Rotating mechanism and spherical one-way clutch

Abstract

This provides a holonomic rotation mechanism that prevents the occurrence of anomalous orientations in the output spherical gear. [Solution] The rotating mechanism 2 comprises an output spherical gear 6 having an output tooth structure 48 formed thereon, a first input spherical gear 8 having a first input tooth structure 52 formed thereon, a first spherical one-way clutch 20 that receives a driving force from a first drive source 14 to drive the first input spherical gear 8 around a first axis 66 and also causes the first input spherical gear 8 to rotate in a manner that follows the rotation of the output spherical gear 6 around an axis other than the first axis 66, a second input spherical gear 10 having a second input tooth structure 56 formed thereon, and a second spherical one-way clutch 22 that receives a driving force from a second drive source 16 to drive the second input spherical gear 10 around a second axis 70 and also causes the second input spherical gear 10 to rotate in a manner that follows the rotation of the output spherical gear 6 around an axis other than the second axis 70.

Description

Technical Field

[0001] The present invention relates to a rotating mechanism and a spherical one-way clutch.

Background Art

[0002] A rotating mechanism used for joints of a robot arm or the like is known (see, for example, Patent Document 1). A conventional rotating mechanism includes a first input saddle gear, a first drive unit that drives and rotates the first input saddle gear in a first direction, a second input saddle gear, a second drive unit that drives and rotates the second input saddle gear in a second direction, and an output spherical gear that meshes with each of the first input saddle gear and the second input saddle gear.

[0003] When the rotational driving force of the first input saddle gear and the rotational driving force of the second input saddle gear are transmitted to the output spherical gear, the output spherical gear rotates.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] In the above-described conventional rotating mechanism, poles exist at four locations on the output spherical gear. When the first input saddle gear or the second input saddle gear meshes near a pole, there may occur a state where the output spherical gear cannot rotate instantaneously (degeneration of freedom) or a state where it is necessary to move the first input saddle gear or the second input saddle gear extremely fast (divergence of speed), that is, a problem that a specific posture may be reached.

[0006] The present invention aims to solve the above-mentioned problems, and its objective is to provide a holonomic rotation mechanism and a spherical one-way clutch that do not cause any unusual orientation of the output spherical gear. [Means for solving the problem]

[0007] To achieve the above objective, a rotation mechanism according to one aspect of the present invention includes: an output spherical gear having an output tooth structure formed along the surface of a sphere; a first input spherical gear having a first input tooth structure formed along the surface of a sphere that meshes with the output tooth structure; a first spherical one-way clutch that receives a driving force from a first drive source to drive the first input spherical gear around a first axis and, in accordance with the rotation of the output spherical gear around an axis other than the first axis, drives the first input spherical gear to rotate around the other axis; and a second input tooth structure formed along the surface of a sphere that meshes with the output tooth structure. The system includes a second input spherical gear on which a groove is formed, and a second spherical one-way clutch that receives a driving force from a second drive source to drive the second input spherical gear around a second axis intersecting the first axis, and also drives the second input spherical gear to rotate around other axes in accordance with the rotation of the output spherical gear around those other axes, wherein at least one of the rotational driving force of the first input spherical gear around the first axis and the rotational driving force of the second input spherical gear around the second axis is transmitted to the output spherical gear, causing the output spherical gear to rotate. [Effects of the Invention]

[0008] According to one aspect of the present invention, a holonomic rotation mechanism can be realized in which no peculiar orientation of the output spherical gear occurs. [Brief explanation of the drawing]

[0009] [Figure 1] This is a perspective view showing a rotating mechanism according to an embodiment. [Figure 2] This is a perspective view showing the rotation mechanism according to the embodiment, viewed from a different angle than Figure 1. [Figure 3] This is a perspective view showing the output spherical gear, the first input spherical gear, the second input spherical gear, and the third input spherical gear extracted from the rotating mechanism shown in Figure 1. [Figure 4] This is a magnified view of the output spherical gear according to the embodiment. [Figure 5] This is a magnified view of the first input spherical gear according to the embodiment. [Figure 6] This is a perspective view showing the first input spherical gear and the first spherical one-way clutch extracted from the rotating mechanism shown in Figure 1. [Figure 7] This diagram illustrates the function of a first spherical one-way clutch that causes a first input spherical gear to rotate freely around a second axis relative to a first holding member. [Figure 8] This diagram illustrates the function of a first spherical one-way clutch that causes a first input spherical gear to rotate freely around a third axis relative to a first holding member. [Figure 9] This diagram illustrates the function of a first spherical one-way clutch that locks a first input spherical gear around a first axis relative to a first holding member. [Modes for carrying out the invention]

[0010] Embodiments of the present invention will be described in detail below with reference to the drawings. The embodiments described below are all general or specific examples. The numerical values, shapes, materials, components, arrangement positions of components, and connection configurations shown in the following embodiments are examples only and are not intended to limit the present invention. Furthermore, components in the following embodiments that are not described in an independent claim will be described as optional components.

[0011] (Embodiment) [1. Configuration of the Rotation Mechanism] First, the configuration of the rotating mechanism 2 according to the embodiment will be described with reference to Figures 1 to 5. Figure 1 is a perspective view showing the rotating mechanism 2 according to the embodiment. Figure 2 is a perspective view showing the rotating mechanism 2 according to the embodiment from a different angle than Figure 1. Figure 3 is a perspective view showing the output spherical gear 6, the first input spherical gear 8, the second input spherical gear 10, and the third input spherical gear 12 extracted from the rotating mechanism 2 shown in Figure 1. Figure 4 is an enlarged view of the output spherical gear 6 according to the embodiment. Figure 5 is an enlarged view of the first input spherical gear 8 according to the embodiment.

[0012] As shown in Figures 1 to 3, the rotating mechanism 2 according to the embodiment comprises a frame 4, an output spherical gear 6 (an example of a one-sided spherical gear), a first input spherical gear 8 (an example of the first other-sided spherical gear), a second input spherical gear 10 (an example of the second other-sided spherical gear), a third input spherical gear 12 (an example of the third other-sided spherical gear), a first drive source 14, a second drive source 16, a third drive source 18, a first spherical one-way clutch 20, a second spherical one-way clutch 22, and a third spherical one-way clutch 24.

[0013] In this embodiment, the rotating mechanism 2 is provided with a first drive source 14, a second drive source 16, and a third drive source 18. However, it is not limited to this configuration, and the first drive source 14, the second drive source 16, and the third drive source 18 may be provided outside the rotating mechanism 2.

[0014] The frame 4 has a base portion 26, a first frame portion 28, a second frame portion 30, and a third frame portion 32. The frame 4 is made of, for example, metal.

[0015] The base portion 26 is for holding the output spherical gear 6. The base portion 26 is formed in an annular shape, and a circular opening 34 is formed in the center of the base portion 26.

[0016] The first frame portion 28 is for holding the first drive source 14 and the first spherical one-way clutch 20. The first frame portion 28 is formed such that a pair of first frame members 36, 38 having a substantially U shape intersect substantially perpendicularly. When the base portion 26 is viewed in plan, the first frame member 36 is arranged along the circumferential direction of the base portion 26. Also, when the base portion 26 is viewed in plan, the first frame member 38 is arranged along the radial direction of the base portion 26. One end portion of the first frame member 38 is fixed to the outer peripheral portion of the base portion 26.

[0017] The second frame portion 30 is for holding the second drive source 16 and the second spherical one-way clutch 22. The second frame portion 30 is formed such that a pair of second frame members 40, 42 having a substantially U shape intersect substantially perpendicularly. When the base portion 26 is viewed in plan, the second frame member 40 is arranged along the circumferential direction of the base portion 26. Also, when the base portion 26 is viewed in plan, the second frame member 42 is arranged along the radial direction of the base portion 26. One end portion of the second frame member 42 is fixed to the outer peripheral portion of the base portion 26.

[0018] The third frame portion 32 is for holding the third drive source 18 and the third spherical one-way clutch 24. The third frame portion 32 is formed such that a pair of third frame members 44, 46 having a substantially U shape intersect substantially perpendicularly. When the base portion 26 is viewed in plan, the third frame member 44 is arranged along the circumferential direction of the base portion 26. Also, when the base portion 26 is viewed in plan, the third frame member 46 is arranged along the radial direction of the base portion 26. One end portion of the third frame member 46 is fixed to the outer peripheral portion of the base portion 26.

[0019] When the base portion 26 is viewed from above, the first frame portion 28, the second frame portion 30, and the third frame portion 32 are arranged in a line along the circumferential direction of the base portion 26. The other ends of the first frame member 38, the second frame member 42, and the third frame member 46 intersect and are fixed to each other. Both ends of the first frame member 36 are fixed to one end of the second frame member 40 and the third frame member 44, respectively. In addition, the other ends of the second frame member 40 and the third frame member 44 are fixed to each other.

[0020] The output spherical gear 6 is formed in the shape of a hollow or solid sphere and is arranged in the opening 34 of the base portion 26 so as to be infinitely rotatable in all directions. The output spherical gear 6 is made of, for example, metal or resin. As shown in Figure 2, a part of the output spherical gear 6 protrudes to the outside through the opening 34 of the base portion 26 and meshes with, for example, an external spherical gear (not shown). As shown in Figure 4, an output tooth structure 48 (an example of a single-sided tooth structure) is formed on the surface of the output spherical gear 6 (the surface of the sphere). The output tooth structure 48 has a plurality of convex teeth 50 formed along the surface of the output spherical gear 6. The plurality of convex teeth 50 protrude radially outward from the output spherical gear 6 and are evenly distributed along the surface of the output spherical gear 6.

[0021] The first input spherical gear 8 is a spherical member formed in the shape of a hollow or solid sphere and is held by the first spherical one-way clutch 20. The first input spherical gear 8 is made of, for example, metal or resin. As shown in Figure 5, a first input tooth structure 52 (an example of the first other-side tooth structure) is formed on the surface (spherical surface) of the first input spherical gear 8. The first input tooth structure 52 has a plurality of first recessed teeth 54 formed along the surface of the first input spherical gear 8. The plurality of first recessed teeth 54 are recessed radially inward of the first input spherical gear 8 and are evenly distributed along the surface of the first input spherical gear 8.

[0022] Furthermore, if the first input spherical gear 8 is formed in a hollow shape, each of the multiple first recessed teeth 54 may be formed as a through hole. This prevents dust and other debris from accumulating on each of the multiple first recessed teeth 54. Alternatively, if the first input spherical gear 8 is formed in a solid shape, each of the multiple first recessed teeth 54 may be formed as a bottomed recess. This increases the strength of each of the multiple first recessed teeth 54.

[0023] The number, arrangement, and shape of the multiple first recessed teeth 54 correspond to the number, arrangement, and shape of the multiple convex teeth 50 of the output spherical gear 6. As shown in Figure 3, two or more of the multiple first recessed teeth 54 are always meshed with two or more convex teeth 50 of the output spherical gear 6 that correspond to those two or more first recessed teeth 54. In other words, the first input tooth structure 52 is always meshed with the output tooth structure 48 of the output spherical gear 6.

[0024] The second input spherical gear 10 is a spherical member formed in the shape of a hollow or solid sphere and is held by the second spherical one-way clutch 22. The second input spherical gear 10 is made of, for example, metal or resin. Similar to the first input spherical gear 8, a second input tooth structure 56 (an example of a second other-side tooth structure) is formed on the surface (spherical surface) of the second input spherical gear 10. The second input tooth structure 56 has a plurality of second recessed teeth 58 formed along the surface of the second input spherical gear 10. The plurality of second recessed teeth 58 are recessed radially inward of the second input spherical gear 10 and are evenly distributed along the surface of the second input spherical gear 10.

[0025] Furthermore, if the second input spherical gear 10 is formed in a hollow shape, each of the multiple second recessed teeth 58 may be formed as a through hole. This prevents dust and other debris from accumulating on each of the multiple second recessed teeth 58. Alternatively, if the second input spherical gear 10 is formed in a solid shape, each of the multiple second recessed teeth 58 may be formed as a bottomed recess. This increases the strength of each of the multiple second recessed teeth 58.

[0026] The number, arrangement, and shape of the multiple second recessed teeth 58 correspond to the number, arrangement, and shape of the multiple convex teeth 50 of the output spherical gear 6. As shown in Figure 3, two or more of the multiple second recessed teeth 58 are always meshed with two or more convex teeth 50 of the output spherical gear 6 that correspond to those two or more second recessed teeth 58. In other words, the second input tooth structure 56 is always meshed with the output tooth structure 48 of the output spherical gear 6.

[0027] The third input spherical gear 12 is a spherical member formed in the shape of a hollow or solid sphere and is held by the third spherical one-way clutch 24. The third input spherical gear 12 is made of, for example, metal or resin. Similar to the first input spherical gear 8, a third input tooth structure 60 (an example of a third other-side tooth structure) is formed on the surface (spherical surface) of the third input spherical gear 12. The third input tooth structure 60 has a plurality of third recessed teeth 62 formed along the surface of the third input spherical gear 12. The plurality of third recessed teeth 62 are recessed radially inward of the third input spherical gear 12 and are evenly distributed along the surface of the third input spherical gear 12.

[0028] Furthermore, if the third input spherical gear 12 is formed in a hollow shape, each of the multiple third recessed teeth 62 may be formed as a through hole. This prevents dust and other debris from accumulating on each of the multiple third recessed teeth 62. Alternatively, if the third input spherical gear 12 is formed in a solid shape, each of the multiple third recessed teeth 62 may be formed as a bottomed recess. This increases the strength of each of the multiple third recessed teeth 62.

[0029] The number, arrangement, and shape of the multiple third recessed teeth 62 correspond to the number, arrangement, and shape of the multiple convex teeth 50 of the output spherical gear 6. As shown in Figure 3, two or more of the multiple third recessed teeth 62 are always meshed with two or more convex teeth 50 of the output spherical gear 6 that correspond to those two or more third recessed teeth 62. In other words, the third input tooth structure 60 is always meshed with the output tooth structure 48 of the output spherical gear 6.

[0030] The first drive source 14 is composed of, for example, a servo motor and is held in the first frame portion 28 of the frame 4. Specifically, the first drive source 14 is held at the intersection of a pair of first frame members 36, 38 of the first frame portion 28. The drive shaft 64 of the first drive source 14 passes through the intersection of the pair of first frame members 36, 38 and is connected to the first bracket 78 (described later) of the first spherical one-way clutch 20. The drive shaft 64 of the first drive source 14 is rotatable about the first axis 66 and drives the first spherical one-way clutch 20 to rotate about the first axis 66 relative to the first frame portion 28. Here, the first axis 66 is a straight line that passes through the radial center of the first input spherical gear 8 and is parallel to the X-axis.

[0031] The second drive source 16 is, for example, a servo motor and is held in the second frame portion 30 of the frame 4. Specifically, the second drive source 16 is held at the intersection of a pair of second frame members 40 and 42 of the second frame portion 30. The drive shaft 68 of the second drive source 16 passes through the intersection of the pair of second frame members 40 and 42 and is connected to the second bracket 94 (described later) of the second spherical one-way clutch 22. The drive shaft 68 of the second drive source 16 is rotatable about the second axis 70 and drives the second spherical one-way clutch 22 to rotate about the second axis 70 relative to the second frame portion 30. Here, the second axis 70 is a straight line that passes through the radial center of the second input spherical gear 10 and is parallel to the Y-axis.

[0032] The third drive source 18 is, for example, a servo motor and is held in the third frame portion 32 of the frame 4. Specifically, the third drive source 18 is held at the intersection of a pair of third frame members 44 and 46 of the third frame portion 32. The drive shaft 72 of the third drive source 18 passes through the intersection of the pair of third frame members 44 and 46 and is connected to the third bracket 102 (described later) of the third spherical one-way clutch 24. The drive shaft 72 of the third drive source 18 is rotatable about the third axis 74 and drives the third spherical one-way clutch 24 to rotate about the third axis 74 relative to the third frame portion 32. Here, the third axis 74 is a straight line that passes through the center of the third input spherical gear 12 and is parallel to the Z-axis.

[0033] Furthermore, the first axis 66, the second axis 70, and the third axis 74 do not lie on the same plane, but intersect each other. More specifically, the first axis 66, the second axis 70, and the third axis 74 are perpendicular to each other.

[0034] The first spherical one-way clutch 20 is held in the first frame portion 28 of the frame 4. Specifically, the first spherical one-way clutch 20 is held inside a pair of first frame members 36, 38 of the first frame portion 28. The first spherical one-way clutch 20 receives a driving force from the first drive source 14 and drives the first input spherical gear 8 to rotate (infinitely rotate) around the first axis 66 relative to the first frame portion 28. The first spherical one-way clutch 20 also follows the rotation of the output spherical gear 6 around an axis other than the first axis 66 and drives the first input spherical gear 8 to rotate (infinitely rotate) around that other axis relative to the first frame portion 28. In other words, the first spherical one-way clutch 20 actively rotates the first input spherical gear 8 around the first axis 66, and passively rotates the first input spherical gear 8 around an axis other than the first axis 66.

[0035] The second spherical one-way clutch 22 is held in the second frame portion 30 of the frame 4. Specifically, the second spherical one-way clutch 22 is held inside a pair of second frame members 40, 42 of the second frame portion 30. The second spherical one-way clutch 22 receives driving force from the second drive source 16 and drives the second input spherical gear 10 to rotate (infinitely rotate) around the second axis 70 relative to the second frame portion 30. In addition, the second spherical one-way clutch 22 follows the rotation of the output spherical gear 6 around an axis other than the second axis 70 and drives the second input spherical gear 10 to rotate (infinitely rotate) around that other axis relative to the second frame portion 30. In other words, the second spherical one-way clutch 22 actively rotates the second input spherical gear 10 around the second axis 70, and passively rotates the second input spherical gear 10 around an axis other than the second axis 70.

[0036] The third spherical one-way clutch 24 is held in the third frame portion 32 of the frame 4. Specifically, the third spherical one-way clutch 24 is held inside a pair of third frame members 44, 46 of the third frame portion 32. The third spherical one-way clutch 24 receives driving force from the third drive source 18 and drives the third input spherical gear 12 to rotate (infinitely rotate) around the third axis 74 relative to the third frame portion 32. In addition, the third spherical one-way clutch 24 follows the rotation of the output spherical gear 6 around an axis other than the third axis 74 and drives the third input spherical gear 12 to rotate (infinitely rotate) around that other axis relative to the third frame portion 32. In other words, the third spherical one-way clutch 24 actively rotates the third input spherical gear 12 around the third axis 74, and passively rotates the third input spherical gear 12 around an axis other than the third axis 74.

[0037] [2. Configuration of the first spherical one-way clutch] Next, the configuration of the first spherical one-way clutch 20 according to the embodiment will be described with reference to Figures 6 to 9.

[0038] Figure 6 is a perspective view showing the first input spherical gear 8 and the first spherical one-way clutch 20 extracted from the rotating mechanism 2 shown in Figure 1. Figure 7 is a diagram illustrating the function of the first spherical one-way clutch 20, which allows the first input spherical gear 8 to rotate freely around the second axis 70 relative to the first retaining member 76. Figure 8 is a diagram illustrating the function of the first spherical one-way clutch 20, which allows the first input spherical gear 8 to rotate freely around the third axis 74 relative to the first retaining member 76. Figure 9 is a diagram illustrating the function of the first spherical one-way clutch 20, which locks the first input spherical gear 8 around the first axis 66 relative to the first retaining member 76.

[0039] As shown in Figures 6 and 7, the first spherical one-way clutch 20 includes a first retaining member 76, a first bracket 78, and a pair of first rollers 80 and 82.

[0040] The first retaining member 76 is for rotatably holding the first input spherical gear 8. The first retaining member 76 is formed in an annular shape and is positioned opposite the equator of the first input spherical gear 8 (i.e., the line where a plane passing through the radial center of the first input spherical gear 8 and perpendicular to the first axis 66 intersects the surface of the sphere of the first input spherical gear 8). The first retaining member 76 holds the equator of the first input spherical gear 8 by clamping it from both sides. The first retaining member 76 receives a driving force from the first drive source 14 and rotates integrally with the first input spherical gear 8 around the first axis 66.

[0041] The first bracket 78 is formed to extend in a semicircular shape from the first retaining member 76 along the first axis 66. The drive shaft 64 of the first drive source 14 is connected to the first bracket 78 by passing through the intersection of the pair of first frame members 36, 38 (see Figure 1).

[0042] Each of the pair of first rollers 80 and 82 is formed of, for example, resin, and is shaped like a half-drum (i.e., a drum cut along a plane perpendicular to the axis at its axial center). Each of the pair of first rollers 80 and 82 is rotatably supported by the first holding member 76 via a pair of first shafts 84 and 86, and is positioned facing each other with the first input spherical gear 8 in between. As a result, the pair of first rollers 80 and 82 are in contact with the surface (equator) of the first input spherical gear 8 from both sides. A pair of coil springs 88 and 90 are also positioned on the pair of first shafts 84 and 86, respectively. Each of the pair of first rollers 80 and 82 is elastically pressed against the surface of the first input spherical gear 8 by the biasing force of the pair of coil springs 88 and 90.

[0043] The pair of first rollers 80 and 82 are positioned on the equator of the first input spherical gear 8, offset in a predetermined direction from a straight line passing through the diameter center of the first input spherical gear 8. For example, when the first retaining member 76 is at the rotational angle position shown in Figure 7, the pair of first rollers 80 and 82 are positioned on the equator of the first input spherical gear 8, offset in the negative Z-axis direction from the second axis 70 passing through the diameter center of the first input spherical gear 8.

[0044] As shown in Figure 7, the pair of first rollers 80 and 82 allow the first input spherical gear 8 to rotate around the second axis 70 (i.e., an axis other than the first axis 66) relative to the first retaining member 76. That is, when the first input spherical gear 8 attempts to rotate around the second axis 70 relative to the first retaining member 76, the pair of first rollers 80 and 82 each rotate around the pair of first shafts 84 and 86, following the rotation of the first input spherical gear 8. As a result, the pair of first rollers 80 and 82 follow the rotation of the output spherical gear 6 around the second axis 70, causing the first input spherical gear 8 to rotate freely (driven rotation) around the second axis 70 relative to the first retaining member 76.

[0045] Furthermore, as shown in Figure 8, the pair of first rollers 80 and 82 allow the first input spherical gear 8 to rotate around the third axis 74 (i.e., an axis other than the first axis 66) relative to the first retaining member 76. That is, when the first input spherical gear 8 attempts to rotate around the third axis 74 relative to the first retaining member 76, the pair of first rollers 80 and 82 each rotate around the pair of first shafts 84 and 86, following the rotation of the first input spherical gear 8. As a result, the pair of first rollers 80 and 82 follow the rotation of the output spherical gear 6 around the third axis 74, causing the first input spherical gear 8 to rotate freely (driven rotation) around the third axis 74 relative to the first retaining member 76.

[0046] Furthermore, as shown in Figure 9, the pair of first rollers 80 and 82 utilize the frictional force between themselves and the surface of the first input spherical gear 8 to restrict the rotation of the first input spherical gear 8 around the first axis 66 relative to the first retaining member 76. That is, when the first input spherical gear 8 attempts to rotate around the first axis 66 relative to the first retaining member 76, a frictional force acts between the pair of first rollers 80 and 82 and the surface of the first input spherical gear 8 in the direction tangential to the equator of the first input spherical gear 8. As a result, the pair of first rollers 80 and 82 lock the rotation of the first input spherical gear 8 around the first axis 66 relative to the first retaining member 76. Consequently, the first retaining member 76, receiving the driving force from the first drive source 14, drives and rotates together with the first input spherical gear 8 around the first axis 66 relative to the first frame portion 28.

[0047] [3. Configuration of the second spherical one-way clutch] Next, the configuration of the second spherical one-way clutch 22 according to the embodiment will be described with reference to Figures 1 and 2.

[0048] As shown in Figures 1 and 2, the second spherical one-way clutch 22 has the same configuration as the first spherical one-way clutch 20. That is, the second spherical one-way clutch 22 has a second retaining member 92, a second bracket 94, and a pair of second rollers 96 and 98.

[0049] The second retaining member 92 is for rotatably holding the second input spherical gear 10. The second retaining member 92 is formed in an annular shape and is positioned opposite the equator of the second input spherical gear 10. The second retaining member 92 holds the equator of the second input spherical gear 10 by clamping it from both sides. The second retaining member 92 receives a driving force from the second drive source 16 and rotates integrally with the second input spherical gear 10 around the second axis 70.

[0050] The second bracket 94 is formed to extend in a semicircular shape from the second retaining member 92 along the second axis 70. The drive shaft 68 of the second drive source 16 is connected to the second bracket 94 by passing through the intersection of the pair of second frame members 40, 42.

[0051] Each of the pair of second rollers 96 and 98 is formed of, for example, resin and is shaped like a semi-drum. Each of the pair of second rollers 96 and 98 is rotatably supported by the second holding member 92 and is positioned opposite to each other with the second input spherical gear 10 in between. As a result, the pair of second rollers 96 and 98 are in contact with the surface (on the equator) of the second input spherical gear 10 from both sides. The pair of second rollers 96 and 98 are also elastically pressed against the surface of the second input spherical gear 10. The pair of second rollers 96 and 98 are positioned on the equator of the second input spherical gear 10, offset in a predetermined direction from the straight line passing through the diameter center of the second input spherical gear 10, similar to the pair of first rollers 80 and 82.

[0052] The pair of second rollers 96, 98 allow the second input spherical gear 10 to rotate around the first axis 66 (i.e., an axis other than the second axis 70) relative to the second retaining member 92. That is, when the second input spherical gear 10 attempts to rotate around the first axis 66 relative to the second retaining member 92, the pair of second rollers 96, 98 rotate in accordance with the rotation of the second input spherical gear 10. As a result, the pair of second rollers 96, 98 follow the rotation of the output spherical gear 6 around the first axis 66, causing the second input spherical gear 10 to rotate freely (driven rotation) around the first axis 66 relative to the second retaining member 92.

[0053] Furthermore, the pair of second rollers 96 and 98 allow the second input spherical gear 10 to rotate around the third axis 74 (i.e., an axis other than the second axis 70) relative to the second retaining member 92. That is, when the second input spherical gear 10 attempts to rotate around the third axis 74 relative to the second retaining member 92, the pair of second rollers 96 and 98 rotate in accordance with the rotation of the second input spherical gear 10. As a result, the pair of second rollers 96 and 98 follow the rotation of the output spherical gear 6 around the third axis 74, causing the second input spherical gear 10 to rotate freely (driven rotation) around the third axis 74 relative to the second retaining member 92.

[0054] Furthermore, the pair of second rollers 96 and 98 utilize the frictional force between themselves and the surface of the second input spherical gear 10 to restrict the rotation of the second input spherical gear 10 around the second axis 70 relative to the second retaining member 92. That is, when the second input spherical gear 10 attempts to rotate around the second axis 70 relative to the second retaining member 92, a frictional force acts between the pair of second rollers 96 and 98 and the surface of the second input spherical gear 10 in the direction tangential to the equator of the second input spherical gear 10. As a result, the pair of second rollers 96 and 98 lock the rotation of the second input spherical gear 10 around the second axis 70 relative to the second retaining member 92. Consequently, the second retaining member 92, receiving the driving force from the second drive source 16, rotates integrally with the second input spherical gear 10 around the second axis 70 relative to the second frame portion 30.

[0055] [4. Configuration of the third spherical one-way clutch] Next, the configuration of the third spherical one-way clutch 24 according to the embodiment will be described with reference to Figures 1 and 2.

[0056] As shown in Figures 1 and 2, the third spherical one-way clutch 24 has the same configuration as the first spherical one-way clutch 20. That is, the third spherical one-way clutch 24 has a third retaining member 100, a third bracket 102, and a pair of third rollers 104 and 106.

[0057] The third retaining member 100 is for rotatably holding the third input spherical gear 12. The third retaining member 100 is formed in an annular shape and is positioned opposite the equator of the third input spherical gear 12. The third retaining member 100 holds the equator of the third input spherical gear 12 by clamping it from both sides. The third retaining member 100 receives a driving force from the third drive source 18 and rotates integrally with the third input spherical gear 12 around the third axis 74.

[0058] The third bracket 102 is formed to extend in a semicircular shape from the third retaining member 100 along the third axis 74. The drive shaft 72 of the third drive source 18 is connected to the third bracket 102 by passing through the intersection of the pair of third frame members 44, 46.

[0059] Each of the pair of third rollers 104 and 106 is formed of, for example, resin and is shaped like a semi-drum. Each of the pair of third rollers 104 and 106 is rotatably supported by the third holding member 100 and is positioned opposite to each other with the third input spherical gear 12 in between. As a result, the pair of third rollers 104 and 106 are in contact with the surface (on the equator) of the third input spherical gear 12 from both sides. The pair of third rollers 104 and 106 are also elastically pressed against the surface of the third input spherical gear 12. The pair of third rollers 104 and 106 are positioned on the equator, offset in a predetermined direction from the straight line passing through the diameter center of the third input spherical gear 12, similar to the pair of first rollers 80 and 82.

[0060] The pair of third rollers 104, 106 allow the third input spherical gear 12 to rotate around the first axis 66 (i.e., an axis other than the third axis 74) relative to the third retaining member 100. That is, when the third input spherical gear 12 attempts to rotate around the first axis 66 relative to the third retaining member 100, the pair of third rollers 104, 106 rotate in accordance with the rotation of the third input spherical gear 12. As a result, the pair of third rollers 104, 106 follow the rotation of the output spherical gear 6 around the first axis 66, causing the third input spherical gear 12 to rotate freely (driven rotation) around the first axis 66 relative to the third retaining member 100.

[0061] Furthermore, the pair of third rollers 104 and 106 allow the third input spherical gear 12 to rotate around the second axis 70 (i.e., an axis other than the third axis 74) relative to the third retaining member 100. That is, when the third input spherical gear 12 attempts to rotate around the second axis 70 relative to the third retaining member 100, the pair of third rollers 104 and 106 rotate in accordance with the rotation of the third input spherical gear 12. As a result, the pair of third rollers 104 and 106 follow the rotation of the output spherical gear 6 around the second axis 70, causing the third input spherical gear 12 to rotate freely (driven rotation) around the second axis 70 relative to the third retaining member 100.

[0062] Furthermore, the pair of third rollers 104 and 106 utilize the frictional force between themselves and the surface of the third input spherical gear 12 to restrict the rotation of the third input spherical gear 12 around the third axis 74 relative to the third retaining member 100. That is, when the third input spherical gear 12 attempts to rotate around the third axis 74 relative to the third retaining member 100, a frictional force acts between the pair of third rollers 104 and 106 and the surface of the third input spherical gear 12 in the direction tangential to the equator of the third input spherical gear 12. As a result, the pair of third rollers 104 and 106 lock the rotation of the third input spherical gear 12 around the third axis 74 relative to the third retaining member 100. Consequently, the third retaining member 100, receiving the driving force from the third drive source 18, rotates integrally with the third input spherical gear 12 around the third axis 74 relative to the third frame portion 32.

[0063] [5. Operation of the Rotation Mechanism] Next, the operation of the rotating mechanism 2 according to the embodiment will be described with reference to Figures 1 and 2.

[0064] As shown in Figures 1 and 2, when the first drive source 14 is driven, the first spherical one-way clutch 20 receives the driving force from the first drive source 14 and drives the first input spherical gear 8 around the first axis 66 relative to the first frame portion 28. At this time, the rotational driving force of the first input spherical gear 8 around the first axis 66 is transmitted to the output spherical gear 6, causing the output spherical gear 6 to rotate around the first axis 66.

[0065] Furthermore, when the second drive source 16 is driven, the second spherical one-way clutch 22 receives the driving force from the second drive source 16 and drives the second input spherical gear 10 around the second axis 70 relative to the second frame portion 30. At this time, the rotational driving force of the second input spherical gear 10 around the second axis 70 is transmitted to the output spherical gear 6, causing the output spherical gear 6 to rotate around the second axis 70.

[0066] Furthermore, when the third drive source 18 is driven, the third spherical one-way clutch 24 receives the driving force from the third drive source 18 and drives the third input spherical gear 12 around the third axis 74 relative to the third frame portion 32. At this time, the rotational driving force of the third input spherical gear 12 around the third axis 74 is transmitted to the output spherical gear 6, causing the output spherical gear 6 to rotate around the third axis 74.

[0067] Furthermore, when two or more of the first drive source 14, the second drive source 16, and the third drive source 18 are driven simultaneously, two or more rotational driving forces from among the rotational driving force around the first axis 66 of the first input spherical gear 8, the rotational driving force around the second axis 70 of the second input spherical gear 10, and the rotational driving force around the third axis 74 of the third input spherical gear 12 are simultaneously transmitted to the output spherical gear 6, causing the output spherical gear 6 to rotate in all directions.

[0068] [6. Effects] For example, when the first drive source 14, the second drive source 16, and the third drive source 18 are driven simultaneously, the rotational driving force of the first input spherical gear 8 around its first axis 66, the rotational driving force of the second input spherical gear 10 around its second axis 70, and the rotational driving force of the third input spherical gear 12 around its third axis 74 are simultaneously transmitted to the output spherical gear 6.

[0069] At this time, the first spherical one-way clutch 20 receives the driving force from the first drive source 14 and drives the first input spherical gear 8 to rotate around the first axis 66 relative to the first frame portion 28. On the other hand, the first spherical one-way clutch 20 follows the rotation of the output spherical gear 6 around an axis other than the first axis 66, which is caused by the rotational driving force of the second input spherical gear 10 around the second axis 70 and the rotational driving force of the third input spherical gear 12 around the third axis 74, and drives the first input spherical gear 8 to rotate around the other axis relative to the first frame portion 28.

[0070] Furthermore, the second spherical one-way clutch 22 receives the driving force from the second drive source 16 and drives the second input spherical gear 10 to rotate around the second axis 70 relative to the second frame portion 30. On the other hand, the second spherical one-way clutch 22 follows the rotation of the output spherical gear 6 around an axis other than the second axis 70, which is caused by the rotational driving force of the first input spherical gear 8 around the first axis 66 and the rotational driving force of the third input spherical gear 12 around the third axis 74, and drives the second input spherical gear 10 to rotate around the other axis relative to the second frame portion 30.

[0071] Furthermore, the third spherical one-way clutch 24 receives the driving force from the third drive source 18 and drives the third input spherical gear 12 around the third axis 74 relative to the third frame portion 32. On the other hand, the third spherical one-way clutch 24 follows the rotation of the output spherical gear 6 around an axis other than the third axis 74, which is caused by the rotational driving force of the first input spherical gear 8 around the first axis 66 and the rotational driving force of the second input spherical gear 10 around the second axis 70, and drives the third input spherical gear 12 to rotate around the other axis relative to the third frame portion 32.

[0072] Incidentally, in the conventional rotating mechanism described in the background technology section, there are poles at four locations on the output spherical gear. When the first input saddle gear or the second input saddle gear meshes near a pole, a problem arises in that the output spherical gear may momentarily become unable to rotate (degeneracy of degrees of freedom), or it may be necessary to move the first input saddle gear or the second input saddle gear at an extremely high speed (velocity divergence), i.e., it may reach a singular position.

[0073] In contrast, in the rotating mechanism 2 according to the embodiment, the first spherical one-way clutch 20, the second spherical one-way clutch 22, and the third spherical one-way clutch 24 can suppress the occurrence of a phenomenon in which the output spherical gear 6 is momentarily unable to rotate in a peculiar position. As a result, a non-redundant holonomic rotating mechanism 2 can be realized.

[0074] (Note) (Technology 1) An output spherical gear having an output tooth structure formed along the surface of a sphere; a first input spherical gear having a first input tooth structure formed along the surface of a sphere that meshes with the output tooth structure; a first spherical one-way clutch that receives a driving force from a first drive source to drive the first input spherical gear around a first axis and also drives the first input spherical gear to rotate around other axes in accordance with the rotation of the output spherical gear around other axes; and a second input spherical gear having a second input tooth structure formed along the surface of a sphere that meshes with the output tooth structure. A rotating mechanism comprising: a second spherical one-way clutch that receives a driving force from a second drive source to drive and rotate the second input spherical gear around a second axis intersecting the first axis, and that drives and rotates the second input spherical gear around other axes in accordance with the rotation of the output spherical gear around other axes other than the second axis, wherein at least one of the rotational driving force of the first input spherical gear around the first axis and the rotational driving force of the second input spherical gear around the second axis is transmitted to the output spherical gear, causing the output spherical gear to rotate.

[0075] According to Technology 1, the first spherical one-way clutch and the second spherical one-way clutch can suppress the phenomenon in which the output spherical gear enters a peculiar position where it is momentarily unable to rotate. As a result, a holonomic rotation mechanism can be realized.

[0076] (Technology 2) The rotation mechanism further comprises a third input spherical gear having a third input tooth structure formed along the surface of a sphere that meshes with the output tooth structure, and a third spherical one-way clutch that receives a driving force from a third drive source to drive the third input spherical gear around a third axis and also causes the third input spherical gear to rotate in response to the rotation of the output spherical gear around an axis other than the third axis, wherein the first axis, the second axis, and the third axis do not lie on the same plane, and at least one of the rotational driving force of the first input spherical gear around the first axis, the rotational driving force of the second input spherical gear around the second axis, and the rotational driving force of the third input spherical gear around the third axis is transmitted to the output spherical gear, causing the output spherical gear to rotate, as described in Technical 1.

[0077] According to Technology 2, the output spherical gear can be rotated in all directions.

[0078] (Technology 3) The rotation mechanism according to Technical Reference 2, wherein the first axis, the second axis, and the third axis are orthogonal to each other.

[0079] According to Technology 3, the output spherical gear can be easily rotated in all directions.

[0080] (Technology 4) The rotation mechanism according to Art 2 or 3, wherein the output tooth structure has a plurality of convex teeth formed along the surface of the output spherical gear, the first input tooth structure has a plurality of first concave teeth formed along the surface of the first input spherical gear, the second input tooth structure has a plurality of second concave teeth formed along the surface of the second input spherical gear, and the third input tooth structure has a plurality of third concave teeth formed along the surface of the third input spherical gear, and a portion of the plurality of convex teeth meshes with each of the plurality of first concave teeth, a portion of the plurality of second concave teeth, and a portion of the plurality of third concave teeth.

[0081] According to Technology 4, the output tooth structure can be easily engaged with each of the first input tooth structure, the second input tooth structure, and the third input tooth structure.

[0082] (Technology 5) The first spherical one-way clutch includes a first holding member that holds the first input spherical gear and rotates integrally with the first input spherical gear around a first axis in response to a driving force from the first drive source, and a pair of first rollers that are rotatably supported by the first holding member and in contact with the surface of the first input spherical gear, wherein (i) the frictional force between the rollers and the surface of the first input spherical gear restricts the rotation of the first input spherical gear around the first axis relative to the first holding member, and ( ii) a pair of first rollers that allow the first input spherical gear to rotate around an axis other than the first axis relative to the first retaining member, the second spherical one-way clutch having a second retaining member that holds the second input spherical gear and is driven to rotate integrally with the second input spherical gear around the second axis by a driving force from the second drive source, and a pair of second rollers that are rotatably supported by the second retaining member and in contact with the surface of the second input spherical gear, (iii) the second (iv) a pair of second rollers that utilize the frictional force between the surface of the input spherical gear and the second retaining member to restrict the rotation of the second input spherical gear about the second axis relative to the second retaining member, and allow the rotation of the second input spherical gear about an axis other than the second axis relative to the second retaining member, wherein the third spherical one-way clutch holds the third input spherical gear and, receiving a driving force from the third drive source, drives and rotates integrally with the third input spherical gear about the third axis A rotating mechanism according to any one of the arts 2 to 4, comprising a member and a pair of third rollers rotatably supported by the third retaining member and in contact with the surface of the third input spherical gear, the pair of third rollers utilizing the frictional force between them and the surface of the third input spherical gear to restrict the rotation of the third input spherical gear relative to the third retaining member about the third axis, and (vi) to allow the rotation of the third input spherical gear relative to the third retaining member about an axis other than the third axis.

[0083] According to Technology 5, a first spherical one-way clutch, a second spherical one-way clutch, and a third spherical one-way clutch can be realized with a simple configuration.

[0084] (Technology 6) A spherical gear with a tooth structure formed on one side along the surface of a sphere; a first spherical gear with a first other side tooth structure formed along the surface of a sphere that meshes with the tooth structure on one side; a first spherical one-way clutch that restricts the rotation of the first spherical gear about a first axis and allows the rotation of the first spherical gear about an axis other than the first axis; a second spherical gear with a second other side tooth structure formed along the surface of a sphere that meshes with the tooth structure on one side; and a clutch that restricts the rotation of the second spherical gear about a second axis that intersects the first axis and the second... A rotating mechanism comprising: a second spherical one-way clutch that allows the other spherical gear to rotate about an axis other than the second axis, wherein (i) at least one of the rotational driving force of the first other spherical gear and the rotational driving force of the second other spherical gear is transmitted to the one spherical gear, causing the one spherical gear to rotate; or (ii) the rotational driving force of the one spherical gear is transmitted to at least one of the first other spherical gear and the second other spherical gear, causing at least one of the first other spherical gear and the second other spherical gear to rotate.

[0085] According to Technology 6, when one spherical gear is used as the output side and the first and second spherical gears are used as input sides, it is possible to suppress the occurrence of a peculiar posture in which the one spherical gear momentarily becomes unable to rotate. On the other hand, when one spherical gear is used as the input side and the first and second spherical gears are used as output sides, it is also possible to suppress the occurrence of a peculiar posture in which the one spherical gear momentarily becomes unable to rotate. As a result, a holonomic rotation mechanism can be realized.

[0086] (Technology 7) A spherical one-way clutch comprising: a holding member that holds a spherical member and rotates integrally with the spherical member around a predetermined axis in response to a driving force from a drive source; and a pair of rollers that are rotatably supported by the holding member and in contact with the surface of the spherical member, the pair of rollers that (i) restrict the rotation of the spherical member around the predetermined axis relative to the holding member by utilizing the frictional force between them and the surface of the spherical member, and (ii) allow the rotation of the spherical member around an axis other than the predetermined axis relative to the holding member.

[0087] According to Technology 7, the spherical one-way clutch can suppress the phenomenon of the output spherical gear being in a peculiar position where it momentarily becomes unable to rotate. As a result, a holonomic rotation mechanism can be realized.

[0088] (Other variations, etc.) Although the rotating mechanism according to embodiments of the present invention has been described above, the present invention is not limited to these embodiments.

[0089] In the above embodiment, the rotation mechanism 2 is configured as having three inputs and three outputs, but it is not limited to this and may be configured as having two inputs and two outputs. That is, among the configuration requirements of the rotation mechanism 2 described in the above embodiment, the third input spherical gear 12, the third drive source 18, and the third spherical one-way clutch 24 may be omitted. Alternatively, the rotation mechanism 2 may be configured as having one input and one output (the remaining two output axes rotate freely), or as having four or more inputs.

[0090] Furthermore, in the above embodiment, two or more first concave teeth 54 of the first input spherical gear 8 are always meshed with two or more convex teeth 50 of the output spherical gear 6, but the embodiment is not limited to this. For example, if the shapes of the convex teeth 50 and the first concave teeth 54 in plan view are not circular, one of the first concave teeth 54 of the first input spherical gear 8 may always mesh with one of the convex teeth 50 of the output spherical gear 6. Similarly, if the shapes of the convex teeth 50 and the second concave teeth 58 in plan view are not circular, one of the second concave teeth 58 of the second input spherical gear 10 may always mesh with one of the convex teeth 50 of the output spherical gear 6. Also, if the shapes of the convex teeth 50 and the third concave teeth 62 in plan view are not circular, one of the third concave teeth 62 of the third input spherical gear 12 may always mesh with one of the convex teeth 50 of the output spherical gear 6.

[0091] Furthermore, in the above embodiment, the output tooth structure 48 has a plurality of convex teeth 50, the first input tooth structure 52 has a plurality of first concave teeth 54, the second input tooth structure 56 has a plurality of second concave teeth 58, and the third input tooth structure 60 has a plurality of third concave teeth 62, but the embodiment is not limited to this. Conversely, the output tooth structure 48 may have a plurality of concave teeth, the first input tooth structure 52 may have a plurality of first convex teeth, the second input tooth structure 56 may have a plurality of second convex teeth, and the third input tooth structure 60 may have a plurality of third convex teeth.

[0092] Alternatively, each of the output tooth structure 48, the first input tooth structure 52, the second input tooth structure 56, and the third input tooth structure 60 may have a mixture of multiple convex teeth and multiple concave teeth.

[0093] Furthermore, in the above embodiment, the driving force from the first drive source 14 is transmitted to the first holding member 76, but the first holding member 76 itself may be formed in the shape of a gear. In this case, the driving force from the first drive source 14 is transmitted to the first holding member 76 via a plurality of gears. Similarly, the second holding member 92 and the third holding member 100 themselves may also be formed in the shape of gears.

[0094] Furthermore, in the above embodiment, the first spherical one-way clutch 20 has a pair of first rollers 80, 82, but is not limited to this, and may have four first rollers. As a result, the four first rollers will contact the surface (equator) of the first input spherical gear 8 from four directions. Similarly, the second spherical one-way clutch 22 may have four second rollers, and the third spherical one-way clutch 24 may have four third rollers.

[0095] Furthermore, in the above embodiment, the output spherical gear 6 (one-sided spherical gear) is the output side, and the first input spherical gear 8 (the other-sided spherical gear of the first), the second input spherical gear 10 (an example of the other-sided spherical gear of the second), and the third input spherical gear 10 (the other-sided spherical gear of the third) are the input sides. In this case, at least one of the rotational driving force of the other-sided spherical gear of the first, the rotational driving force of the other-sided spherical gear, and the rotational driving force of the other-sided spherical gear of the third is transmitted to the one-sided spherical gear, causing the one-sided spherical gear to rotate.

[0096] Alternatively, the input-output relationship may be reversed instead of the configuration described above. That is, the output spherical gear 6 (one-sided spherical gear) may be used as the input side, and the first input spherical gear 8 (the other side of the first spherical gear), the second input spherical gear 10 (the other side of the second spherical gear), and the third input spherical gear 10 (the other side of the third spherical gear) may be used as the output side. In this case, the rotational driving force of the one-sided spherical gear is transmitted to at least one of the first other-side spherical gear, the second other-side spherical gear, and the third other-side spherical gear, causing at least one of the first other-side spherical gear, the second other-side spherical gear, and the third other-side spherical gear to rotate. This allows the rotation mechanism 2 to be used as a sensor for measuring, for example, the amount of rotation or rotational force.

[0097] Furthermore, in the above embodiment, the first spherical one-way clutch 20 was applied to the first input spherical gear 8, but it is not limited to this and may be applied to other spherical members other than the first input spherical gear 8. In this case, the first spherical one-way clutch 20 restricts the rotation of the spherical member around the first axis 66 relative to the first retaining member 76, and allows the rotation of the spherical member around other axes other than the first axis 66 relative to the first retaining member 76. Similarly, the second spherical one-way clutch 22 may be applied to other spherical members other than the second input spherical gear 10, and the third spherical one-way clutch 24 may be applied to other spherical members other than the third input spherical gear 12. [Industrial applicability]

[0098] The rotation mechanism according to the present invention can be applied, for example, to (i) a pilot training device or simulator device, (ii) a device for calibrating or testing sensors, (iii) an omnidirectional moving body, etc. [Explanation of Symbols]

[0099] 2 Rotation mechanism 4 frames 6 Output spherical gear 8. First input spherical gear 10 Second input spherical gear 12 Third input spherical gear 14. First drive source 16. Second drive source 18. Third drive source 20. First spherical one-way clutch 22. Second spherical one-way clutch 24. Third spherical one-way clutch 26 Base section 28 First frame section 30 Second frame section 32 Third frame section 34 Opening 36,38 First frame member 40,42 Second frame member 44,46 Third frame member 48 Output tooth structure 50 Convex teeth 52 First input tooth structure 54 First recessed tooth 56 Second input tooth structure 58 Second recessed tooth 60 Third input tooth structure 62 Third recessed tooth 64, 68, 72 drive shafts 66 First axis 70 Second axis 74 Third Axis 76 First retaining member 78 First bracket 80,82 Laura 1 84,86 First shaft 88,90 Coil springs 92 Second retaining member 94 Second bracket 96,98 The Second Laura 100 Third retaining member 102 Third bracket 104,106 The Third Laura

Claims

1. An output spherical gear in which an output tooth structure is formed along the surface of a sphere, A first input spherical gear having a first input tooth structure formed along the surface of a sphere that meshes with the output tooth structure, A first spherical one-way clutch that receives a driving force from a first drive source to drive and rotate the first input spherical gear around a first axis, and also drives and rotates the first input spherical gear around an axis other than the first axis in accordance with the rotation of the output spherical gear around an axis other than the first axis, A second input spherical gear having a second input tooth structure formed along the surface of a sphere that meshes with the output tooth structure, The system includes a second spherical one-way clutch that receives a driving force from a second drive source to drive and rotate the second input spherical gear around a second axis intersecting the first axis, and also drives the second input spherical gear to rotate around other axes in accordance with the rotation of the output spherical gear around those other axes, At least one of the rotational driving force of the first input spherical gear around its first axis and the rotational driving force of the second input spherical gear around its second axis is transmitted to the output spherical gear, causing the output spherical gear to rotate. Rotating mechanism.

2. The aforementioned rotating mechanism further, A third input spherical gear having a third input tooth structure formed along the surface of the sphere that meshes with the output tooth structure, The system includes a third spherical one-way clutch that receives a driving force from a third drive source to drive and rotate the third input spherical gear around a third axis, and also drives the third input spherical gear to rotate around an axis other than the third axis in accordance with the rotation of the output spherical gear around that other axis, The first axis, the second axis, and the third axis do not lie on the same plane. At least one of the rotational driving force of the first input spherical gear around its first axis, the rotational driving force of the second input spherical gear around its second axis, and the rotational driving force of the third input spherical gear around its third axis is transmitted to the output spherical gear, causing the output spherical gear to rotate. The rotating mechanism according to claim 1.

3. The first axis, the second axis, and the third axis are perpendicular to each other. The rotating mechanism according to claim 2.

4. The output tooth structure has a plurality of convex teeth formed along the surface of the output spherical gear, The first input tooth structure has a plurality of first recessed teeth formed along the surface of the first input spherical gear, The second input tooth structure has a plurality of second concave teeth formed along the surface of the second input spherical gear, The third input tooth structure has a plurality of third recessed teeth formed along the surface of the third input spherical gear, A portion of the plurality of protruding teeth engages with each of the portions of the plurality of first recessed teeth, the plurality of second recessed teeth, and the plurality of third recessed teeth. The rotating mechanism according to claim 2 or 3.

5. The first spherical one-way clutch is, A first holding member that holds the first input spherical gear and rotates integrally with the first input spherical gear around the first axis by receiving a driving force from the first drive source, A pair of first rollers rotatably supported by the first retaining member and in contact with the surface of the first input spherical gear, the pair of first rollers having (i) a frictional force between itself and the surface of the first input spherical gear to restrict the rotation of the first input spherical gear relative to the first retaining member about the first axis, and (ii) a rotation of the first input spherical gear relative to the first retaining member about an axis other than the first axis, The second spherical one-way clutch is, A second holding member that holds the second input spherical gear and rotates integrally with the second input spherical gear around the second axis by receiving a driving force from the second drive source, A pair of second rollers rotatably supported by the second retaining member and in contact with the surface of the second input spherical gear, the pair of second rollers having (iii) a frictional force between the rollers and the surface of the second input spherical gear to restrict the rotation of the second input spherical gear relative to the second retaining member about the second axis, and (iv) a rotation of the second input spherical gear relative to the second retaining member about an axis other than the second axis, The third spherical one-way clutch is, A third holding member that holds the third input spherical gear and rotates integrally with the third input spherical gear around the third axis by receiving a driving force from the third drive source, A pair of third rollers rotatably supported by the third retaining member and in contact with the surface of the third input spherical gear, the pair of third rollers having (v) restrict the rotation of the third input spherical gear about the third axis relative to the third retaining member by utilizing the frictional force between them and the surface of the third input spherical gear, and (vi) allow the rotation of the third input spherical gear about an axis other than the third axis relative to the third retaining member. The rotating mechanism according to claim 2 or 3.

6. A spherical gear with a tooth structure formed on one side along the surface of a sphere, A first other-side spherical gear having a first other-side tooth structure formed along the surface of the sphere that meshes with the one-side tooth structure, A first spherical one-way clutch that restricts the rotation of the first other spherical gear about a first axis and allows the rotation of the first other spherical gear about an axis other than the first axis, A second spherical gear having a second other-side tooth structure formed along the surface of the sphere that meshes with the one-side tooth structure, The system includes a second spherical one-way clutch that restricts the rotation of the second spherical gear on the other side about a second axis that intersects the first axis, and allows the rotation of the second spherical gear on the other side about an axis other than the second axis, (i) At least one of the rotational driving force of the first other spherical gear and the rotational driving force of the second other spherical gear is transmitted to the one-sided spherical gear, causing the one-sided spherical gear to rotate, or (ii) The rotational driving force of the one-sided spherical gear is transmitted to at least one of the first other spherical gear and the second other spherical gear, causing at least one of the first other spherical gear and the second other spherical gear to rotate. Rotating mechanism.

7. A holding member that holds a spherical member and rotates integrally with the spherical member around a predetermined axis by receiving a driving force from a drive source, A pair of rollers rotatably supported by the holding member and in contact with the surface of the spherical member, comprising: (i) a pair of rollers that, by utilizing the frictional force between themselves and the surface of the spherical member, restrict the rotation of the spherical member relative to the holding member about a predetermined axis; and (ii) a pair of rollers that allow the rotation of the spherical member relative to the holding member about an axis other than the predetermined axis. Spherical one-way clutch.

Images