the movement of a human and the electrically powered prosthetic leg 1 when ascending steps (step-ascending movement). [Figure 14] 1A and 1B are diagrams illustrating the motion of a human and an electric prosthetic leg 1 when walking on flat ground (flat ground walking motion). [Figure 15] FIG. 10 is a cross-sectional view of an electric prosthetic leg 1 according to a second embodiment. [Figure 16] FIG. 10 is a side view of the electric prosthetic leg 1 of the third embodiment. [Figure 17] FIG. 10 is a perspective view of an expansion / contraction device 200 mounted on an electric prosthetic leg 1 of a third embodiment. [Figure 18] FIG. 18 is a cross-sectional view of the expansion / contraction device 200 of FIG. 17. [Figure 19] FIG. 10 is a perspective view of a retainer 282 showing a first modified example. [Figure 20] FIG. 10 is an exploded perspective view of a retainer 282 showing a first modified example. [Figure 21] 10A and 10B are diagrams showing the operation of the first modified example, in which (A) is a cross-sectional view showing the state in which the interrupted portion 222 is off, (B) is a cross-sectional view showing the process in which the interrupted portion 222 transitions from off to on, and (C) is a cross-sectional view showing the state in which the interrupted portion 222 is on. DETAILED DESCRIPTION OF THE INVENTION

[0010] An embodiment of an electric prosthetic leg incorporating a disconnecting device of the present invention will be described below with reference to the drawings. In the following description, the front-to-back, left-to-right, and up-to-down directions are defined based on the user of the electric prosthetic leg. In the drawings, the front of the electric prosthetic leg is indicated as Fr, the rear as Rr, the left as L, the right as R, the top as U, and the bottom as D.

[0011] As shown in Figures 1 to 4, the electric prosthetic leg 1 of this embodiment is a prosthetic leg that is attached to the leg of a person without a knee, and is equipped with a below-knee member 110 that is located below the knee, an above-knee member 120 that is attached to the thigh and located above the knee, a knee joint mechanism 130 that connects the below-knee member 110 and the above-knee member 120 so that the angle between them can be changed, an expansion / contraction device 200 that can enlarge and reduce the angle between the below-knee member 110 and the above-knee member 120, a mechanical stop mechanism 150 that mechanically limits the range of change of the angle between the below-knee member 110 and the above-knee member 120, a buffer mechanism 160 that buffers impacts caused by the mechanical stop mechanism 150, and a battery B that supplies power to the expansion / contraction device 200, etc.

[0012] Above-knee member 120 includes an adapter 121 that is connected to a socket (not shown), and an above-knee base 126 with adapter 121 attached to an upper wall 125. The socket is a joint member that is provided on the thigh, and by connecting adapter 121 to the socket, above-knee member 120 is integrated with the thigh.

[0013] The knee below member 110 comprises a box-shaped main frame 111 that is open at the top and rear, side covers 112 that cover both the left and right sides of the main frame 111, a detachable rear cover 113 that covers the rear opening of the main frame 111 in an openable and closable manner, and an adapter 122 attached to the underside of the main frame 111.

[0014] The upper knee member 120 is attached to the upper part of the main frame 111 of the lower knee member 110 via a connecting shaft 135 that constitutes the knee joint mechanism 130, and the leg portion 114 extending downward is connected to the adapter 122 of the main frame 111.

[0015] An expansion / contraction device 200 capable of expanding and contracting the angle between the below-knee member 110 and the above-knee member 120 is provided in the space formed by the above-knee member 120 and the below-knee member 110. The expansion / contraction device 200 is an expansion / contraction device 140 capable of expanding and contracting the angle between the below-knee member 110 and the above-knee member 120 by expanding and contracting. The expansion / contraction device 140 extends in the vertical direction, and, as will be described in detail later, one side in the extension direction is mechanically connected to the above-knee member 120, and the other side in the extension direction is mechanically connected to the below-knee member 110. Note that the term "mechanically connected" is a concept that includes a direct connection configuration and a connection via another member.

[0016] As shown in Figures 3 and 4, the extension device 140 includes a motor M that outputs rotational power, a transmission T that transmits the power of the motor M, a spindle unit SP that is connected to the transmission T so as to be able to transmit power and that converts the rotational power output from the transmission T into translational motion (extension / contraction motion), and a first interrupting mechanism 210 and a second interrupting mechanism 220 that are provided in the transmission T.

[0017] The motor M is, for example, a permanent magnet type electric motor, and is disposed behind and above the transmission T, while the spindle unit SP is disposed in front of and above the transmission T. The spindle unit SP is disposed on the opposite side of the transmission T from the motor M on the power transmission path. The motor M is a motor with a built-in gear mechanism, including a motor main body 171 and a gear mechanism 172 that reduces the output rotation of the motor main body 171. The spindle unit SP has a spindle 173 with an external thread and a sleeve 174 with an internal thread, and rotation of the spindle 173 causes the sleeve 174 to translate along the axis of the spindle 173.

[0018] More specifically, the spindle 173 receives rotational power from the motor M transmitted by the transmission T to perform rotational motion. On the other hand, the sleeve 174 is supported by the unit case 250 so as to be non-rotatable but vertically movable. Therefore, when the spindle 173 receives rotational power from the motor M transmitted by the transmission T to rotate in one direction, the sleeve 174 moves translationally away from the transmission T, and when the spindle 173 rotates in the other direction, the sleeve 174 moves translationally toward the transmission T. The translational movement of the sleeve 174 away from the transmission T is sometimes referred to as an extension operation of the spindle unit SP, and conversely, the translational movement of the sleeve 174 toward the transmission T is sometimes referred to as a contraction operation of the spindle unit SP.

[0019] That is, the distance between the sleeve 174 and the transmission T expands or contracts depending on the rotation direction of the spindle 173. The upper end of the sleeve 174 is connected to the above-knee member 120 via a link member 175. As the distance between the sleeve 174 and the transmission T expands or contracts depending on the rotation direction of the spindle 173, the below-knee member 110 and the above-knee member 120 rotate around the connecting shaft 135. This changes the angle formed between the above-knee member 120 and the below-knee member 110.

[0020] Here, the angle formed between the upper-knee member 120 and the lower-knee member 110 is the angle defined by a first imaginary line L1 connecting the center of the connecting shaft 135 of the knee joint mechanism 130 and the adapter 121 of the upper-knee member 120, and a second imaginary line L2 passing through the center of the connecting shaft 135 of the knee joint mechanism 130 and the lower-knee member 110 and extending vertically downward. Of the angles formed between the below-knee member 110 and the above-knee member 120 around the articulating shaft 135 of the knee joint mechanism 130, one side of one revolution is defined as a first angle θ1 and the other side as a second angle θ2, and the second angle θ2 is defined as the smaller of the first angle θ1 and the second angle θ2, whichever is the smaller minimum angle within the range of relative movement between the below-knee member 110 and the above-knee member 120. The second angle θ2 is the angle formed by the back of the knee of the user of the electric prosthetic leg 1 (knee back angle). The first angle θ1 ranges from approximately 175 degrees to 300 degrees, and the second angle θ2 ranges from approximately 60 degrees to 185 degrees.

[0021] Fig. 3 shows the knee joint mechanism 130 in an extended state, with the first angle θ1 being approximately 175 degrees and the second angle θ2 being approximately 185 degrees. Fig. 5 is a cross-sectional view of the main part showing the bent state of the electric prosthetic leg 1, with the first angle θ1 being approximately 240 degrees and the second angle θ2 being approximately 120 degrees. Fig. 6 is a cross-sectional view of the main part showing the maximum bent state of the electric prosthetic leg 1, with the first angle θ1 being approximately 300 degrees and the second angle θ2 being approximately 60 degrees.

[0022] 3 and 4, the transmission T includes a first transmission mechanism T1 that transmits the power of the motor M to the spindle unit SP at a first speed ratio, and a second transmission mechanism T2 that transmits the power of the motor M to the spindle unit SP at a second speed ratio different from the first speed ratio. The first transmission mechanism T1 and the second transmission mechanism T2 are switched between a power disconnection state and a power connection state by interruption mechanisms 210 and 220.

[0023] Such a transmission T, by providing two power transmission paths with different gear ratios, makes it possible to switch the movement speed and generated power of extension and flexion in the knee joint mechanism 130. The first gear ratio and the second gear ratio need only be different, and either the first gear mechanism T1 or the second gear mechanism T2 may be a speed-reduction mechanism and the other an accelerating mechanism, or one may be a constant speed mechanism and the other a speed-reduction mechanism or an accelerating mechanism, or both may be speed-reduction mechanisms, or both may be accelerating mechanisms.

[0024] The first speed change ratio is the ratio of the post-speed change rotation speed, which is the rotation speed on the side opposite to the motor M (spindle unit SP side) of the first speed change mechanism T1, to the pre-speed change rotation speed, which is the rotation speed on the motor M side of the first speed change mechanism T1. The second speed change ratio is the ratio of the post-speed change rotation speed, which is the rotation speed on the side opposite to the motor M (spindle unit SP side) of the second speed change mechanism T2, to the pre-speed change rotation speed, which is the rotation speed on the motor M side of the second speed change mechanism T2.

[0025] For example, when the first speed change ratio of the first transmission mechanism T1 is smaller than 1, the rotation speed on the side opposite the motor M (the spindle unit SP side) decreases compared to the rotation speed on the motor M side, resulting in an increase in torque. When the second speed change ratio of the second transmission mechanism T2 is larger than 1, the rotation speed on the side opposite the motor M (the spindle unit SP side) increases compared to the rotation speed on the motor M side, resulting in a decrease in torque. In this embodiment, the first speed change ratio is set smaller than 1 and the second speed change ratio is set larger than 1 so that the first speed change ratio is smaller than the second speed change ratio, and the first transmission mechanism T1 is disposed lower than the second transmission mechanism T2.

[0026] The first speed change mechanism T1 and the second speed change mechanism T2 include a first shaft 181 rotatably arranged on a downward extension of the output shaft 172a of the gear mechanism 172, and a second shaft 182 rotatably arranged on a downward extension of the spindle 173 of the spindle unit SP. The first shaft 181 is connected to the output shaft 172a of the gear mechanism 172 of the motor M so as to be rotatable together with the output shaft 172a of the gear mechanism 172 via a coupling 187 that allows for axial center error. The second shaft 182 is connected to the spindle 173 of the spindle unit SP so as to be rotatable together with the output shaft 172a. In this embodiment, the second shaft 182 is integrated with the spindle 173 of the spindle unit SP, but the second shaft 182 may be connected to the spindle 173 of the spindle unit SP using spline fitting or a coupling.

[0027] The first speed change mechanism T1 includes a first drive gear 183 and a first driven gear 184 that mesh with each other. The first drive gear 183 is supported by the first shaft 181 so as to be rotatable integrally therewith, and the first driven gear 184 is supported by the second shaft 182 so as to be rotatable relative to the first shaft 181. The first driven gear 184 and the second shaft 182 are arranged so that their rotation axes coincide with each other and so that they at least partially overlap each other when viewed in an orthogonal direction perpendicular to the rotation axes. The first speed change mechanism T1 of this embodiment is a reduction transmission mechanism in which the first drive gear 183 has a smaller diameter than the first driven gear 184, and can cause the spindle unit SP to extend and retract at low speed with high torque.

[0028] The second speed change mechanism T2 includes a second drive gear 185 and a second driven gear 186 that mesh with each other. The second drive gear 185 is supported by the first shaft 181 so as to be rotatable integrally therewith, and the second driven gear 186 is supported by the second shaft 182 so as to be rotatable relative to the first shaft 181. The second driven gear 186 and the second shaft 182 are arranged so that their rotation axes coincide with each other and so that they at least partially overlap each other when viewed in an orthogonal direction perpendicular to the rotation axes. The second speed change mechanism T2 of this embodiment is a speed-increasing transmission mechanism in which the second drive gear 185 has a larger diameter than the second driven gear 186, and can extend and retract the spindle unit SP at high speed and with low torque.

[0029] In this embodiment, the second speed change mechanism T2 is disposed above the first speed change mechanism T1, but the second speed change mechanism T2 may be disposed below the first speed change mechanism T1. Furthermore, the first shaft 181 and the second shaft 182 in this embodiment are integrally formed from the beginning, but the upper and lower gear support portions may be formed separately and then integrally connected (coupled). The first driven gear 184 or the second driven gear 186 in this embodiment corresponds to the first rotating body, and the second shaft 182 corresponds to the second rotating body.

[0030] The first interrupting mechanism 210 includes a connecting / disconnecting unit 212 provided between the first driven gear 184 and the second shaft 182, and an operating mechanism 240 that switches the first interrupting mechanism 210. The second interrupting mechanism 220 includes a connecting / disconnecting unit 222 provided between the second driven gear 186 and the second shaft 182, and an operating mechanism 240 that switches the second interrupting mechanism 220. These connecting / disconnecting units 212, 222 have a common configuration and are configured to be switchable between a cut-off state in which power transmission is cut off and a power transmittable state in which rotational power can be transmitted in both one direction and the other direction. Details of the connecting / disconnecting units 212, 222 will be described later.

[0031] The operation mechanism 240 includes an operation rod 241 that is provided so as to be able to operate the interrupting portions 212 and 222 intermittently, and a servo motor 242 that moves the operation rod 241 linearly.

[0032] The second shaft 182 is a hollow shaft having an internal space S2 extending in the rotation axis direction (also referred to as the up-down direction), and an operating rod 241 is disposed in this internal space S2. A rack 241a is provided on the lower end of the operating rod 241 that is exposed from the internal space S2. The operating rod 241 is supported by bearings B4 and B5 disposed in the internal space S2 so as to be unable to rotate relative to the rack 241a and to be able to move forward and backward integrally in the rotation axis direction. A cover member 188 having an insertion hole through which the operating rod 241 is inserted is threadedly engaged with the lower end of the second shaft 182. A pinion 243 provided on an output shaft 242a of a servo motor 242 meshes with the rack 241a, and the position of the operating rod 241 in the up-down direction is switched in response to the driving of the servo motor 242. Small diameter portions 241b1, 241b2 and large diameter portions 241c1-241c3, which will be described later, are formed on the outer periphery of operating rod 241, and are configured to be able to abut against ends (inner ends) of pins 283 of intermittent portions 212, 222, which will be described later. Depending on the position of operating rod 241, small diameter portions 241b1, 241b2 and large diameter portions 241c1-241c3 intermittently operate intermittent portions 212, 222. Details of operating mechanism 240 will be described later.

[0033] 3 to 5, the unit case 250 includes an upper case 251, a middle case 252, and a lower case 253. The upper case 251, the middle case 252, and the lower case 253 are formed as separate bodies.

[0034] The upper case 251 houses the spindle unit SP.

[0035] The space S1 formed by the middle case 252 and the lower case 253 accommodates the second drive gear 185, the second driven gear 186, the first drive gear 183, the first driven gear 184, the intermittent parts 212, 222, and part of the operating mechanism 240.

[0036] The unit case 250 has a three-stage structure consisting of an upper case 251, a middle case 252, and a lower case 253, and is capable of housing not only the transmission T and the spindle unit SP, but also the telescopic device 140 including the motor M as a unit.

[0037] The unit case 250 is attached to the main frame 111 via a bracket (not shown).

[0038] The explanation of the mechanical stop mechanism 150 and the buffer mechanism 160 will be omitted.

[0039] Next, the details of the interrupting portions 212, 222 and the operating mechanism 240 will be described with reference to FIG. 7 and subsequent figures.

[0040] The interrupting units 212, 222 have a common configuration and are switchable between a cut-off state in which power transmission is cut off and a power transmittable state in which rotational power can be transmitted in both one direction and the other. As shown in Figure 7, each of the interrupting units 212, 222 in this embodiment is configured using a two-way clutch 280 with a forced free function. The two-way clutch 280 includes a plurality of rollers 281 (four in this embodiment) arranged between the outer circumferential surface of the second shaft 182 and the inner circumferential surfaces of the gears 184 and 186, a retainer 282 that holds the plurality of rollers 281 at predetermined intervals, a pin 283 that penetrates the second shaft 182 in the radial direction and is operated by the operation mechanism 240 to an advanced position where it advances radially outward and a retracted position where it retracts radially inward, a guide 284 that is provided on the retainer 282 and determines the relative rotation position of the retainer 282 with respect to the second shaft 182 when the pin 283 is in the advanced position, and an abutment switching mechanism 290 that is provided on the retainer 282 and generates friction between the gears 184 and 186 and the retainer 282. The rollers 281 may be balls or sprags.

[0041] In the interrupting mechanisms 210 and 220 of the present embodiment, the roller 281 is an engaging element, and the operating mechanism 240, the pin 283, the guide 284, and the retainer 282 correspond to an operating unit that operates the engaging element (roller 281) between an engaged state and a disengaged state. The retainer 282 and the guide 284 are actuators that move the engaging element (roller 281), and the pin 283 and the operating mechanism 240 correspond to an operator that is provided to be able to operate the engaging element (roller 281) via the actuators (retainer 282, guide 284) or to be able to operate the engaging element (roller 281) without the actuators (retainer 282, guide 284). The pin 283 is an advancing / retracting element that is provided so as to be able to advance and retract along a direction perpendicular to the rotation axis, and the operating rod 241 of the operating mechanism 240, which will be described later, corresponds to an extending portion that is provided so as to be able to advance and retract along the rotation axis.

[0042] A radial distance A between the outer peripheral surface of second shaft 182 and the inner peripheral surfaces of gears 184 and 186 is smaller than a diameter B of roller 281. Furthermore, flat portions 182a are formed at predetermined intervals in the circumferential direction on the outer peripheral portion of second shaft 182, and the distance A is larger than the diameter B at the circumferential center side of flat portions 182a.

[0043] In other words, when the roller 281 is held in the circumferential center of the flat portion 182a, the roller 281 does not engage with the outer peripheral surface of the second shaft 182 and the inner peripheral surface of the gears 184, 186 (disengaged state), and relative rotation between the second shaft 182 and the gears 184, 186 is permitted (forced free state).

[0044] On the other hand, when roller 281 is allowed to move circumferentially relative to second shaft 182, roller 281 meshes with the outer peripheral surface of second shaft 182 and the inner peripheral surface of gears 184, 186 (engaged state), and second shaft 182 and gears 184, 186 are connected so as to be able to rotate together in two directions (forced free release state).

[0045] The retainer 282 has a ring shape that is rotatable relative to the second shaft 182 and the gears 184, 186, and is disposed so as to at least partially overlap with the second shaft 182 and the gears 184, 186 when viewed in an orthogonal direction that is perpendicular to the rotation axes of the second shaft 182 and the gears 184, 186. The retainer 282 has a plurality of roller holding portions 282a that hold the rollers 281, and a plurality of guide holding portions 282b that hold the guides 284.

[0046] The pin 283 has a conical protrusion 283a on its radially outer end, and the guide 284 has a conical recess 284a on its radially inner end face that fits (engages) with the protrusion 283a. When the protrusion 283a of the pin 283 fits into the recess 284a of the guide 284, the guiding action of the pin 283 and the guide 284 positions the retainer 282 at a predetermined position where the relative rotation position with respect to the second shaft 182 is forced free. The radially inner end of the pin 283 is arranged to abut against the operating rod 241.

[0047] The contact switching mechanism 290 is provided to prevent unintended free rotation in the forced free release state by generating friction between the gears 184, 186 and the retainer 282. The contact switching mechanism 290 of this embodiment is capable of transitioning between a contact state and a non-contact state, and in the contact state, it contacts the gears 184, 186 with a first pressure, and in the non-contact state, it does not contact the gears 184, 186. Note that instead of the non-contact state, the contact switching mechanism 290 may be in a weak contact state in which it contacts the gears 184, 186 with a second pressure that is weaker than the first pressure.

[0048] According to this type of abutment switching mechanism 290, when frictional force is required between gears 184, 186 and retainer 282, the abutment switching mechanism 290 abuts against gears 184, 186 in an abutment state, but when frictional force is not required between gears 184, 186 and retainer 282, the abutment switching mechanism 290 transitions to a non-abutment state in which it does not abut against gears 184, 186, thereby suppressing wear on the abutment parts of the abutment switching mechanism 290 that abut against gears 184, 186.

[0049] As shown in Figures 7 and 8, the abutment switching mechanism 290 of this embodiment includes an abutment control pin 291 that penetrates the second shaft 182 radially and is moved back and forth by the operating mechanism 240, a main abutment part 292 that is mechanically connected to the abutment control pin 291, and a holder part 293 that is fixed to the retainer 282 and supports the main abutment part 292.

[0050] The contact control pin 291 is provided so that its radially outer end abuts against the main contact portion 292 and its radially inner end (inner end) can abut against the operating rod 241. The pin 283 and the contact control pin 291 are arranged in a phase relationship of 180° when viewed in a cross section orthogonal to the rotation axis (see FIG. 7). This allows the pin 283 and the contact control pin 291 to be arranged in a balanced manner, preventing the pin 283 and the contact control pin 291 from applying an uneven external force to the operating rod 241.

[0051] The contact control pin 291 does not necessarily have to be arranged in a 180° phase relationship with the pin 283, but it is preferable that the contact control pin 291 and the pin 283 are arranged in a balanced manner. For example, two pins 283 may be used, and the contact control pin 291 and the two pins 283 may be arranged at 120° intervals, or three pins 283 may be used, and the contact control pin 291 and the three pins 283 may be arranged at 90° intervals.

[0052] 11 and 12, the main contact portion 292 is configured to be in an abutting state when the abutment control pin 291 is located at a retracted position retracted radially inward, and to be in a non-abutting state when the abutment control pin 291 is located at an advanced position advanced radially outward, as shown in Fig. 10. For example, the main contact portion 292 of this embodiment is formed of a flexible material, and includes a leaf spring portion 292a that abuts against the radially outer end of the abutment control pin 291 and urges the inner end of the abutment control pin 291 to abut against the operating rod 241, and ball portions 292b provided at both ends of the leaf spring portion 292a in the rotation axis direction, as shown in Fig. 8.

[0053] The holder portion 293 includes a pair of fulcrum portions 293a that support both ends of the main contact portion 292 in the rotation axis direction from the radially outer side. When the main contact portion 292 is in an abutting state, the leaf spring portions 292a are naturally elongated, and the ball portions 292b are in contact with the inner peripheral portions of the gears 184, 186, as shown in Figures 11 and 12. When the main contact portion 292 is in a non-abutting state, the leaf spring portions 292a are pushed radially outward by the abutment control pins 291, and are bent, as shown in Figure 10. The ball portions 292b on both ends are displaced radially inward using the principle of leverage, with the fulcrum portions 293a of the holder portion 293 as fulcrums, and are separated from the inner peripheral portions of the gears 184, 186.

[0054] 9, operating rod 241 has, in order from the top, first large diameter portion 241c1, first small diameter portion 241b1, second large diameter portion 241c2, second small diameter portion 241b2, and third large diameter portion 241c3 formed at predetermined lengths and intervals. Operating rod 241 is provided so as to be able to simultaneously control two interrupted portions 212, 222, but may also be provided with separate portions for each of interrupted portions 212, 222.

[0055] In the following, the operation of the operating mechanism 240 that simultaneously controls the interrupting portions 212 and 222 will be described with reference to FIG.

[0056] As shown in FIG. 9, the interrupting units 212, 222 are switched by an operating mechanism 240 between a forced free state (hereinafter referred to as an OFF state as appropriate) and a forced free release state (hereinafter referred to as an ON state as appropriate).

[0057] 9A, the operating rod 241 of the operating mechanism 240 is in the upper position shown in FIG. 9A, the second large diameter portion 241c2 pushes the pin 283 of the interrupted portion 222 in the outer radial direction, while the third large diameter portion 241c3 pushes the pin 283 of the interrupted portion 212 in the outer radial direction, thereby bringing the interrupted portion 212 and the interrupted portion 222 into the OFF state. Furthermore, the second large diameter portion 241c2 pushes the contact control pin 291 of the interrupted portion 222, while the third large diameter portion 241c3 pushes the contact control pin 291 of the interrupted portion 212 in the outer radial direction, thereby bringing the contact switching mechanism 290 of the interrupted portion 212 and the contact switching mechanism 290 of the interrupted portion 222 into the non-contact state.

[0058] 9(B), the operating rod 241 of the operating mechanism 240 is in the middle position shown in FIG. 9(B), where the first small diameter portion 241b1 allows the pin 283 of the interrupted portion 222 to return radially inward, while the third large diameter portion 241c3 pushes the pin 283 of the interrupted portion 212 radially outward, thereby placing the interrupted portion 222 in the ON state and the interrupted portion 212 in the OFF state. Also, the first small diameter portion 241b1 allows the contact control pin 291 of the interrupted portion 222 to return radially inward, while the third large diameter portion 241c3 pushes the contact control pin 291 of the interrupted portion 212 radially outward, thereby placing the contact switching mechanism 290 of the interrupted portion 222 in the contact state and the contact switching mechanism 290 of the interrupted portion 212 in the non-contact state.

[0059] 9(C), the first large diameter portion 241c1 pushes out the pin 283 of the interrupted portion 222 in the outer diameter direction while the second small diameter portion 241b2 allows the pin 283 of the interrupted portion 212 to return in the inner diameter direction, thereby bringing the interrupted portion 222 into the OFF state and the interrupted portion 212 into the ON state. Also, the first large diameter portion 241c1 pushes out the abutment control pin 291 of the interrupted portion 222 in the outer diameter direction while the second small diameter portion 241b2 allows the abutment control pin 291 of the interrupted portion 212 to return in the inner diameter direction, thereby bringing the interrupted portion 222 into the non-abutment state and the interrupted portion 212 into the abutment state.

[0060] Next, the operation of the two-way clutch 280 will be described with reference to Figures 10 to 12, using the intermittent portion 222 as an example. In the following example, the transition from (A) to (C) in Figure 9 at the intermittent portion 222 will be described as an example.

[0061] 10A and 10B, when the operating rod 241 is in the upper position and the second large diameter portion 241c2 pushes the pin 283 of the interrupted portion 222 in the outer diameter direction, that is, when the pin 283 of the interrupted portion 222 is in the advanced position, the convex portion 283a of the pin 283 fits into the concave portion 284a of the guide 284, and the relative rotation position of the retainer 282 with respect to the second shaft 182 is fixed at a predetermined position. In this state, the roller 281 is held in the circumferential center of the flat portion 182a, and therefore the roller 281 does not mesh with the outer peripheral surface of the second shaft 182 and the inner peripheral surface of the second driven gear 186, resulting in an OFF state in which relative rotation between the second shaft 182 and the second driven gear 186 is permitted.

[0062] In this state, the second large diameter portion 241c2 pushes the contact control pin 291 of the connection portion 222 in the outer diameter direction, so that the contact control pin 291 is located at the advanced position. When the contact control pin 291 is located at the advanced position, the leaf spring portion 292a of the main contact portion 292 is pushed radially outward by the contact control pin 291 and is bent and deformed, and as a result, the ball portions 292b on both ends are displaced radially inward by the principle of leverage with the fulcrum portions 293a of the holder portion 293 as fulcrums, and are separated from the inner peripheral portion of the second driven gear 186. As a result, in the off state in which relative rotation between the second shaft 182 and the second driven gear 186 is permitted, the contact switching mechanism 290 prevents the ball portions 292b from contacting the second driven gear 186, thereby preventing wear of the ball portions 292b.

[0063] As shown in Figures 11A and 11B, when the operating rod 241 moves from the upper position to a slightly lower middle position, the first small diameter portion 241b1 transitions to a state in which it allows the pin 283 to return inward. In this state, the pin 283 is in the advanced position and has not yet moved to the retracted position. This state is a state in which the intermittent portion 222 can be turned on. The "state in which it can be turned on" means that although it is in the off state in this state, it will be turned on when relative rotation occurs between the second shaft 182 and the second driven gear 186.

[0064] In this state, the first small diameter portion 241b1 allows the contact control pin 291 to return in the inward direction, and the contact control pin 291 moves to the retracted position due to the elastic restoring force (biasing force) of the leaf spring portion 292a of the main contact portion 292. As a result, the leaf spring portion 292a of the main contact portion 292 assumes its natural elongated shape, and the ball portion 292b comes into contact with the inner peripheral portion of the second driven gear 186.

[0065] 11A and 11B, in a state in which pin 283 is allowed to return in the inward radial direction and ball portion 292b of contact switching mechanism 290 is in contact with the inner periphery of second driven gear 186, when second driven gear 186 rotates counterclockwise (hereinafter referred to as the forward rotation direction) as shown by the arrow in Fig. 12A, the frictional force of ball portion 292b causes second driven gear 186 to rotate retainer 282. As a result, retainer 282, which rotates together with second driven gear 186, moves roller 281 in the forward rotation direction relative to second shaft 182.

[0066] The roller 281 meshes with the outer peripheral surface of the second shaft 182 and the inner peripheral surface of the second driven gear 186, and the guide 284 of the retainer 282, which rotates together with the second driven gear 186, pushes the pin 283 back inward using the inclined surface of the recess 284a. This moves the pin 283 from the advanced position to the retracted position. Then, as shown in Figures 12(A) and 12(B), an ON state is reached in which the second shaft 182 and the second driven gear 186 rotate integrally in the forward direction.

[0067] In this way, when the interlocking unit 222 transitions from the OFF state to the ON state, the ball portion 292b of the contact switching mechanism 290 contacts the inner circumferential portion of the second driven gear 186, thereby reliably rotating the second driven gear 186 and the retainer 282 together. This reliably switches the roller 281 between an engaged state and a disengaged state, and appropriately switches the second driven gear 186 and the second shaft 182 between a state in which they can rotate together and a state in which they can rotate relatively to each other. On the other hand, when the roller 281 is engaged and the second driven gear 186 and the second shaft 182 rotate together, the abutment control pin 291 is located in the retracted position, and the ball portion 292b of the abutment switching mechanism 290 remains in abutment with the inner periphery of the second driven gear 186. However, since the second driven gear 186 and the second shaft 182 rotate together, wear on the ball portion 292b of the abutment switching mechanism 290 can be suppressed.

[0068] 12(A) has been described as a case where counterclockwise (forward rotation direction) rotation occurs in second driven gear 186, but similarly, when clockwise (hereinafter referred to as the reverse direction) rotation occurs in second driven gear 186, ball portion 292b of contact switching mechanism 290 abuts against the inner periphery of second driven gear 186, and the frictional force of ball portion 292b causes second driven gear 186 to rotate retainer 282. As a result, retainer 282, which rotates together with second driven gear 186, moves roller 281 in the reverse direction relative to second shaft 182, and an ON state is entered in which second shaft 182 and second driven gear 186 rotate integrally even in the reverse direction.

[0069] <Rank Advancement Mode> With the electric prosthetic leg 1 configured in this way, it is possible to smoothly ascend stairs, whereas with a conventional passive prosthetic leg equipped with a passive damper, the user had to ascend one step at a time with the non-prosthetic leg. Figure 13 is a diagram showing the movement of the user and the electric prosthetic leg 1 when ascending stairs (ascending movement). Broadly speaking, (A) to (D) and (H) in Figure 13 are the stance phase, and (E) to (G) are the swing phase.

[0070] Specifically, as shown in (A) → (D) and (H) of Figure 13, when the electric prosthetic leg 1 is extended forward to climb stairs (ascend), a large amount of power is required to extend the knee joint mechanism 130 from a bent position when a load is applied to the electric prosthetic leg 1.

[0071] At this time, the transmission T is in a first speed change state in which the operating rod 241 is in the lower position (FIG. 9(C)). In this speed change state, the intermittent unit 212 is in the ON state and the intermittent unit 222 is in the OFF state, enabling power transmission between the motor M and the spindle unit SP via the first speed change mechanism T1.

[0072] In this state, when the motor M is rotated in the forward direction, the power of the motor M is transmitted to the first shaft 181, the first drive gear 183, the first driven gear 184, the interrupter 212 of the first interrupter mechanism 210, the second shaft 182, and the spindle unit SP. As the sleeve 174 translates (contracts) so as to approach the transmission T, the above-knee member 120, to which the sleeve 174 is connected, rotates about the connecting shaft 135 relative to the below-knee member 110, to which the transmission T is attached, thereby extending the knee joint mechanism 130. This extension power is increased in torque when it is decelerated by the first transmission mechanism T1, so that the knee joint mechanism 130 can be reliably extended from a bent state even when a large load is applied to the electric prosthetic leg 1 when the electric prosthetic leg 1 is put forward to climb stairs.

[0073] On the other hand, in order to smoothly ascend stairs, it is necessary to bend (lift) the knee joint mechanism 130 from an extended state with a weight being applied to the healthy foot, as shown in (E) to (G) of Figure 13. When bending the knee joint mechanism 130 from an extended state, a large amount of power is not required, but a quick movement is required.

[0074] At this time, the transmission T is in a second speed change state in which the operating rod 241 is in the middle position (FIG. 9(B)). In the second speed change state, the intermittent unit 212 is in the OFF state and the intermittent unit 222 is in the ON state, and the motor M and the spindle unit SP are in a power transmission state via the second speed change mechanism T2.

[0075] In this state, when the motor M is rotated in the reverse direction, the power of the motor M is transmitted to the first shaft 181, the second drive gear 185, the second driven gear 186, the interrupter 222 of the second interrupter mechanism 220, the second shaft 182, and the spindle unit SP. When the sleeve 174 translates (extends) away from the transmission T, the knee below-side member 110, to which the transmission T is attached, rotates about the connecting shaft 135 relative to the upper-knee member 120 to which the sleeve 174 is connected, thereby bending the knee joint mechanism 130. This bending power is reduced in torque when accelerated by the second transmission mechanism T2, so the knee joint mechanism 130 can be bent quickly.

[0076] <Flat ground walking mode> Fig. 14 is a diagram showing the motion of the user and the powered prosthetic leg when walking on flat ground (flat ground walking motion). Broadly speaking, (A) to (D) and (H) in Fig. 16 are the stance phase, and (E) to (G) are the swing phase.

[0077] When walking on flat ground as shown in FIG. 14 and when descending stairs (step descent), as shown in (A) to (D), and (H) of FIG. 14, with a load applied to the electric prosthetic leg 1, the transmission T is set to the second speed change state in which the operating rod 241 is in the middle position ((B) of FIG. 9). In the second speed change state, the intermittent unit 212 is in the OFF state and the intermittent unit 222 is in the ON state, and the motor M and the spindle unit SP are in a power transmission state via the second speed change mechanism T2. When the motor M is set to a non-driving state in this state, an external force in the bending direction acting on the electric prosthetic leg 1 is transmitted from the spindle unit SP to the motor M via the second speed change mechanism T2. Therefore, by utilizing the friction of the motor M and the transmission T to attenuate the external force in the bending direction, so-called knee bending is prevented.

[0078] Furthermore, as shown in (E) to (G) of FIG. 14, when weight is applied to the healthy foot, the transmission T is set in a state in which the operating rod 241 is in the upper position ((A) of FIG. 9). In this state, the interrupters 212 and 222 are in the OFF state, and power transmission between the motor M and the spindle unit SP is interrupted (neutral state). This allows the user of the electric prosthetic leg 1 to swing out their leg smoothly. Note that this control can be applied not only when walking on flat ground, but also when descending stairs.

[0079] In the above embodiment, the interrupting units 212, 222 and the operating mechanism 240 were provided on the second shaft 182 side, but they may be provided on the first shaft 181 side as in the second embodiment shown in Fig. 15. That is, in the electric prosthetic leg 1 of the second embodiment, the interrupting unit 212 of the first interrupting mechanism 210 is provided between the first drive gear 183 and the first shaft 181, and the interrupting unit 222 of the second interrupting mechanism 220 is provided between the second drive gear 185 and the first shaft 181. Since the other configurations are generally the same as or similar to those of the first embodiment, the following explanation will also be given taking the electric prosthetic leg 1 of the first embodiment as an example.

[0080] Furthermore, the expansion / contraction device 200 in the above embodiment expands and contracts the expansion device 140 by converting rotational motion into expansion / contraction motion using the spindle unit SP of the expansion device 140, thereby expanding and contracting the angle between the below-knee member 110 and the above-knee member 120. However, as in the third embodiment shown in Figures 16 to 18, it is also possible to have no expansion / contraction (moving) part such as the expansion device 140 (spindle unit SP), and instead provide a gear meshing mechanism (or the like) between the below-knee member 110 and the above-knee member 120 to expand and contract the angle between the below-knee member 110 and the above-knee member 120.

[0081] 16 to 18, the expansion / contraction device 200 of the third embodiment is equipped with a bevel gear mechanism 340 that can expand and contract the angle between the below-knee member 110 and the above-knee member 120. The bevel gear mechanism 340 has a first bevel gear 341 that is positioned on the opposite side of the motor M from the transmission T on the power transmission path of the motor M and is supported by the below-knee member 110, and a second bevel gear 342 that meshes with the first bevel gear 341 so as to be able to transmit rotation and is supported by the above-knee member 120.

[0082] Next, a first modified example of the above-described embodiment will be described with reference to Figures 19 to 21. However, for configurations common to the above-described embodiment, the same reference numerals as in the above-described embodiment will be used, and the description of the above-described embodiment may be used.

[0083] 19 to 21 differs from the above-described embodiment in the configuration of a contact switching mechanism 290. In the contact switching mechanism 290 of the first modification, a main contact portion 292 includes a swinging portion 295 that is swingably supported on a swing shaft 294 as a fulcrum relative to a retainer 282. The swinging portion 295 includes a pair of first and second swinging levers 296 and 297, and a plurality of springs 298 that bias the first and second swinging levers 296 and 297 in a predetermined swing direction.

[0084] The first rocking lever 296 and the second rocking lever 297 are arranged to face each other in the circumferential direction, sandwiching the advance / retract path of the abutment control pin 291. One end portions of the first rocking lever 296 and the second rocking lever 297, which are close to each other, abut against the radially outer end portion of the abutment control pin 291, and are pushed radially outward as the abutment control pin 291 moves to the advanced position. In addition, the other end portions of the first rocking lever 296 and the second rocking lever 297 have abutment points 296a and 297a that can abut against inner circumferential surfaces of the gears 184 and 186.

[0085] The spring 298 biases the first swing lever 296 and the second swing lever 297 in a direction in which the abutment points 296a, 297a abut against the inner peripheral surfaces of the gears 184, 186. In addition, in Figures 19 and 20, the members indicated by the reference numeral 287 are bearings that are arranged on both sides of the retainer 282 in the direction of the rotation axis and support the retainer 282 rotatably.

[0086] Next, the operation of the two-way clutch 280 in the first modified example will be described with reference to Fig. 21 using the intermittent portion 222 as an example. In the following example, the transition from (A) to (C) in Fig. 9 via (B) at the intermittent portion 222 will be described as an example.

[0087] 21(A), when the operating rod 241 is in the upper position and the second large diameter portion 241c2 pushes the pin 283 of the discontinuous portion 222 in the outer diameter direction, the convex portion 283a of the pin 283 fits into the concave portion 284a of the guide 284, and the relative rotational position of the retainer 282 with respect to the second shaft 182 is fixed at a predetermined position. In this state, the roller 281 is held in the circumferential center of the flat portion 182a, and therefore the roller 281 does not mesh with the outer peripheral surface of the second shaft 182 and the inner peripheral surface of the second driven gear 186, resulting in an OFF state in which relative rotation between the second shaft 182 and the second driven gear 186 is permitted.

[0088] Furthermore, in this state, the second large diameter portion 241c2 pushes the abutment control pin 291 of the connection / disconnection portion 222 in the radially outward direction, and as one ends of the first swing lever 296 and the second swing lever 297 are pushed radially outward by the abutment control pin 291, the other ends (abutment points 296a, 297a) of the first swing lever 296 and the second swing lever 297 swing radially inward and move away from the inner periphery of the second driven gear 186. As a result, in the OFF state in which relative rotation between the second shaft 182 and the second driven gear 186 is permitted, the first swing lever 296 and the second swing lever 297 avoid contact with the second driven gear 186, and wear on the abutment points 296a, 297a can be avoided.

[0089] 21(B), when the operating rod 241 moves from the upper position to a slightly lower middle position, the first small diameter portion 241b1 transitions to a state in which it allows the pin 283 to return in the inner diameter direction. In this state, the intermittent portion 222 can be turned on.

[0090] In this state, the first small diameter portion 241b1 allows the contact control pin 291 to return radially inward, so that one ends of the first swing lever 296 and the second swing lever 297 press the contact control pin 291 radially inward due to the biasing force of the spring 298, moving the contact control pin 291 to the retracted position. As a result, the other ends (contact points 296a, 297a) of the first swing lever 296 and the second swing lever 297 swing radially outward and come into contact with the inner periphery of the second driven gear 186.

[0091] 21(B), in a state in which pin 283 is allowed to return in the inward radial direction and the other end (contact points 296a, 297a) of contact switching mechanism 290 is in contact with the inner periphery of second driven gear 186, when second driven gear 186 rotates in the reverse direction as shown by the arrow in Fig. 21(C), the frictional force of contact points 296a, 297a causes second driven gear 186 to rotate retainer 282. As a result, retainer 282, which rotates together with second driven gear 186, moves roller 281 in the reverse direction relative to second shaft 182.

[0092] The roller 281 meshes with the outer peripheral surface of the second shaft 182 and the inner peripheral surface of the second driven gear 186, and the guide 284 of the retainer 282, which rotates together with the second driven gear 186, pushes the pin 283 back inward with the inclined surface of the recess 284a. This results in an ON state in which the second shaft 182 and the second driven gear 186 rotate integrally in the reverse direction, as shown in Figure 21 (C).

[0093] In this way, the contact switching mechanism 290 can reliably rotate the second driven gear 186 and the retainer 282 together by having the other ends (contact points 296a, 297a) of the first swing lever 296 and the second swing lever 297 contact the inner circumferential portion of the second driven gear 186. This reliably switches the roller 281 between an engaged state and a disengaged state, and appropriately switches between a state in which the second driven gear 186 and the second shaft 182 can rotate integrally and a state in which they can rotate relatively to each other. On the other hand, when the roller 281 is engaged and the second driven gear 186 and the second shaft 182 rotate integrally, the other end (contact points 296a, 297a) of the contact switching mechanism 290 remains in contact with the inner periphery of the second driven gear 186, but because the second driven gear 186 and the second shaft 182 rotate integrally, wear on the other end (contact points 296a, 297a) of the contact switching mechanism 290 can be suppressed.

[0094] 21(C) has been described as a case where second driven gear 186 rotates clockwise (reverse direction), but similarly, when second driven gear 186 rotates counterclockwise (forward direction), the other end (contact points 296a, 297a) of contact switching mechanism 290 abuts against the inner periphery of second driven gear 186, and therefore, second driven gear 186 rotates retainer 282 due to the frictional force of the other end (contact points 296a, 297a) of contact switching mechanism 290. As a result, retainer 282, which rotates together with second driven gear 186, moves roller 281 in the forward rotation direction relative to second shaft 182, and an ON state is entered in which second shaft 182 and second driven gear 186 rotate integrally in the forward rotation direction as well.

[0095] Furthermore, in this modified example, the swinging portion 295 includes a pair of a first swinging lever 296 and a second swinging lever 297, but it does not necessarily have to be a pair, and may include either the first swinging lever 296 or the second swinging lever 297.

[0096] Although various embodiments have been described above with reference to the drawings, it goes without saying that the present invention is not limited to such examples. It is clear that a person skilled in the art can conceive of various modifications or alterations within the scope of the claims, and it is understood that these also naturally fall within the technical scope of the present invention. Furthermore, the components of the above-described embodiments may be combined in any manner without departing from the spirit of the invention.

[0097] This specification describes at least the following items. Note that the components in parentheses correspond to those in the above-described embodiment, but are not limited to these.

[0098] (1) An engaging element (roller 281) disposed between the first rotating body (first driven gear 184, second driven gear 186) and the second rotating body (second shaft 182); An interrupting device (interrupting mechanism 210, 220) including an operating unit (retainer 282, guide 284, pin 283, operating mechanism 240) that operates the engaging element between an engaged state in which the first rotating body and the second rotating body can rotate integrally and a disengaged state in which the first rotating body and the second rotating body can rotate relatively, The operation unit includes: An actuator (retainer 282, guide 284) that moves the engaging element; an operator (pin 283, operation mechanism 240) that is provided so as to be able to operate the engaging element via the operating element or so as to be able to operate the engaging element without the operating element; The first rotating body and the second rotating body are The rotation axes of the two are aligned, and are arranged so as to overlap at least a portion of each other when viewed in an orthogonal direction perpendicular to the rotation axis, The operator is A reciprocating element (pin 283) that is provided so as to be movable back and forth along a direction perpendicular to the rotation axis; an extension portion (operation rod 241) extending along the rotation axis and movable forward and backward along the rotation axis, The operating element includes a retainer (retainer 282) that is provided on the same diameter as the engaging element in the circumferential direction relative to the rotation axis and that holds the advancing / retreating element, The cage has an abutment portion (abutment switching mechanism 290) that is capable of transitioning between a first state (abutment state) and a second state (non-abutment state), The contact portion is abutting against the first rotor with a first pressure in the first state, In the second state, the rotating member is in contact with the first rotating body at a second pressure weaker than the first pressure, or is provided so as not to be in contact with the first rotating body. Interrupter.

[0099] According to (1), the abutment portion provided on the cage abuts against the first rotating body with a first pressure in a first state when frictional force is required between the first rotating body and the cage, and abuts against the first rotating body with a second pressure weaker than the first pressure when frictional force is not required between the first rotating body and the cage, or transitions to a second state in which it does not abut against the first rotating body, thereby suppressing wear of the abutment portion. This makes it possible to appropriately switch between a state in which the rotating bodies can rotate together and a state in which they can rotate relative to each other.

[0100] (2) The interrupter device according to (1), The abutment portion is Another advancing / retreating element (a contact control pin 291) that is provided so as to be movable back and forth along a direction perpendicular to the rotation axis; a main contact portion (main contact portion 292) that is mechanically connected to the other advancing / retreating element, The main contact portion is The first state is reached when the other retractable element is located at the retracted position, The second state is reached when the other retractable element is located at the advanced position. Interrupter.

[0101] According to (2), the main contact part can transition between the first state and the second state depending on the position of the other advancing / retracting element. Note that the main contact part mechanically connected to the advancing / retracting element may be directly mechanically connected to the advancing / retracting element, or may be indirectly mechanically connected to the advancing / retracting element via another member.

[0102] (3) The interrupter device according to (2), The other advancing / retracting element is provided so that an inner end thereof, which is an end portion of the other advancing / retracting element on the rotation axis side in the orthogonal direction, abuts against the extension portion. Interrupter.

[0103] According to (3), the inner end of the other advancing / retreating element abuts against the extension portion, so that the position of the other advancing / retreating element can be controlled by the extension portion.

[0104] (4) The interrupter device according to (3), The main contact portion includes a biasing portion (a leaf spring portion 292a) that biases the inner end of the other retractable element so that the inner end abuts against the extension portion. Interrupter.

[0105] According to (4), since the main contact portion includes the biasing member, the inner end of the other advancing / retreating element can be brought into contact with the extension portion.

[0106] (5) The interrupter device according to (4), the advancing / retracting element is provided so that an inner end thereof, which is an end portion of the advancing / retracting element on the rotation axis side in the orthogonal direction, abuts against the extending portion, The first rotating body and the second rotating body are The advancing and retracting element is configured to be rotatable together when the advancing and retracting element is located at the retracted position, The advancing / retracting element is configured to be relatively rotatable when the advancing / retracting element is located at an advanced position. Interrupter.

[0107] According to (5), the inner end of the retractable element abuts against the extension portion, so that the positions of the retractable element and the other retractable element can be controlled by the extension portion.

[0108] (6) The interrupter device according to (5), The other advance / retract factors are: When the extension portion moves from the first position to the second position, the extension portion moves from the advanced position to the retracted position due to the biasing force of the biasing portion, When the extension portion moves from the second position to the first position, the extension portion moves from the retreated position to the advanced position by contact with the extension portion, The advance / retract element is When the extension portion moves from the first position to the second position, the extension portion is located at the advanced position, When the extension portion moves from the second position to the first position, the extension portion moves from the retracted position to the advanced position by contact with the extension portion. Interrupter.

[0109] According to (6), each of the advancing and retreating elements can fulfill its role by performing different actions from other advancing and retreating elements.

[0110] (7) The interrupter device according to (6), The advance / retract element is After the extension portion moves from the first position to the second position, the other advancing / retracting element moves from the advanced position to the retracted position, and the first rotating body and the second rotating body rotate relatively, whereby the advancing / retracting element moves from the advanced position to the retracted position. Interrupter.

[0111] According to (7), when the extension portion moves from the first position to the second position, the other retractable element moves from the advanced position to the retracted position due to the biasing force of the biasing portion, becoming the first state and generating a frictional force between the first rotor and the cage, so that the retractable element moves from the advanced position to the retracted position, thereby enabling the first rotor and the second rotor to rotate integrally.

[0112] (8) The interrupter device according to any one of (4) to (7), The biasing portion is configured to have a first shape (natural elongated shape) in the first state and a second shape (deflected shape) in the second state. Interrupter.

[0113] According to (8), the main contact portion can realize the first state and the second state by the deformation of the biasing portion.

[0114] (9) The interrupter device according to any one of (2) to (8), the abutment main portion includes a flexible material, configured to assume a first shape in the first state and a second shape in the second state; Interrupter.

[0115] According to (9), the main contact portion can be placed in the first state and the second state by deformation of the flexible material.

[0116] (10) The interrupter device according to any one of (2) to (7), The main contact portion includes a swing portion (swing portion 295) swingably supported on the retainer with a swing shaft (swing shaft 294) as a fulcrum. Interrupter.

[0117] According to (10), the main contact portion can be placed in the first state and the second state by the swing of the swing portion.

[0118] (11) The interrupter device according to (10), The swinging portion has a pair of a first swing element (first swing lever 296) and a second swing element (second swing lever 297), the first oscillator and the second oscillator are provided to face each other in the circumferential direction with the other moving element therebetween; Interrupter.

[0119] According to (11), the load on one oscillator can be reduced, and the first oscillator and the second oscillator can be controlled by one other oscillator.

[0120] (12) The interrupter device according to (11), The first oscillator and the second oscillator have abutment points (abutment points 296a, 297a) that abut against the first rotor on the opposite side of the other advancing / retreating element with respect to the oscillation axis in the circumferential direction. Interrupter.

[0121] According to (12), the first rotor can be brought into contact with the first rotor at two points spaced apart in the circumferential direction.

[0122] (13) The interrupter device according to any one of (2) to (12), The advancing / retracting element and the other advancing / retracting element are arranged in a phase relationship of 180° in a cross section perpendicular to the rotation axis. Interrupter.

[0123] According to (13), the advancing and retreating elements can be arranged in a balanced manner with other advancing and retreating elements. [Explanation of symbols]

[0124] 182 Second shaft (second rotating body) 184 First driven gear (first rotating body) 186 Second driven gear (first rotating body) 210 Interrupting mechanism (interrupting device) 220 Interrupting mechanism (interrupting device) 240 Operation mechanism (operation unit, operator) 241 Operating rod (extension part) 281 Roller (engagement element) 282 Retainer (operation part, actuator, retainer) 283 pins (operation unit, operator, forward / reverse switch) 284 Guide (operating part, actuator) 290 Contact switching mechanism (contact part) 291 Contact control pin (other forward / backward movement) 292 Main abutment 292a Leaf spring part (biasing part) 294 Swing Axis 295 Swinging part 296 First rocking lever (first rocker) 296a Contact point 297 Second rocking lever (second rocker) 297a Contact point

Claims

1. an engaging element disposed between the first rotating body and the second rotating body; an operating unit that operates the engaging element between an engaged state in which the first rotating body and the second rotating body are rotatable together and a disengaged state in which the first rotating body and the second rotating body are rotatable relative to each other, The operation unit includes: an actuator that moves the engagement element; an operator that is provided so as to be able to operate the engagement element via the actuator or so as to be able to operate the engagement element without the actuator; The first rotating body and the second rotating body are The rotation axes of the two are aligned, and are arranged so as to overlap at least a portion of each other when viewed in an orthogonal direction perpendicular to the rotation axis, The operator is an advancing / retracting element provided so as to be movable back and forth along a direction perpendicular to the rotation axis; an extension portion that extends along the rotation axis and is provided so as to be movable forward and backward along the rotation axis, the operating element includes a retainer that is provided on the same diameter as the engaging element in the circumferential direction relative to the rotation axis and that holds the advancing / retracting element, the retainer has a contact portion that is provided so as to be able to transition between a first state and a second state, The abutment portion is abutting against the first rotor with a first pressure in the first state, In the second state, the pressure sensor is provided so as to come into contact with the first rotating body at a second pressure that is weaker than the first pressure, or so as not to come into contact with the first rotating body. Interrupter.

2. 2. The interrupter device of claim 1, The abutment portion is another retractable element provided so as to be movable back and forth along a direction perpendicular to the rotation axis; a main contact portion mechanically connected to the other advancing / retracting element, The main contact portion is The first state is reached when the other retractable element is located at the retracted position, The second state is achieved when the other retractable element is located at the advanced position. Interrupter.

3. 3. The interrupter device of claim 2, The other advancing / retracting element is provided so that an inner end thereof, which is an end portion of the other advancing / retracting element on the rotation axis side in the orthogonal direction, abuts against the extension portion. Interrupter.

4. 4. The interrupter device of claim 3, The main contact portion includes a biasing portion that biases the inner end of the other advancing / retreating element so that the inner end abuts against the extension portion. Interrupter.

5. 5. The interrupter device of claim 4, the advancing / retracting element is provided so that an inner end thereof, which is an end portion of the advancing / retracting element on the rotation axis side in the orthogonal direction, abuts against the extending portion, The first rotating body and the second rotating body are The advancing and retracting element is configured to be rotatable together when the advancing and retracting element is located at the retracted position, The advancing / retracting element is configured to be relatively rotatable when the advancing / retracting element is located at an advanced position. Interrupter.

6. 6. The interrupter device of claim 5, The other advance / retract factors are: When the extension portion moves from the first position to the second position, the extension portion moves from the advanced position to the retracted position due to the biasing force of the biasing portion, When the extension portion moves from the second position to the first position, the extension portion moves from the retreated position to the advanced position by contact with the extension portion, The advance / retract element is When the extension portion moves from the first position to the second position, the extension portion is located at the advanced position, When the extension portion moves from the second position to the first position, the extension portion moves from the retracted position to the advanced position by contact with the extension portion. Interrupter.

7. 7. The interrupter device of claim 6, The advance / retract element is After the extension portion moves from the first position to the second position, the other advancing / retracting element moves from the advanced position to the retracted position, and the first rotating body and the second rotating body rotate relatively, whereby the advancing / retracting element moves from the advanced position to the retracted position. Interrupter.

8. The interrupter device according to any one of claims 4 to 7, The biasing portion is configured to have a first shape in the first state and a second shape in the second state. Interrupter.

9. The interrupter device according to any one of claims 2 to 8, the abutment main portion includes a flexible material, configured to assume a first shape in the first state and a second shape in the second state; Interrupter.

10. The interrupter device according to any one of claims 2 to 7, the main contact portion includes a swing portion swingably supported by the cage around a swing shaft as a fulcrum. Interrupter.

11. 11. The interrupter device of claim 10, the oscillator has a pair of first and second oscillators, the first oscillator and the second oscillator are provided to face each other in the circumferential direction with the other advancing / retreating element interposed therebetween; Interrupter.

12. 12. The interrupter device of claim 11, the first oscillator and the second oscillator have abutment points that abut against the first rotor on the opposite side of the oscillation shaft from the other advancing / retreating elements in the circumferential direction; Interrupter.

13. 13. The interrupter device according to any one of claims 2 to 12, The advancing / retracting element and the other advancing / retracting element are arranged in a phase relationship of 180° in a cross section perpendicular to the rotation axis. Interrupter.

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