Interrupter

Abstract

In the present invention, a first interruption mechanism (210) comprises: a roller (281) disposed in an accommodation space (S1) between a first driven gear (184) and a second shaft (182); and an operation rod (241) that operates the roller (281) in an engaged state in which the first driven gear (184) and the second shaft (182) can be rotated in an integrated manner, and in a disengaged state in which the first driven gear (184) and the second shaft (182) can be rotated in relative manner. The shape of an outer circumferential surface of the second shaft (182) is formed so that the length in the radial direction of the accommodation space (S1) is different depending on the position thereof in the circumferential direction. In the circumferential-direction movable range of the roller (281) in the accommodation space (S1), the radial direction length (L2) of the accommodation space (S1) at an end position in the circumferential direction of the movable range is set to be shorter than the radial direction length (L1) of the accommodation space (S1) at a center position in the circumferential direction.

Description

[Technical Field]

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

[0002] Conventionally, there has been known a contactor device that switches between a state in which rotating bodies rotate integrally and a state in which they rotate relatively to each other. Such contactor devices are used in drive devices for vehicles, working parts of work machines, joint devices for prosthetic limbs, etc. (For example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2021 / 040039 Summary of the Invention [Problem to be solved by the invention]

[0004] The interrupter is required to be able to switch between the two states mentioned above appropriately depending on the situation.

[0005] 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]

[0006] Original Akira is , 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 first rotating body and the second rotating body are The rotation axes of the rotors are aligned with each other and are arranged so that at least a portion of the rotors overlap each other when viewed in an orthogonal direction perpendicular to the rotation axes, the first rotating body has a hollow hole therein, and the second rotating body is disposed within the hollow hole; When a space between the inner peripheral surface of the hollow hole of the first rotating body and the outer peripheral surface of the second rotating body in which the engaging element is accommodated is defined as an accommodation space, The shape of the outer peripheral surface of the second rotating body in a plane extending in a direction perpendicular to the rotation axis is formed so that the radial length of the accommodation space varies depending on the circumferential position relative to the rotation axis, In the circumferential movable range of the engaging element in the accommodation space, the radial length at a circumferential end position is smaller than the radial length at a circumferential center position of the movable range. 、 The engaging element is formed in a circular shape on the plane, a relative angle between the first rotating body and the second rotating body when the engaging piece is located at a central position in the circumferential direction of the accommodation space and the first rotating body and the second rotating body are in the disengaged state in which they can rotate relative to each other is defined as a first angle; a relative angle between the first rotating body and the second rotating body when the engaging element is located at an end position in the circumferential direction of the accommodation space and the first rotating body and the second rotating body are in the engaged state so as to be able to rotate integrally with each other is defined as a second angle; The difference between the first angle and the second angle is defined as a third angle; When the engaging element is located at the circumferential end position of the accommodating space and the first rotating body and the second rotating body are in the engaged state where they can rotate integrally, an angle formed at an intersection between a first tangent that is a tangent to a first contact point between the first rotating body and the engaging element and a second tangent that is a tangent to a second contact point between the second rotating body and the engaging element is defined as a fourth angle, The shape in the plane is formed such that the third angle is smaller than the fourth angle. . The present invention also 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 are rotatable integrally and a disengaged state in which the first rotating body and the second rotating body are rotatable relative to each other, The first rotating body and the second rotating body are The rotation axes of the rotors are aligned with each other and are arranged so that at least a portion of the rotors overlap each other when viewed in an orthogonal direction perpendicular to the rotation axes, the first rotating body has a hollow hole therein, and the second rotating body is disposed within the hollow hole; When a space between the inner peripheral surface of the hollow hole of the first rotating body and the outer peripheral surface of the second rotating body in which the engaging element is accommodated is defined as an accommodation space, The shape of the outer circumferential surface of the second rotating body in a plane extending in a direction perpendicular to the rotation axis is formed so that the radial length of the accommodation space varies depending on the circumferential position relative to the rotation axis, In the circumferential movable range of the engaging element in the accommodation space, the radial length at a circumferential end position is formed to be smaller than the radial length at a circumferential center position of the movable range, 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 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 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 operating element has a retainer that is provided on the same diameter as the engaging element in the circumferential direction and that holds the advancing / retracting element, the retainer is provided so that a distance between an end of the retainer on one side in the circumferential direction relative to the engaging element and an end of the retainer on the other side is larger than a length of the engaging element in the circumferential direction, The shape is formed so that when the engaging element is in the disengaged state and the engaging element abuts against the end of the retainer on one side or the other side, a gap exists between the engaging element and at least one of the first rotating body or the second rotating body. The present invention also 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 are rotatable integrally and a disengaged state in which the first rotating body and the second rotating body are rotatable relative to each other, The first rotating body and the second rotating body are The rotation axes of the rotors are aligned with each other and are arranged so that at least a portion of the rotors overlap each other when viewed in an orthogonal direction perpendicular to the rotation axes, the first rotating body has a hollow hole therein, and the second rotating body is disposed within the hollow hole; When a space between the inner peripheral surface of the hollow hole of the first rotating body and the outer peripheral surface of the second rotating body in which the engaging element is accommodated is defined as an accommodation space, The shape of the outer circumferential surface of the second rotating body in a plane extending in a direction perpendicular to the rotation axis is formed so that the radial length of the accommodation space varies depending on the circumferential position relative to the rotation axis, In the circumferential movable range of the engaging element in the accommodation space, the radial length at a circumferential end position is formed to be smaller than the radial length at a circumferential center position of the movable range, a current path is formed that passes through the first rotating body, the second rotating body, and the engaging element; The current path is in a connected state when the engaging element is in the engaged state, and in a disconnected state when the engaging element is in the disengaged state, 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 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 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 interrupter device includes a control unit that controls movement of the extension portion, The control unit prohibits movement of the extension portion when the current path is in the connected state. [Effects of the Invention]

[0007] 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]

[0008] [Figure 1] 1 is a perspective view of an electric prosthetic leg 1 equipped with a disconnecting device according to an embodiment of the present invention, as seen obliquely from the front. [Figure 2] FIG. 2 is an exploded perspective view of the electric prosthetic leg 1 of FIG. [Figure 3] FIG. 1 is a perspective view of an extension device 140. [Figure 4] FIG. 2 is a cross-sectional view of the electric prosthetic leg 1 of FIG. [Figure 5] FIG. 1 is a cross-sectional view of an extension device 140. [Figure 6] 2 is a cross-sectional view of a main part showing a bent state of the electric prosthetic leg 1 of FIG. 1. FIG. [Figure 7] 2 is a cross-sectional view of a main part showing the maximum bending state of the electric prosthetic leg 1 of FIG. 1. [Figure 8] FIG. 2 is a cross-sectional view of a two-way clutch 280. [Figure 9] 9 is a perspective view showing an example of the retainer 282 (including the rollers 281, the guide 284, and the rubber ball 282c) shown in FIG. 8. FIG. [Figure 10] 9 is a perspective view showing another example of the retainer 282 (including a roller 281 and a rubber ball 282c) shown in FIG. 8. FIG. [Figure 11] 10A and 10B are diagrams showing the operation of the operating mechanism 240, in which (A) is a diagram showing the state in which the first intermittent part 212 and the second intermittent part 222 are off, (B) is a diagram showing the state in which the first intermittent part 212 is off and the second intermittent part 222 is on, and (C) is a diagram showing the state in which the first intermittent part 212 is on and the second intermittent part 222 is off. [Figure 12] 10A is a cross-sectional view showing the second interrupter 222 in an OFF state, and FIG. 10B is a diagram showing the position of the operating rod 241 at that time. [Figure 13] 10A is a cross-sectional view showing a state in which the second intermittent part 222 is operated from OFF to ON, and FIG. 10B is a diagram showing the position of the operating rod 241 at that time. [Figure 14] 10A is a cross-sectional view showing the second intermittent part 222 in a forward rotation on state, and FIG. 10B is a diagram showing the position of the operating rod 241 at that time. [Figure 15] 10(A) is a cross-sectional view showing the second intermittent part 222 in a reverse ON state, and FIG. 10(B) is a diagram showing the position of the operating rod 241 at that time. [Figure 16] 10A is a cross-sectional view showing a state in which the second interrupter 222 is operated from ON to OFF, and FIG. 10B is a diagram showing the position of the operating rod 241 at that time. [Figure 17] 10A and 10B are diagrams showing the movement of the user and the electric prosthetic leg 1 when ascending steps (step-ascending movement). [Figure 18] 1A and 1B are diagrams showing the movements of a user and an electric prosthetic leg 1 when walking on flat ground (movement of walking on flat ground). [Figure 19]13 is a diagram showing a state in which the guide of the retainer, which rotates together with the second driven gear, pushes the pin back radially inward with the inclined surface of the recess when the second intermittent part 222 is operated from off to on. FIG. [Figure 20] 13 is a diagram showing a first modified example in which a circular arc-shaped protrusion 182b is provided on the outer periphery of a second shaft 182. FIG. [Figure 21] 10 is a diagram showing a first modified example in which a linear protrusion 182b is provided on the outer periphery of a second shaft 182. FIG. [Figure 22] 10 is an explanatory diagram regarding the setting of dimensions of the roller holding portion of the retainer 282. FIG. [Figure 23] 10 is an explanatory diagram showing the relationship between the delay angle θ1 of the roller 281 at the discontinuous portions 212 and 222 and the shape of the recessed portion of the guide 284. FIG. [Figure 24] 10 is an explanatory diagram of the delay angle θ1 and wedge angle θ2 of the roller 281 when the shape of the outer circumferential surface portion of the second shaft 182 in the accommodation space S1 is a flat portion 182a. FIG. [Figure 25] 25 is a partially enlarged view of FIG. 24, showing contact loads at the first contact Po and the second contact Pi. FIG. [Figure 26] (A) is a diagram explaining the load acting on the second contact point Pi when the contact angle is α, i.e., when the delay angle θ1 = wedge angle θ2 = 2α, and (B) is a diagram explaining the load acting on the second contact point Pi when the contact angle is α' (where α' < α), i.e., when the delay angle θ1 = wedge angle θ2 = 2α'. [Figure 27] 10 is an explanatory diagram of the delay angle θ1 and wedge angle θ2 of the roller 281 when the outer circumferential surface of the second shaft 182 in the accommodation space S1 has a linear protrusion 182b. FIG. [Figure 28] 10 is a diagram showing a first intermittent portion 212 and a second intermittent portion 222 of a second modified example provided with a determination mechanism for determining whether the rollers are in an engaged state or a disengaged state. FIG. [Figure 29] 10A and 10B are diagrams showing an engaged state and a disengaged state of rollers in a second modified example. [Figure 30] 1 is a schematic diagram of a vehicle drive device equipped with a connecting / disconnecting device according to an embodiment of the present invention; DETAILED DESCRIPTION OF THE INVENTION

[0009] An electric prosthetic leg equipped with a disconnecting device according to one embodiment 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.

[0010] The electric prosthetic leg 1 of this embodiment is a prosthetic leg that is attached to the leg of a person without a knee, as shown in Figures 1 to 5, and comprises a below-knee member 110 located below the knee, an above-knee member 120 attached to the thigh 123 (see Figures 17 and 18) 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 expand and contract 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.

[0011] The above-knee member 120 includes an adapter 121 that is connected to a socket (not shown). The socket is a joint member provided on the thigh 123, and by connecting the adapter 121 to the socket, the above-knee member 120 is integrated with the thigh 123.

[0012] The knee-underside 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, and a detachable rear cover 113 that covers the rear opening of the main frame 111 in an openable and closable manner.

[0013] An upper knee member 120 is provided on the upper part of the main frame 111 via a rotating part 135 that constitutes a knee joint mechanism 130, and a leg part 114 that extends downward is provided on the lower part of the main frame 111.

[0014] 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 of this embodiment 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 "mechanically connected" is a concept that includes a direct connection configuration and a connection via another member.

[0015] As shown in Figures 3 to 5, 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 that power can be transmitted and that converts the rotational power output from the transmission T into translational motion (extension and contraction motion), a first interrupting mechanism 210 and a second interrupting mechanism 220 that are provided in the transmission T, and a unit case 250 that unitizes the extension device 140.

[0016] The motor M is disposed rearward and above the transmission T, and the spindle unit SP is disposed frontward and above the transmission T. 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 the sleeve 174 moves in translation along the axis of the spindle 173 as the spindle 173 rotates.

[0017] 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.

[0018] 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 rotating part 135. This changes the angle between the above-knee member 120 and the below-knee member 110. If the angle between the above-knee member 120 and the below-knee member 110 is on the acute side of the acute and obtuse angles, the knee joint mechanism 130 extends as the angle increases, and the knee joint mechanism 130 flexes as the angle decreases.

[0019] In addition, the expansion / contraction device 200 of this 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, it is also possible to have no expansion / contraction (moving) part like the expansion / contraction 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.

[0020] 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, 220.

[0021] 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.

[0022] 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.

[0023] For example, when the first speed change ratio of the first speed change 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, and torque increases. When the second speed change ratio of the second speed change 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, and torque decreases. In this embodiment, the first speed change ratio is set smaller than 1 and the second speed change ratio is set larger than 1, and the first speed change mechanism T1 is disposed lower than the second speed change mechanism T2.

[0024] 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.

[0025] 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 a first shaft 181 so as to be rotatable together with the first driven gear 184, and the first driven gear 184 is supported by a second shaft 182 that is disposed in a hollow hole of the first driven gear 184 so as to be rotatable relative to the first driven gear 184. The first driven gear 184 and the second shaft 182 have the same rotation axis. Furthermore, they are disposed so that at least a portion of each of them overlaps with each other when viewed in an orthogonal direction perpendicular to the rotation axis. In other words, they are disposed so that at least a portion of each of them is located on the same plane perpendicular to the rotation axis. 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 extend and retract the spindle unit SP at low speed and with high torque.

[0026] 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 with the first shaft 181, and the second driven gear 186 is supported by a second shaft 182 disposed in a hollow hole of the second driven gear 186 so as to be rotatable relative to the second shaft 182. The second driven gear 186 and the second shaft 182 have the same rotational axis. Furthermore, they are disposed so that at least a portion of each gear overlaps with each other when viewed in an orthogonal direction perpendicular to the rotational axis. In other words, they are disposed so that at least a portion of each gear is located on the same plane perpendicular to the rotational axis. 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 with low torque. 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 also be disposed below the first speed change mechanism T1. That is, the first driven gear 184 and the second driven gear 186 only need to be located at different positions in the direction of the rotation axis. In addition, the first shaft 181 and the second shaft 182 in this embodiment are each integrally formed from the beginning, but the upper and lower gear support portions may also be formed separately and then integrally connected (coupled).

[0027] The first interrupting mechanism 210 includes a first interrupting part 212 provided between the first driven gear 184 and the second shaft 182. The second interrupting mechanism 220 includes a second interrupting part 222 provided between the second driven gear 186 and the second shaft 182. These interrupting parts 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 interrupting parts 212, 222 will be described later.

[0028] As shown in FIGS. 3 to 5, the unit case 250 includes an upper case 251, a middle case 252, and a lower case 253.

[0029] The upper case 251 has a cylindrical shape that covers the outer periphery of the spindle unit SP, and supports the sleeve 174 of the spindle unit SP non-rotatably and vertically movably via a bushing 254 provided on the inner periphery of its upper end. A flange portion 251a extending outward is provided on the lower end of the upper case 251. The upper case 251 is fastened to the front and above the middle case 252 by a plurality of screws N1 that pass through the flange portion 251a from above.

[0030] The middle case 252 rotatably supports the upper end of the first shaft 181 via a bearing B1, and rotatably supports the upper end of the second shaft 182 via a bearing B2. The upper case 251 is fastened to the front and above of the middle case 252, and the motor M is fastened to the rear and above of the middle case 252. The motor M is fastened to the middle case 252 with a plurality of screws N2 that penetrate the middle case 252 from the bottom (inside). In addition, the outer periphery of the middle case 252 is provided with a lower flange 252a for fastening the lower case 253, and a pair of upper flanges 252b for fixing to the main frame 111.

[0031] The lower case 253 is fastened to the bottom of the middle case 252 by a plurality of screws N3 that pass through the lower flange 252a of the middle case 252 from above. The lower case 253 not only covers the bottom and sides of the transmission T, but also rotatably supports the lower end side of the first shaft 181 via a bearing B3.

[0032] With such a unit case 250, the three-stage structure of the upper case 251, middle case 252, and lower case 253 not only makes it possible to house the transmission T and spindle unit SP, but also makes it possible to unitize the telescopic device 140 including the motor M, thereby reducing the number of parts and making it lighter.

[0033] 3, the unit case 250 is attached to the main frame 111 via one upper bracket 256 and a pair of middle brackets 257. The upper bracket 256 supports the upper end of the upper case 251 on the front wall of the main frame 111, and the pair of middle brackets 257 support a pair of upper flanges 252b formed on both the left and right sides of the middle case 252 on the left and right side walls of the main frame 111.

[0034] For example, if the upper bracket 256 and the middle bracket 257 are attached to the main frame 111 and then the extension device 140 is assembled, the pair of upper flanges 252b of the middle case 252 can be placed on the pair of middle brackets 257 to temporarily hold the extension device 140 to the main frame 111, which makes it easier to fasten the middle case 252 to the middle bracket 257 and the upper case 251 to the upper bracket 256. Furthermore, the removal of the extension device 140 by following the reverse procedure is also easier.

[0035] Furthermore, since the upper case 251 and the middle case 252 are subjected to a higher load than the lower case 253, by fastening them to the main frame 111 via the upper bracket 256 and the middle bracket 257, not only is the support strength of the transmission T and the spindle unit SP increased, but the rigidity of the lower case 253 can be reduced, thereby making it lighter.

[0036] Fig. 4 shows the extended state of the electric prosthetic leg 1, Fig. 6 shows the bent state of the electric prosthetic leg 1, and Fig. 7 shows the maximum bent state of the electric prosthetic leg 1. Note that while walking with the electric prosthetic leg 1, the maximum bent state shown in Fig. 7 is never reached.

[0037] 4, 6, and 7, the mechanical stop mechanism 150 includes a stopper member 151 provided on the knee below-side member 110, and a first contact portion 152 and a second contact portion 153 provided on the knee above-side member 120. In the state shown in FIG. 4, the first contact portion 152 contacts the stopper member 151, thereby restricting the knee joint mechanism 130 from bending in the opposite direction. In the state shown in FIG. 7, the second contact portion 153 contacts the stopper member 151, thereby restricting the knee joint mechanism 130 from bending further from the maximum bent state.

[0038] The buffer mechanism 160 is provided on the above-knee member 120 side and includes a pressing portion 162 that can press the upper end of a link member 175 with the biasing force of a spring 161 (e.g., a compression coil spring). The lower end of the link member 175 is rotatably connected to a sleeve 174 of the spindle unit SP via a first rotating portion 176, and the upper end of the link member 175 is rotatably connected to the above-knee member 120 via a second rotating portion 177. A cam portion 178 is formed on the upper end of the link member 175. The cam portion 178 continuously includes a small-diameter outer peripheral portion 178a that is centered on the second rotating portion 177, a large-diameter outer peripheral portion 178b that is a long distance from the second rotating portion 177, and a connecting outer peripheral portion 178c that seamlessly connects the small-diameter outer peripheral portion 178a and the large-diameter outer peripheral portion 178b.

[0039] As shown in FIGS. 6 and 7 , when the knee joint mechanism 130 is bent, the pressing portion 162 faces the small-diameter outer peripheral portion 178a of the cam portion 178, and therefore the pressing portion 162 and the cam portion 178 are spaced apart. As shown in FIG. 4 , when the knee joint mechanism 130 extends in response to the contraction operation of the spindle unit SP and approaches the mechanical stop position on the extension side, the opposing position of the pressing portion 162 and the cam portion 178 moves from the connecting outer peripheral portion 178c to the large-diameter outer peripheral portion 178b. As a result, the cam portion 178 comes into contact with the pressing portion 162, and the large-diameter outer peripheral portion 178b presses the pressing portion 162 against the biasing force of the spring 161. In other words, the cam portion 178 is pressed in the return direction by the biasing force of the spring 161. As a result, the biasing force of the spring 161 acts as a resistance, and the impact when the first abutment portion 152 abuts against the stopper member 151 is buffered.

[0040] Next, the details of the interrupting portions 212, 222 and the operating mechanism 240 will be described with reference to FIG. 8 and subsequent figures.

[0041] Each of the interrupting units 212, 222 has a common configuration and is 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. Each of the interrupting units 212, 222 of this embodiment is configured using a two-way clutch 280 with a forced free function, as shown in Figure 8. The two-way clutch 280 includes a plurality of rollers 281 (three 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, an operation mechanism 240, a plurality of pins 283 (three in this embodiment) that radially penetrate the second shaft 182 and are operated by the operation mechanism 240 to a forced free position and a forced free release position, and a plurality of guides 284 (three in this embodiment) that are provided on the retainer 282 and determine the relative rotation position of the retainer 282 with respect to the second shaft 182 when the pins 283 are in the forced free position. The rollers 281 may be balls or sprags.

[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] More specifically, when the space between the inner peripheral surfaces of the gears 184 and 186 and the outer peripheral surface of the second shaft 182 in which the roller 281 is accommodated is defined as the accommodation space S1, the shape of the outer peripheral surface of the second shaft 182 in a plane extending in a direction perpendicular to the rotation axis of the first driven gear 184 and the second shaft 182 is formed so that the radial length of the accommodation space S1 varies depending on the circumferential position. More specifically, with reference to FIG. 23 , the shape of the outer peripheral surface of the second shaft 182 is formed so that, within the circumferential movable range of the roller 281 in the accommodation space S1, the radial length L2 of the accommodation space S1 at the circumferential end position is smaller than the radial length LE1 of the accommodation space S1 at the circumferential center position of the movable range. The outer peripheral surface of the second shaft 182 in the accommodation space S1 may have flat portions 182a formed at predetermined intervals in the circumferential direction, as in this embodiment.

[0044] 20, the shape of the outer peripheral surface portion of the second shaft 182 in the accommodation space S1 may be formed as a protrusion 182b that protrudes radially outward from the circumferential center position toward both end positions in the accommodation space S1. In a first example, as shown in FIG. 20, the shape of the surface of the protrusion 182b facing the gears 184, 186, which is the shape of the outer peripheral surface portion of the second shaft 182 in the accommodation space S1, is formed as an arc that curves from the circumferential center position toward one circumferential end position and also toward the other circumferential end position, and is formed as an arc overall (hereinafter, referred to as an arc-shaped protrusion 182b when distinction is necessary). As a result, within the circumferential movable range of the roller 281, the radial length L2 of the accommodation space S1 at the circumferential end positions is formed to be smaller than the radial length LE1 of the accommodation space S1 at the circumferential center position of the movable range.

[0045] 21, the shape of the surface of the protrusion 182b facing the gears 184, 186, which is the shape of the outer circumferential surface of the second shaft 182 in the accommodation space S1, is formed in a linear shape that slopes radially outward from the circumferential center position toward one circumferential end position, and also slopes radially outward toward the circumferential end position on the other side, forming a V-shape overall (hereinafter referred to as V-shaped protrusion 182b when distinction is necessary). As a result, within the circumferential movable range of the roller 281, the radial length L2 of the accommodation space S1 at the circumferential end position is formed to be smaller than the radial length LE1 of the accommodation space S1 at the circumferential center position of the movable range.

[0046] The protrusions 182b located on both sides of the circumferential center position may be formed in a mirror-symmetrical manner from the circumferential center position toward the circumferential end positions, or may be formed asymmetrically from the circumferential center position toward the circumferential end positions. By forming them in a mirror-symmetrical manner, the delay angle θ1 (backlash-reducing angle) in both rotation directions becomes the same, improving the user's usability. On the other hand, by forming them asymmetrically, the delay angle θ1 can be set according to the rotation direction. The delay angle θ1 is the relative rotation angle between the second shaft 182 and the retainer 282 (gears 184, 186) when the interrupters 212, 222 change from the OFF state to the ON state, as shown in FIG. 23 .

[0047] As will be described in more detail below, by forming the outer peripheral surface of second shaft 182 in accommodation space S1 into protruding portion 182b, it is possible to design delay angle θ1 and wedge angle θ2 separately, unlike in the case of flat portion 182a. Wedge angle θ2 is the angle formed at the intersection of tangents (L1, L2) at the contact points (Po, Pi) between roller 281 and gears 184, 186, as shown in Figure 25.

[0048] When the roller 281 is held in the circumferential center of the flat portion 182a or the protruding portion 182b, the roller 281 does not engage with the outer peripheral surface of the second shaft 182 or 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).

[0049] 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).

[0050] 9, the retainer 282 is ring-shaped and rotatable relative to the second shaft 182 and the gears 184, 186, and includes a plurality of roller holding portions 282a that hold the roller 281 and a plurality of guide holding portions 282b that hold the guide 284. In other words, the retainer 282 is provided adjacent to the roller 281 in the circumferential direction about the rotation axis. As shown in FIG. 22, in the roller holding portion 282a, a distance D between an end 285a of the retainer 282 on one side in the circumferential direction with respect to the roller 281 and an end 285b of the retainer 282 on the other side is set to be larger than the length of the roller 281 in the circumferential direction (i.e., the diameter B). The roller 281 is set so that a gap C exists between the roller 281 and the gears 184, 186 when the roller 281 in the disengaged state abuts against the end 285a of the retainer 282 on one side in the circumferential direction or the end 285b of the retainer 282 on the other side. This makes it possible to prevent the roller 281 from unintentionally going into an engaged state when it is controlled to be in a disengaged state.

[0051] Additionally, multiple rubber balls 282c are embedded at predetermined intervals in the circumferential direction on the outer peripheral surface of retainer 282. These rubber balls 282c prevent unintended free rotation in the forced free release state by generating appropriate friction between gears 184, 186 and retainer 282. Note that the member that generates friction between gears 184, 186 and retainer 282 is not limited to rubber balls 282c, and may be an O-ring.

[0052] Returning to FIG. 8 , pin 283 has a conical protrusion 283a on its radially outer end, and guide 284 has a conical recess 284a on its radially inner end face that fits (engages) with protrusion 283a. When protrusion 283a of pin 283 fits into recess 284a of guide 284, the guiding action of pin 283 and guide 284 positions retainer 282 at a predetermined position where the relative rotation position of retainer 282 with respect to second shaft 182 is forced free. Also, as shown in FIG. 10 , instead of recess 284a of guide 284, a V-shaped groove 282d may be formed in the inner peripheral portion of retainer 282 along the axial direction. This not only eliminates the need for guide 284, reducing the number of parts and assembly steps, but also allows for tolerance of axial error of pin 283.

[0053] 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.

[0054] 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, which is exposed from the internal space S2. The operating rod 241 is supported by bearings B4 and B5, which are disposed in the internal space S2, so that the operating rod 241 cannot rotate relative to the rack 241a and can move forward and backward integrally in the rotation axis direction. A cover member 188, which has an insertion hole through which the operating rod 241 passes, is threadedly engaged with the lower end of the second shaft 182. The cover member 188 prevents foreign matter from entering the internal space S2 and facilitates replacement of the operating rod 241. A pinion 243 provided on an output shaft 242a of a servo motor 242 meshes with the rack 241a, and the vertical position of the operating rod 241 is switched in response to the driving of the servo motor 242. The servo motor 242 and the pinion 243 of this embodiment constitute a driving unit of the present invention. The operating rod 241 is mechanically connected to the driving unit via a rack 241a.

[0055] As shown in FIG. 11 , the operating rod 241 is formed with, in order from top to bottom, a first large diameter portion 241c1, a first small diameter portion 241b1, a second large diameter portion 241c2, a second small diameter portion 241b2, and a third large diameter portion 241c3 at predetermined lengths and intervals. The operating rod 241 is provided so as to be able to simultaneously control the two interrupted portions 212 and 222, but the interrupted portions 212 and 222 may be provided separately. Furthermore, the operating rod 241 of this embodiment is integrally formed from the beginning, but the interrupted portions 212 and 222 may be formed separately and then integrally connected (coupled). Furthermore, the operating rod 241 of this embodiment changes the position of the roller 281 via the pin 283, the guide 284, and the retainer 282. However, the operating rod 241 may also be applied to a modified example in which the position of the roller 281 is changed directly by the pin 283 without using the guide 284 and the retainer 282.

[0056] 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.

[0057] As shown in FIG. 11, 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).

[0058] When the operating rod 241 of the operating mechanism 240 is in the upper position shown in (A) of Figure 11, the second large diameter portion 241c2 pushes the pin 283 of the second interrupting portion 222 in the outer diameter direction, while the third large diameter portion 241c3 pushes the pin 283 of the first interrupting portion 212 in the outer diameter direction, thereby turning the first interrupting portion 212 and the second interrupting portion 222 to the off state.

[0059] Furthermore, when the operating rod 241 of the operating mechanism 240 is in the middle position shown in (B) of Figure 11, the first small diameter portion 241b1 allows the pin 283 of the second interrupting portion 222 to return in the inner diameter direction, while the third large diameter portion 241c3 pushes the pin 283 of the first interrupting portion 212 in the outer diameter direction, thereby turning the second interrupting portion 222 to the ON state and the first interrupting portion 212 to the OFF state.

[0060] Furthermore, when the operating rod 241 of the operating mechanism 240 is in the lower position shown in (C) of Figure 11, the first large diameter portion 241c1 pushes the pin 283 of the second interrupting portion 222 in the outer diameter direction, while the second small diameter portion 241b2 allows the pin 283 of the first interrupting portion 212 to return in the inner diameter direction, thereby turning the second interrupting portion 222 to the off state and the first interrupting portion 212 to the on state.

[0061] Next, the operation of the two-way clutch 280 will be described with reference to Figures 12 to 16, using the second interrupting portion 222 as an example. In the following example, the transition from (A) to (C) in Figure 11 via (B) in the second interrupting portion 222 will be described as an example.

[0062] 12A and 12B, in a state in which the second large diameter portion 241c2 of the operating rod 241 pushes the pin 283 of the second intermittent 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 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 portion of the flat portion 182a, and therefore the roller 281 does not mesh with the outer peripheral surface portion of the second shaft 182 and the inner peripheral surface portion 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.

[0063] 13A and 13B show a state in which the operating rod 241 has moved from a position where the second large diameter portion 241c2 pushes the pin 283 of the second intermittent portion 222 in the outer diameter direction to a position where the first small diameter portion 241b1 allows the pin 283 to return in the inner diameter direction. In FIG. 13, the pin 283 has already moved in the inner diameter direction, but in reality, as shown in FIG. 19, at the timing when relative rotation occurs between the second shaft 182 and the second driven gear 186, the guide 284 of the retainer 282, which rotates together with the second driven gear 186, pushes the pin 283 back in the inner diameter direction with the inclined surface of the recess 284a.

[0064] 14A and 14B, when relative rotation in the forward direction indicated by the arrow in the figure occurs between second shaft 182 and second driven gear 186 while pin 283 is allowed to return in the inner diameter direction, retainer 282, which rotates together with second driven gear 186, moves roller 281 in the forward direction relative to second shaft 182. As a result, roller 281 meshes with the outer peripheral surface of second shaft 182 and the inner peripheral surface of second driven gear 186, and a forward rotation on state is created in which second shaft 182 and second driven gear 186 rotate integrally in the forward rotation direction.

[0065] 15(A) and 15(B), when relative rotation in the reverse direction indicated by the arrow in the figure occurs between second shaft 182 and second driven gear 186 while pin 283 is allowed to return in the inner diameter direction, retainer 282, which rotates together with second driven gear 186, moves roller 281 in the reverse direction relative to second shaft 182. As a result, roller 281 meshes with the outer peripheral surface of second shaft 182 and the inner peripheral surface of second driven gear 186, creating a reverse-on state in which second shaft 182 and second driven gear 186 rotate integrally in the reverse direction. Retainer 282 can be considered one element of the actuator of the operating unit that moves roller 281.

[0066] 16(A) and 16(B), when the operating rod 241 moves from a position where the first small diameter portion 241b1 allows the pin 283 of the second interrupting portion 222 to return in the inner diameter direction to a position where the first large diameter portion 241c1 pushes the pin 283 outward, 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 in a predetermined position by the guiding action of the pin 283 and the guide 284. 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 circumferential surface of the second shaft 182 and the inner circumferential 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.

[0067] With the electric prosthetic leg 1 configured in this way, it is possible to smoothly ascend stairs, whereas with conventional passive prosthetic legs equipped with passive dampers, it was necessary to ascend one step at a time with the non-prosthetic leg.

[0068] Specifically, as shown in (A) → (D) of Figure 17, 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.

[0069] At this time, the transmission T is in a speed-changing state in which the operating rod 241 is positioned at the position shown in Figure 11 (C). In this speed-changing state, the motor M and the spindle unit SP are in a power transmission state via the first transmission mechanism T1. In this state, when the motor M is rotated in the first 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 connecting / disconnecting portion 212 of the first connecting / disconnecting mechanism 210, the second shaft 182, and the spindle unit SP. As a result, the sleeve 174 moves in a translational manner (extends) away from the transmission T, and the above-knee member 120, to which the sleeve 174 is connected, rotates about the rotating portion 135 relative to the below-knee member 110 to which the transmission T is attached, thereby extending the knee joint mechanism 130. Furthermore, since this extension power is a power that is increased in torque when it is slowed down by the first transmission mechanism T1, it is possible to reliably extend the knee joint mechanism 130 from a bent position even when a large load is placed on the electric prosthetic leg 1 when the electric prosthetic leg 1 is moved forward to climb stairs.

[0070] 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 while a weight is being applied to the healthy foot, as shown in (E)→(H) of Figure 17. 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.

[0071] At this time, the transmission T is in a speed-changing state in which the operating rod 241 is positioned at the position shown in Figure 11 (B). In this speed-changing state, the motor M and the spindle unit SP are in a power transmission state via the second transmission mechanism T2. In this state, when the motor M is rotated in a second direction opposite to the first 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 connecting / disconnecting portion 222 of the second connecting / disconnecting mechanism 220, the second shaft 182, and the spindle unit SP. As a result, the sleeve 174 translates (retracts) closer to the transmission T, and the knee below-side member 110, to which the transmission T is attached, rotates about the rotating portion 135 relative to the upper-knee side member 120 to which the sleeve 174 is connected, thereby bending the knee joint mechanism 130. Furthermore, this bending power is a power that has been reduced in torque when it is accelerated by the second speed change mechanism T2, so that the knee joint mechanism 130 can be bent quickly.

[0072] Furthermore, when descending stairs (step descent) as shown in Figure 18 or walking on flat ground, during the free leg period when no load is applied to the electric prosthetic leg 1, the operating rod 241 is placed in the speed-change state shown in Figure 11(A). In this speed-change state, the first interrupter 212 and the second interrupter 222 are in the off state, resulting in a free state in which the motor M and the spindle unit SP are not connected. In this state, the knee joint mechanism 130 is allowed to extend and bend as desired depending on the walking situation, enabling smooth prosthetic free leg walking.

[0073] On the other hand, when walking on flat ground as shown in Figure 18 and when descending stairs (step-down), during a standing leg in which a load is applied to the electric prosthetic leg 1, the operating rod 241 is placed in a speed-change state in the position shown in Figure 11(B). In this speed-change state, the second connecting / disconnecting part 222 is turned on, and therefore the motor M and the spindle unit SP are in a power transmission state via the second transmission mechanism T2. In this state, an external force in the bending direction acting on the electric prosthetic leg 1 is transmitted from the spindle unit SP via the second transmission mechanism T2 to the motor M, and therefore, by utilizing the friction of the motor M to attenuate the external force in the bending direction, smooth prosthetic walking becomes possible.

[0074] Next, a description will be given of the delay angle θ1 and wedge angle θ2 of the roller 281 in the discontinuous portions 212 and 222. First, a description will be given of the case where the shape of the outer circumferential surface portion of the second shaft 182 in the accommodation space S1 is the flat portion 182a.

[0075] 24 and 25, when the shape of the outer peripheral surface of the second shaft 182 in the accommodation space S1 is the flat portion 182a, the delay angle θ1 (2α) described in Fig. 23 is equal to the wedge angle θ2, which is the angle formed at the intersection between a tangent (hereinafter referred to as the first tangent L1) to the contact point (hereinafter referred to as the first contact point Po) between the roller 281 and the gears 184, 186 and a tangent (hereinafter referred to as the second tangent L2) to the contact point (hereinafter referred to as the second contact point Pi) between the roller 281 and the second shaft 182. α, which is half the magnitude of the delay angle θ1 (2α), is the contact angle, and is the angle formed by the contact load (resultant force of the normal force N and friction force μN in Fig. 25, which will be described later) at the first contact point Po or the second contact point Pi with respect to a line drawn from the center Pc of the roller 281 to the first contact point Po or the second contact point Pi.

[0076] 25, when roller 281 is in the engaged state, if the normal force is N and the friction coefficient of second shaft 182 is μ, a component of the friction force μN cos α acts on contact points Po and Pi in the direction of engagement, and a load N sin α acts in the direction of disengagement. In order for roller 281 to not slip out of the engaged state, the following formula (1) must be satisfied.

[0077] μNcosα>Nsinα (1)

[0078] Transforming the above formula (1) gives the following formula (2). μ>tan α (2)

[0079] Next, the contact surface pressure of the roller 281 in the engaged state will be described. Figure 26(A) is a diagram explaining the load acting on the second contact point Pi when the contact angle is α, i.e., when the delay angle θ1 = wedge angle θ2 = 2α, and Figure 26(B) is a diagram explaining the load acting on the second contact point Pi when the contact angle is α' (where α' < α), i.e., when the delay angle θ1 = wedge angle θ2 = 2α'.

[0080] 26(A), assuming that a rotational torque Tc is acting on the second shaft 182, a tangential load U, which is a load in the tangential direction, and a vertical load R, which is a load in the vertical direction passing through the center of the roller 281, act on the second contact point Pi between the roller 281 and the second shaft 182. If the radius of the second shaft 182 is D, then the relationship between the rotational torque Tc and the tangential load U is expressed by the following equation (3).

[0081] Tc=U×D (3)

[0082] The tangential load U and the vertical load R are component forces of the load Q applied in the direction of the line segment connecting the first contact point Po and the second contact point Pi. The contact surface pressure of the roller 281 is proportional to this vertical load R. The vertical load R is expressed by the following equation (4) using the contact angle α.

[0083] R=U / tan α (4)

[0084] Transforming the above equation (4) gives the following equation (5).

[0085] tan α=U / R (5)

[0086] It is better for the contact surface pressure of the roller 281 to be small. Note that when the rotational torque Tc is constant, the tangential load U remains constant even if the contact angle α changes, so the larger tan α, the smaller the vertical load R. Since α is less than 90°, the larger the contact angle α, the larger tan α. In other words, the larger the contact angle α, the smaller the vertical load R, and the smaller the contact angle α, the larger the vertical load R. This relationship is illustrated in Figure 26.

[0087] 26(A) and (B), when the contact angle α' in FIG. 26(B) is smaller than the contact angle α in FIG. 26(A), the vertical load R' in FIG. 26(B) is larger than the vertical load R in FIG. 26(A). In this way, in order to reduce the contact surface pressure of roller 281, which is proportional to the normal force, it is necessary to set the contact angle α large.

[0088] On the other hand, as mentioned above, the contact angle α needs to satisfy the above formula (2) in order to prevent the roller 281 from slipping off. Therefore, in order to reduce the contact surface pressure of the roller 281 while preventing the roller 281 from slipping off, it is preferable from a design perspective to select the largest α that satisfies the above formula (2).

[0089] So far, we have explained the case where the shape of the outer surface portion of the second shaft 182 in the storage space S1 is a flat portion 182a, but if the shape of the outer surface portion of the second shaft 182 in the storage space S1 is a protruding portion 182b, the delay angle θ1 and the wedge angle θ2 can be set to be different.

[0090] FIG. 27 is an explanatory diagram of the delay angle θ1 and wedge angle θ2 of the roller 281 when the outer circumferential surface of the second shaft 182 in the accommodation space S1 has a V-shaped protrusion 182b. As shown in Figure 27, when the shape of the protrusion 182b is V-shaped, if the wedge angle θ2 is set to 2α, the delay angle θ1 can be made smaller than the wedge angle θ2 (2α). By making the delay angle θ1 smaller, the backlash between the second shaft 182 and the gears 184, 186 can be reduced, improving product performance. On the other hand, when the shape of the protrusion 182b is V-shaped, if the delay angle θ1 is set to 2α, the wedge angle θ2 can be made larger than the delay angle θ1 (2α). As mentioned above, by making the wedge angle θ2 larger, the contact surface pressure of the roller 281 can be reduced, preventing plastic deformation of the roller 281.

[0091] In this way, when the shape of the outer peripheral surface portion of second shaft 182 in accommodation space S1 is protrusion 182b, delay angle θ1 and wedge angle θ2 can be designed separately. In particular, when the shape of the outer peripheral surface portion of second shaft 182 in accommodation space S1 is V-shaped protrusion 182b, change in wedge angle θ2 is small regardless of component variation of roller 281, so change in wedge angle θ2 when a load is applied can be suppressed.

[0092] 27, the inner end of the pin 283 that comes into contact with the second shaft 182 has the same shape as the protrusion 283a, and is configured to be symmetrical up and down, thereby preventing incorrect assembly during assembly.

[0093] Next, the relationship between the delay angle θ1 of the roller 281 at the discontinuous portions 212, 222 and the shape of the recessed portion 284a of the guide 284 (or the V-groove 282d of the retainer 282) will be described with reference to Fig. 23. In the following description, the small diameter portions 241b1, 241b2 will be collectively referred to as small diameter portion 241b, and the large diameter portions 241c1 to 241c3 will be collectively referred to as large diameter portion 241c.

[0094] As described above, 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 with the protrusion 283a. The recess 284a has two inclined portions 284c that guide the protrusion 283a of the pin 283 to the circumferential center portion 284b of the recess 284a in the circumferential direction. In other words, when the protrusion 283a of the pin 283 starts to fit into the recess 284a of the guide 284 by being pushed by the large diameter portion 241c of the operating rod 241, the protrusion 283a of the pin 283 pushes the inclined portions 284c in the recess 284a of the guide 284, causing the retainer 282 to rotate relative to the second shaft 182. Then, when the fitting of the convex portion 283a of the pin 283 and the concave portion 284a of the guide 284 is completed, the relative rotation position of the retainer 282 with respect to the second shaft 182 is positioned at a predetermined position where the relative rotation position is forced free (the disconnected portions 212, 222 are in the OFF state). Here, the angle indicating the effective guide range in the circumferential direction of one inclined portion 284c (the range in which a circumferential component of force is generated in the retainer 282 when the pin 283 abuts) is defined as the effective guide range angle β of the inclined portion 284c, centered on the rotation axis.

[0095] On the other hand, in a state in which pin 283 is allowed to return in the inward direction by small diameter portion 241b of operating rod 241, at the timing when relative rotation occurs between second shaft 182 and gears 184, 186, guide 284 of retainer 282, which rotates together with gears 184, 186, pushes pin 283 back in the inward direction with inclined portion 284c of recess 284a. As a result, roller 281 meshes with the outer peripheral surface portion of second shaft 182 and the inner peripheral surface portion of gears 184, 186, causing second shaft 182 and gears 184, 186 to rotate integrally in the forward rotation direction or the reverse rotation direction (interrupter portions 212, 222 are in the on state).

[0096] The effective guide range angle β of the inclined portion 284c is set to be larger than the delay angle θ1 (2α) of the roller 281. Such intermittent portions 212, 222 can prevent the convex portion 283a of the pin 283 from moving out of the effective guide range of the inclined portion 284c of the guide 284 when the intermittent portions 212, 222 are in the on state (the engaged state of the roller 281). Therefore, when the intermittent portions 212, 222 are switched from the on state to the off state, the convex portion 283a of the pin 283 can be reliably fitted into the concave portion 284a of the guide 284, and the roller 281 can be appropriately switched from the engaged state to the disengaged state.

[0097] As shown in Figure 24, when the delay angle θ1 of roller 281 is 2α, the diameter of roller 281 is d, the length (radial length) from the rotation center of second shaft 182 to flat portion 182a is L, the gap between roller 281 and flat portion 182a is t, the intersection of flat portion 182a and a line passing through the center of second shaft 182 and the center of roller 281 when meshed is P, the distance from intersection P to the rotation center of second shaft 182 is E, and the distance from intersection P to the center of roller 281 is F, the following relationship holds. cos2α=L / E cos2α=(d / 2) / F E+F=L+t+d / 2 E:F=L:d / 2 Therefore, based on these assumptions, the effective guide range angle β of the inclined portion 284c (the angle, length, etc. of the inclined portion 284c) is designed to be larger than the delay angle θ1 (2α) of the roller 281.

[0098] (Variation) FIG. 28 is a diagram showing the first intermittent portion 212 and the second intermittent portion 222 of the second modified example provided with a determination mechanism 400 that determines whether the roller 281 is in an engaged state or a disengaged state.

[0099] In this modified example, current paths 411 and 412 (see FIG. 29) are formed that pass through gears 184 and 186, second shaft 182, and roller 281. That is, gears 184 and 186, second shaft 182, and roller 281 are made of conductive materials. Gears 184 and 186 are insulated from each other by insulating washers (not shown), and the gears 184 and 186 and second shaft 182 are always kept in an insulated state by the insulating washers and retainer 282 except when electrical conduction occurs via roller 281. The insulating washers and retainer 282 are made of, for example, aluminum members that have been insulated by anodizing.

[0100] Slip rings 421 and 422 are attached to the gears 184 and 186 and the second shaft 182, respectively. The slip ring 421 of the first driven gear 184 and the slip ring 422 of the second shaft 182 are electrically connected by a first connection line 402 having brushes at both ends that make sliding contact with the slip rings 421 and 422, thereby forming a first current path 411. The slip ring 421 of the second driven gear 186 and the slip ring 422 of the second shaft 182 are electrically connected by a second connection line 403 having brushes at both ends that make sliding contact with the slip rings 421 and 422, thereby forming a second current path 412. The first current path 411 and the second current path 412 are each connected to a control unit CTR that controls the servo motor 242. As described above, the servo motor 242 is a drive source for linearly moving the operating rod 241. The first connection line 402 and the second connection line 403 are fixed to the main frame 111 via an insulating member.

[0101] 29, the first current path 411 and the second current path 412 are connected when the roller 281 is engaged, and are disconnected when the roller 281 is disengaged. The control unit CTR controls the servo motor 242 according to the state of the first current path 411 and / or the second current path 412. That is, the control unit CTR prohibits the movement of the operating rod 241 when the first current path 411 and / or the second current path 412 is connected.

[0102] When the rollers 281 are in an engaged state, the resistance is large and the operating rod 241 cannot be moved. If an attempt is made to move the operating rod 241 while the rollers 281 are in an engaged state, the servo motor 242 continues to drive and consumes power even though the operating rod 241 cannot move. By prohibiting movement of the operating rod 241 when the rollers 281 are in an engaged state in which the first current path 411 and / or the second current path 412 are in a connected state, the power consumption of the servo motor 242 can be reduced. In addition, it is possible to prevent the servo motor 242, which moves the operating rod 241, from being damaged due to an excessive load being applied thereto.

[0103] On the other hand, when the first current path 411 and / or the second current path 412 transitions from the connected state to the disconnected state, the control unit CTR allows the movement of the operating rod 241. As a result, since there is no or little resistance when the roller 281 is in the engaged state, the operating rod 241 can be moved smoothly while preventing the servo motor 242 from being damaged.

[0104] 29, the roller 281 is preferably provided with a leaf spring 425 that urges the roller 281 toward the flat portion 182a of the second shaft 182 in the roller holding portion 282a, which is the accommodation space S1 of the roller 281. By the leaf spring 425 urging the roller 281 toward the flat portion 182a of the second shaft 182, it is possible to prevent the first current path 411 and / or the second current path 412 from being in a connected state even when the roller 281 is in a disengaged state.

[0105] 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.

[0106] For example, in the above embodiment, a prosthetic leg device (electric prosthetic leg) applied to a knee joint was exemplified as one embodiment of a joint device using the connecting / disconnecting device of the present invention, but the present invention is not limited to this, and may also be a prosthetic limb device (electric prosthetic limb) applied to an elbow joint, and the wearer may be an animal other than a human, or may be a robot. When applied to an elbow joint, the below-knee member 110 in the above embodiment is the distal side of the wearer, i.e., the forearm, relative to the above-knee member 120.

[0107] Furthermore, the connecting / disconnecting device of the present invention may be used not only in coupling devices but also in vehicle drive devices. Figure 30 is a schematic diagram of a vehicle drive device equipped with the connecting / disconnecting device of the above-mentioned embodiment.

[0108] The vehicle drive device 900 in Figure 30 includes a motor M as a drive source, a transmission T' that transmits the power of the motor M, a first interrupting mechanism 210 and a second interrupting mechanism 220 provided in the transmission T', and a differential device DIF that distributes the output from the transmission T' to the left and right drive wheels WH.

[0109] The transmission T' includes a first transmission mechanism T1 that transmits the power of the motor M to the left and right drive wheels WH at a first speed change ratio, and a second transmission mechanism T2 that transmits the power of the motor M to the left and right drive wheels WH at a second speed change ratio that is different from the first speed change ratio. The relationship between the first speed change ratio and the second speed change ratio is the same as in the above-described embodiment.

[0110] The first transmission mechanism T1 includes a first drive gear 901 and a first driven gear 902 that mesh with each other. The first drive gear 901 is supported by a first shaft 911 so as to be rotatable relative to each other, and the first driven gear 902 is supported by a second shaft 912 so as to be rotatable integrally therewith. The second transmission mechanism T2 includes a second drive gear 905 and a second driven gear 906 that mesh with each other. The second drive gear 905 is supported by the first shaft 911 so as to be rotatable relative to each other, and the second driven gear 906 is supported by the second shaft 912 so as to be rotatable integrally therewith. In addition to the first drive gear 901 and the second drive gear 905, an input gear 907 to which power from a motor M is input is attached to the first shaft 911 so as to be rotatable integrally therewith. Further, in addition to the first driven gear 902 and the second driven gear 906, an output gear 908 capable of outputting the power of the motor M to the differential unit DIF is attached to the second shaft 912 so as to be rotatable together with the first driven gear 902 and the second driven gear 906.

[0111] The first interrupting mechanism 210 includes a first interrupting unit 212 provided between the first drive gear 901 and the first shaft 911. The second interrupting mechanism 220 includes a second interrupting unit 222 provided between the second drive gear 905 and the first shaft 911. These interrupting 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. Note that the roller 281, operating rod 241, pin 283, retainer 282, and guide 284 that make up the interrupting units 212, 222 are the same as those in the above-described embodiment, so the same reference numerals are used and description thereof will be omitted.

[0112] In the vehicle drive device 900 configured in this manner, when the first interrupter 212 is off and the second interrupter 222 is on, the power of the motor M is transmitted to the left and right drive wheels WH via the second transmission mechanism T2. When the first interrupter 212 is on and the second interrupter 222 is off, the power of the motor M is transmitted to the left and right drive wheels WH via the first transmission mechanism T1. When the first interrupter 212 is off and the second interrupter 222 is off, the power of the motor M is not transmitted to the left and right drive wheels WH, which is a so-called neutral state.

[0113] Applying the interrupting device of the present invention to the vehicle drive unit 900 eliminates the need for rotational speed matching during gear shifting, improving responsiveness during gear shifting. Furthermore, the number of parts constituting the interrupting device can be reduced compared to a typical dog clutch or the like. The first interrupting mechanism 210 and / or the second interrupting mechanism 220 may be provided on the second shaft 912 instead of the first shaft 911. The drive wheels WH may be circular wheels as in this embodiment, or alternatively, drive wheels for moving endless tracks. While this embodiment describes an application of the interrupting device to a drive unit that drives the drive wheels WH as a propulsion unit for propelling a vehicle, the interrupting device may also be applied to a drive unit that drives a propulsion unit, such as a propeller, for propelling other mobile objects, such as a ship or an aircraft. Furthermore, the interrupting device may also be applied to a drive unit that drives a working unit, such as a snow removal unit or a grass cutting unit, of a work machine, such as a snow blower or a grass cutter, in addition to the propulsion unit of a mobile object.

[0114] 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.

[0115] (1) an engaging element (roller 281) disposed between a first rotating body (first driven gear 184, first driving gear 901) and a second rotating body (second shaft 182, first shaft 911); an operating unit (operating rod 241, pin 283, retainer 282, guide 284) 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 to each other, The first rotating body and the second rotating body are The rotation axes of the rotors are aligned with each other and are arranged so that at least a portion of the rotors overlap each other when viewed in an orthogonal direction perpendicular to the rotation axes, the first rotating body has a hollow hole therein, and the second rotating body is disposed within the hollow hole; When the space between the inner peripheral surface of the hollow hole of the first rotor and the outer peripheral surface of the second rotor in which the engaging element is accommodated is defined as an accommodation space (accommodation space S1), The shape of the outer circumferential surface of the second rotating body in a plane extending in a direction perpendicular to the rotation axis is formed so that the radial length of the accommodation space varies depending on the circumferential position relative to the rotation axis, A disconnecting device that is formed so that, within the circumferential movable range of the engaging element in the accommodating space, the radial length (radial length L2) at the circumferential end position is smaller than the radial length (radial length L1) at the circumferential central position of the movable range.

[0116] According to (1), the engaging element can be switched between an engaged state and a disengaged state by moving the engaging element from the circumferential center position to the circumferential end position.

[0117] (2) The interrupter device according to (1), The shape in the plane is: The interrupting device is formed as a protrusion (protrusion 182b) that protrudes from the circumferential center position toward the circumferential end position.

[0118] According to (2), the radial length in the accommodation space can be adjusted by the protrusion.

[0119] (3) The interrupter device according to (1) or (2), The shape in the plane is: The interrupting device is formed in a linear shape inclined from the circumferential center position toward the circumferential end position.

[0120] According to (3), the delay angle and wedge angle of the engaging element can be designed separately. In addition, since the change in the wedge angle is small regardless of the component variations of the engaging element, the change in the wedge angle when a load is applied can be suppressed.

[0121] (4) The interrupter device according to (1) or (2), The shape in the plane is: The interrupting device is formed in an arc shape that curves from the circumferential center position toward the circumferential end position.

[0122] According to (4), the delay angle and the wedge angle of the engaging element can be designed separately.

[0123] (5) The interrupter device according to (3) or (4), The shape in the plane is: The interrupting device is formed in a mirror symmetrical manner toward both of the circumferential end positions with respect to the circumferential center position.

[0124] According to (5), the delay angles in both rotation directions are the same, improving the user experience.

[0125] (6) The interrupter device according to any one of (1) to (5), The engaging element is formed in a circular shape on the plane, a relative angle between the first rotating body and the second rotating body when the engaging piece is located at a central position in the circumferential direction of the accommodation space and the first rotating body and the second rotating body are in the disengaged state in which they can rotate relative to each other is defined as a first angle; a relative angle between the first rotating body and the second rotating body when the engaging element is located at an end position in the circumferential direction of the accommodation space and the first rotating body and the second rotating body are in the engaged state so as to be able to rotate integrally with each other is defined as a second angle; The difference between the first angle and the second angle is defined as a third angle (delay angle θ1), When the engaging element is located at the circumferential end position of the accommodating space and the first rotating body and the second rotating body are in the engaged state where they can rotate integrally, the angle formed at the intersection of a first tangent (first tangent L1) that is a tangent to a first contact point (first contact point Po) between the first rotating body and the engaging element and a second tangent (second tangent L2) that is a tangent to a second contact point (second contact point Pi) between the second rotating body and the engaging element is defined as a fourth angle (wedge angle θ2), The shape in the plane is formed such that the third angle is smaller than the fourth angle.

[0126] According to (6), by increasing the fourth angle while decreasing the third angle, the play between the first and second rotating bodies can be reduced, improving product performance. In addition, the contact surface pressure of the engaging elements can be reduced.

[0127] (7) The interrupter device according to any one of (1) to (6), The operation unit includes: An actuator (retainer 282, guide 284) that moves the engaging element; and an operating element (operating rod 241, pin 283) 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 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 interlocking device is configured so that an inner end of the advancing / retracting element, which is an end of the advancing / retracting element on the rotation axis side in the orthogonal direction, abuts against the extending portion.

[0128] According to (7), the operating unit can appropriately switch the engaging element between an engaged state and a disengaged state. In the operating element, the inner end of the advancing / retracting element abuts against the extension portion, so that the advancing / retracting element can move forward and backward in a direction perpendicular to the rotation axes of the first rotating body and the second rotating body.

[0129] (8) The interrupter device according to (7), The actuator has a retainer (retainer 282) that is provided on the same diameter as the engaging element in the circumferential direction and that holds the advancing / retreating element, The retainer is provided so that a distance between an end portion (end portion 285a) of the retainer on one side in the circumferential direction relative to the engaging element and an end portion (end portion 285b) of the retainer on the other side is larger than a length (diameter B) of the engaging element in the circumferential direction, The shape of the interrupter device is formed so that when the engaging element is in the disengaged state and the engaging element abuts against the end of the retainer on one side or the other side, a gap (gap C) exists between the engaging element and at least one of the first rotating body or the second rotating body.

[0130] According to (8), when the engaging element is in a disengaged state, it is possible to prevent the engaging element from unintentionally entering an engaged state.

[0131] (9) The interrupter device according to any one of (1) to (8), A current path (a first current path 411, a second current path 412) is formed through the first rotating body, the second rotating body, and the engaging element, The current path is in a connected state when the engaging element is in the engaged state, and in a disconnected state when the engaging element is in the disengaged state.

[0132] According to (9), it is possible to distinguish between the engaged state and the disengaged state of the engaging element.

[0133] (10) The interrupter device according to (9), The interrupter device, wherein a biasing member (leaf spring 425) that biases the engagement element toward the first rotating body or the second rotating body is provided in the accommodation space.

[0134] According to (10), it is possible to prevent the current path from being connected even when the engaging element is in a disengaged state.

[0135] (11) The interrupter device according to (9) or (10), The operation unit includes: An actuator (retainer 282, guide 284) that moves the engaging element; and an operating element (operating rod 241, pin 283) 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) that extends along the rotation axis and is provided so as to be movable forward and backward along the rotation axis, 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 interrupter device includes a control unit (control unit CTR) that controls the movement of the extension unit, The control unit prohibits movement of the extension portion when the current path is in the connected state.

[0136] When the engaging element is in an engaged state, the resistance is large and the extension portion cannot be moved. If an attempt is made to move the extension portion while the engaging element is in an engaged state, the drive source continues to drive the extension portion unnecessarily, even though the extension portion cannot move. According to (11), by prohibiting movement of the extension portion when the engaging element is in an engaged state and the current path is connected, the power consumption of the drive source can be reduced. In addition, excessive load on the drive source that moves the extension portion can be prevented, thereby preventing the drive source from being damaged.

[0137] (12) The interrupter device according to (11), The control unit allows the extension portion to move when the current path transitions from the connected state to the disconnected state.

[0138] According to (12), when the engaging element is in the engaged state, there is no or only a small resistance, so that the extension portion can be moved smoothly while preventing damage to the drive source.

[0139] Although various embodiments have been described above, 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 embodiments may be combined in any manner as long as they do not deviate from the spirit of the invention.

[0140] This application is based on a Japanese patent application (Patent Application No. 2021-203494) filed on December 15, 2021, the contents of which are incorporated by reference into this application. [Explanation of symbols]

[0141] 182 Second shaft (second rotating body) 182b Protrusion 184 First driven gear (first rotating body) 210 First interrupting mechanism (interrupting device) 220 Second interrupting mechanism (interrupting device) 241 Operation rod (operation part, operator, extension part) 281 Roller (engagement element) 282 Retainer (operation part, actuator, retainer) 282c Rubber ball (intervening part) 283 pins (operation unit, operator, forward / reverse switch) 284 Guide (operating part, actuator) 285a End (end of the cage on one side in the circumferential direction) 285b End (end of the cage on the other circumferential side) 425 Leaf spring (biasing member) 901 First drive gear (first rotating body) 911 First shaft (second rotating body) B Diameter (circumferential length of the engaging element) C. Gap (gap between the engaging element and at least one of the first rotating body and the second rotating body) CTR control section θ1 delay angle (third angle) θ2 Wedge angle (fourth angle) L1 1st tangent L2 2nd tangent Pi 2nd contact Po First Contact S1 Containment Space

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 integrally and a disengaged state in which the first rotating body and the second rotating body are rotatable relative to each other, The first rotating body and the second rotating body are The rotation axes of the rotors are aligned with each other and are arranged so that at least a portion of the rotors overlap each other when viewed in an orthogonal direction perpendicular to the rotation axes, the first rotating body has a hollow hole therein, and the second rotating body is disposed within the hollow hole; When a space between the inner peripheral surface of the hollow hole of the first rotating body and the outer peripheral surface of the second rotating body in which the engaging element is accommodated is defined as an accommodation space, The shape of the outer circumferential surface of the second rotating body in a plane extending in a direction perpendicular to the rotation axis is formed so that the radial length of the accommodation space varies depending on the circumferential position with respect to the rotation axis, and In the circumferential movable range of the engaging element in the accommodation space, the radial length at a circumferential end position is formed to be smaller than the radial length at a circumferential center position of the movable range, The engaging element is formed in a circular shape on the plane, a relative angle between the first rotating body and the second rotating body when the engaging piece is located at a central position in the circumferential direction of the accommodation space and the first rotating body and the second rotating body are in the disengaged state in which they can rotate relative to each other is defined as a first angle; a relative angle between the first rotating body and the second rotating body when the engaging element is located at an end position in the circumferential direction of the accommodation space and the first rotating body and the second rotating body are in the engaged state so as to be able to rotate integrally with each other is defined as a second angle; The difference between the first angle and the second angle is a third angle; When the engaging element is located at the circumferential end position of the accommodation space and the first rotating body and the second rotating body are in the engaged state where they can rotate integrally, an angle formed at an intersection between a first tangent that is a tangent to a first contact point between the first rotating body and the engaging element and a second tangent that is a tangent to a second contact point between the second rotating body and the engaging element is defined as a fourth angle, The shape in the plane is formed such that the third angle is smaller than the fourth angle.

2. 2. The interrupter device of claim 1, The shape in the plane is: An interrupting device formed as a protrusion protruding from the circumferential center location toward the circumferential end location.

3. 2. The interrupter device of claim 1, The shape in the plane is: The interrupting device is formed in a linear shape inclined from the circumferential center position toward the circumferential end position.

4. 2. The interrupter device of claim 1, The shape in the plane is: The interrupting device is formed in an arc shape that curves from the circumferential center position toward the circumferential end position.

5. 4. The interrupter device of claim 3, The shape in the plane is: The interrupting device is formed in a mirror symmetrical manner toward both of the circumferential end positions with respect to the circumferential center position.

6. The interrupter device according to any one of claims 1 to 5, The operation unit includes: an actuator that moves the engagement element; an operator 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 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 interlocking device is configured so that an inner end of the advancing / retracting element, which is an end of the advancing / retracting element on the rotation axis side in the orthogonal direction, abuts against the extending portion.

7. 7. The interrupter device of claim 6, the operating element has a retainer that is provided on the same diameter as the engaging element in the circumferential direction and that holds the advancing / retracting element, the retainer is provided so that a distance between an end of the retainer on one side in the circumferential direction relative to the engaging element and an end of the retainer on the other side is larger than a length of the engaging element in the circumferential direction, The shape of the interrupter device is formed so that when the engaging element is in the disengaged state and the engaging element abuts against the end of the retainer on one side or the other side, a gap exists between the engaging element and at least one of the first rotating body or the second rotating body.

8. 2. The interrupter device of claim 1, a current path is formed that passes through the first rotating body, the second rotating body, and the engaging element; The current path is in a connected state when the engaging element is in the engaged state, and in a disconnected state when the engaging element is in the disengaged state.

9. 9. The interrupter device of claim 8, The interrupter device, wherein a biasing member that biases the engagement element toward the first rotating body or the second rotating body is provided in the accommodation space.

10. 10. The interrupter device according to claim 8 or 9, The operation unit includes: an actuator that moves the engagement element; an operator 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 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 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 interrupter device includes a control unit that controls movement of the extension portion, The control unit prohibits movement of the extension portion when the current path is in the connected state.

11. 11. The interrupter device of claim 10, The control unit allows the extension portion to move when the current path transitions from the connected state to the disconnected state.

12. 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 integrally and a disengaged state in which the first rotating body and the second rotating body are rotatable relative to each other, The first rotating body and the second rotating body are The rotation axes of the rotors are aligned with each other and are arranged so that at least a portion of the rotors overlap each other when viewed in an orthogonal direction perpendicular to the rotation axes, the first rotating body has a hollow hole therein, and the second rotating body is disposed within the hollow hole; When a space between the inner peripheral surface of the hollow hole of the first rotating body and the outer peripheral surface of the second rotating body in which the engaging element is accommodated is defined as an accommodation space, The shape of the outer circumferential surface of the second rotating body in a plane extending in a direction perpendicular to the rotation axis is formed so that the radial length of the accommodation space varies depending on the circumferential position with respect to the rotation axis, and In the circumferential movable range of the engaging element in the accommodation space, the radial length at a circumferential end position is formed to be smaller than the radial length at a circumferential center position of the movable range, 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 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 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 operating element has a retainer that is provided on the same diameter as the engaging element in the circumferential direction and that holds the advancing / retracting element, the retainer is provided so that a distance between an end of the retainer on one side in the circumferential direction relative to the engaging element and an end of the retainer on the other side is larger than a length of the engaging element in the circumferential direction, The shape of the interrupter device is formed so that when the engaging element is in the disengaged state and the engaging element abuts against the end of the retainer on one side or the other side, a gap exists between the engaging element and at least one of the first rotating body or the second rotating body.

13. 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 integrally and a disengaged state in which the first rotating body and the second rotating body are rotatable relative to each other, The first rotating body and the second rotating body are The rotation axes of the rotors are aligned with each other and are arranged so that at least a portion of the rotors overlap each other when viewed in an orthogonal direction perpendicular to the rotation axes, the first rotating body has a hollow hole therein, and the second rotating body is disposed within the hollow hole; When a space between the inner peripheral surface of the hollow hole of the first rotating body and the outer peripheral surface of the second rotating body in which the engaging element is accommodated is defined as an accommodation space, The shape of the outer circumferential surface of the second rotating body in a plane extending in a direction perpendicular to the rotation axis is formed so that the radial length of the accommodation space varies depending on the circumferential position with respect to the rotation axis, and In the circumferential movable range of the engaging element in the accommodation space, the radial length at a circumferential end position is formed to be smaller than the radial length at a circumferential center position of the movable range, a current path is formed that passes through the first rotating body, the second rotating body, and the engaging element; The current path is in a connected state when the engaging element is in the engaged state, and in a disconnected state when the engaging element is in the disengaged state, 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 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 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 interrupter device includes a control unit that controls movement of the extension portion, The control unit prohibits movement of the extension portion when the current path is in the connected state.

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