Power transmission device

Abstract

To provide a power transmission device that is equipped with an interrupter capable of properly switching a state in which rotators can integrally rotate and a state in which those can relatively rotate.SOLUTION: A transmission T is equipped with a first driven gear 184, a second shaft 182, a first interrupting mechanism 210, and a unit case 250 storing those. The first interrupting mechanism 210 is equipped with a roller 281 disposed between the first driven gear 184 and the second shaft 182, an operation rod 241 that operates the roller 281 to be in an engaging state in which the first driven gear 184 and the second shaft 182 can integrally rotate and in a non-engaging state in which the first driven gear 184 and the second shaft 182 can relatively rotate, and a first control unit 301 that controls the operation rod 241.SELECTED DRAWING: Figure 20

Description

Technical Field

[0001] The present invention relates to a power transmission device.

Background Art

[0002] Conventionally, power transmission devices equipped with an intermittent device that switches between a state where rotating bodies can rotate integrally and a state where they can rotate relatively are installed in propulsion units of moving bodies such as vehicles, working units of working machines such as tractors, and joint devices such as prosthetic legs (for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the intermittent device, it is required to be able to appropriately switch between the above two states according to the situation.

[0005] The present invention provides a power transmission device including an intermittent device that can appropriately switch between a state where rotating bodies can rotate integrally and a state where they can rotate relatively.

Means for Solving the Problems

[0006] The present invention is a power transmission device arranged on the power transmission path between a driving part and a driven part, a first rotating body, a second rotating body, and an intermittent device, wherein the intermittent device is an engaging element arranged between the first rotating body and the second rotating body, The engaging element is operated by an operating unit for switching between an engaged state in which the first rotating body and the second rotating body can rotate together, and an unengaged state in which the first rotating body and the second rotating body can rotate relative to each other. The aforementioned operating unit is An actuator that moves the aforementioned engaging element, The device includes an operator that is provided to enable the engagement element to be operated via the actuator, or to enable the engagement element to be operated without the actuator, The first and second bodies of rotation are So that their respective axes of rotation coincide, They are arranged such that at least a portion of each overlaps when viewed in a direction perpendicular to the aforementioned axis of rotation, The aforementioned operator is A reciprocating element is provided that is capable of moving back and forth along a direction perpendicular to the rotation axis, It has an extending portion that extends along the rotation axis and is provided to be movable back and forth along the rotation axis, The retractable element is provided such that its inner end, which is the end of the retractable element on the rotation axis side in the orthogonal direction, abuts against the extended portion. The power transmission device includes a control unit that controls the operating unit. 、 The first rotating body is mechanically connected to the drive unit, The second rotating body is mechanically connected to the driven part, When the engaging element is in the engaged state and the operating unit operates the engaging element to disengage it, the control unit The drive unit is required to generate rotational force on the first rotating body in a direction that weakens the engagement state, or The operating part is operated after rotational force is generated in the first rotating body in a direction that weakens the engagement state. . [Effects of the Invention]

[0007] According to the present invention, it is possible to appropriately switch between a state in which rotating bodies can rotate together as a whole and a state in which they can rotate relative to each other. [Brief explanation of the drawing]

[0008] [Figure 1] This is a perspective view of an electric prosthetic leg equipped with an intermittent device according to one embodiment of the present invention, seen from a diagonal front view. [Figure 2] Figure 1 is an exploded perspective view of the electric prosthetic leg. [Figure 3] It is a perspective view of a telescopic device. [Figure 4] It is a cross-sectional view of the electric prosthesis in FIG. 1. [Figure 5] It is a cross-sectional view of the telescopic device. [Figure 6] It is a cross-sectional view of the main part showing the bent state of the electric prosthesis in FIG. 1. [Figure 7] It is a cross-sectional view of the main part showing the maximum bent state of the electric prosthesis in FIG. 1. [Figure 8] It is a cross-sectional view of a two-way clutch. [Figure 9] It is a perspective view showing an example of a retainer (including a roller, a guide, and a rubber ball) shown in FIG. 8. [Figure 10] It is a perspective view showing another example of a retainer (including a roller and a rubber ball) shown in FIG. 8. [Figure 11] It is a diagram showing the operation of the operating mechanism. (A) is a diagram showing the state where the first intermittent part and the second intermittent part are off. (B) is a diagram showing the state where the first intermittent part is off and the second intermittent part is on. (C) is a diagram showing the state where the first intermittent part is on and the second intermittent part is off. [Figure 12] (A) is a cross-sectional view showing the state where the second intermittent part is off, and (B) is a diagram showing the position of the operating rod at that time. [Figure 13] (A) is a cross-sectional view showing the state where the second intermittent part is operated from off to on, and (B) is a diagram showing the position of the operating rod at that time. [Figure 14] (A) is a cross-sectional view showing the forward rotation on state of the second intermittent part, and (B) is a diagram showing the position of the operating rod at that time. [Figure 15] (A) is a cross-sectional view showing the reverse rotation on state of the second intermittent part, and (B) is a diagram showing the position of the operating rod at that time. [Figure 16] (A) is a cross-sectional view showing the state where the second intermittent part is operated from on to off, and (B) is a diagram showing the position of the operating rod at that time. [Figure 17] (A) to (F) are diagrams showing the operations of a human and an electric prosthesis during ascending steps. [Figure 18]This diagram shows the movements of a human and an electric prosthetic leg when ascending stairs, walking on level ground, and descending stairs. [Figure 19] This diagram shows the state in which, when the second intermittent section is operated from off to on, the retainer guide, which rotates together with the second driven gear, pushes the pin inward in the inclined surface of the recess. [Figure 20] This diagram illustrates the control mechanism for switching between the engaged and disengaged states of a roller during walking on flat ground. [Figure 21] This diagram illustrates the control mechanism for switching between the unengaged and engaged states of the roller during walking on flat ground. [Figure 22] This diagram shows the control block of the electric prosthetic leg 1. [Figure 23] This is a schematic diagram of a vehicle drive system equipped with an intermittent device according to one embodiment of the present invention. [Modes for carrying out the invention]

[0009] The following describes an electric prosthetic leg equipped with an intermittent device according to one embodiment of the present invention, with reference to the drawings. In the following description, the anterior-posterior, lateral, and vertical directions are defined relative to 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 side as L, the right side as R, the top as U, and the bottom as D.

[0010] As shown in Figures 1 to 5, the electric prosthetic leg 1 of this embodiment is a prosthetic leg that is attached to the leg of a person without a knee, and comprises a lower knee member 110 located below the knee, an upper knee member 120 attached to the thigh and located above the knee, a knee joint mechanism 130 that connects the lower knee member 110 and the upper knee member 120 in a way that the angle between them can be changed, an extendable / retractable device 140 that can change the angle between the lower knee member 110 and the upper knee member 120 by extending or retracting, a mechanical stop mechanism 150 that mechanically limits the range of change of the angle between the lower knee member 110 and the upper knee member 120, a cushioning mechanism 160 that cushions the impact caused by the mechanical stop mechanism 150, and a battery B that supplies power to the extendable / retractable device 140 and the like.

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

[0012] The lower leg member 110 comprises a box-shaped main frame 111 with openings at the top and rear, side covers 112 covering both the left and right sides of the main frame 111, and a detachable rear cover 113 that can open and close to cover the rear opening of the main frame 111.

[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 portion 114 extending downward is provided on the lower part of the main frame 111.

[0014] As shown in Figures 3 to 5, the telescopic device 140 comprises a motor M that outputs rotational power, a transmission T that transmits power from the motor M, a spindle unit SP that is connected to the transmission T in a way that it can transmit power and converts the rotational power output from the transmission T into translational motion (telescopic motion), a first intermittent mechanism 210 and a second intermittent mechanism 220 provided on the transmission T, and a unit case 250 that unitizes the telescopic device 140.

[0015] The motor M is positioned behind and above the transmission T, and the spindle unit SP is positioned in front of and above the transmission T. The motor M is a gear-integrated motor comprising a motor body 171 and a gear mechanism 172 that reduces the output rotation of the motor body 171. The spindle unit SP has a spindle 173 with a male screw and a sleeve 174 with a female screw, and the sleeve 174 moves in translational motion along the axis of the spindle 173 as the spindle 173 rotates.

[0016] Specifically, the spindle 173 rotates in response to the rotational power of the motor M transmitted by the transmission T. Meanwhile, the sleeve 174 is supported by the unit case 250 so as to be immobile and vertically movable. Therefore, when the spindle 173 rotates in one direction in response to the rotational power of the motor M transmitted by the transmission T, the sleeve 174 translates away from the transmission T, and when the spindle 173 rotates in the other direction, the sleeve 174 translates towards the transmission T. The translational movement of the sleeve 174 away from the transmission T is sometimes called the extension of the spindle unit SP, and conversely, the translational movement of the sleeve 174 towards the transmission T is sometimes called the contraction of the spindle unit SP.

[0017] In other words, the distance between the sleeve 174 and the transmission T expands and contracts depending on the rotation direction of the spindle 173. The upper end of the sleeve 174 is connected to the upper knee member 120 via a link member 175. As the distance between the sleeve 174 and the transmission T expands and contracts depending on the rotation direction of the spindle 173, the lower knee member 110 and the upper knee member 120 rotate around the pivot part 135. This changes the angle between the upper knee member 120 and the lower knee member 110. If the angle between the upper knee member 120 and the lower knee member 110 is taken as the acute angle, the knee joint mechanism 130 extends when the angle increases and flexes when the angle decreases.

[0018] The transmission T comprises a first transmission mechanism T1 that transmits power from the motor M to the spindle unit SP at a first gear ratio, and a second transmission mechanism T2 that transmits power from the motor M to the spindle unit SP at a second gear ratio different from the first gear ratio. The first transmission mechanism T1 and the second transmission mechanism T2 are switched between a power interruption state and a power connection state by intermittent mechanisms 210 and 220.

[0019] With such a transmission T, by providing two power transmission paths with different gear ratios, the extension and flexion movement speeds and generated power in the knee joint mechanism 130 can be switched. The first gear ratio and the second gear ratio do not need to be different, and the first transmission mechanism T1 and the second transmission mechanism T2 may be a reduction mechanism and the other a speed increase mechanism, or one may be a constant speed mechanism and the other a reduction mechanism or a speed increase mechanism, or both may be reduction mechanisms, or both may be speed increase mechanisms.

[0020] The first gear ratio is the ratio of the rotational speed on the non-motor M side (spindle unit SP side) of the first gear mechanism T1 to the rotational speed on the motor M side of the first gear mechanism T1 before gear shifting. The second gear ratio is the ratio of the rotational speed on the non-motor M side (spindle unit SP side) of the second gear mechanism T2 to the rotational speed on the motor M side of the second gear mechanism T2 before gear shifting.

[0021] For example, if the first gear ratio of the first transmission mechanism T1 is less than 1, the rotational speed on the side opposite to the motor M (the spindle unit SP side) decreases compared to the rotational speed on the motor M side, and the torque increases. If the second gear ratio of the second transmission mechanism T2 is greater than 1, the rotational speed on the side opposite to the motor M (the spindle unit SP side) increases compared to the rotational speed on the motor M side, and the torque decreases. In this embodiment, the first gear ratio is set to be less than 1, the second gear ratio is set to be greater than 1, and the first transmission mechanism T1 is positioned below the second transmission mechanism T2.

[0022] The first and second transmission mechanisms T1 and T2 include a first shaft 181 rotatably positioned on the downward extension of the output shaft 172a of the gear mechanism 172, and a second shaft 182 rotatably positioned on the downward extension of the spindle 173 of the spindle unit SP. The first shaft 181 is rotatably connected to the output shaft 172a of the gear mechanism 172 of the motor M via a coupling 187 that allows for axial error. The second shaft 182 is rotatably connected to the spindle 173 of the spindle unit SP. 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 the spindle 173 of the spindle unit SP and connected using spline fitting or a coupling.

[0023] The first transmission mechanism T1 comprises a first drive gear 183 and a first driven gear 184 that mesh with each other. The first drive gear 183 is supported on the first shaft 181 so as to be integrally rotatable, and the first driven gear 184 is supported on the second shaft 182 so as to be relative to it. The first driven gear 184 and the second shaft 182 have their rotation axes coincide. Furthermore, they are arranged so that at least a portion of each overlaps when viewed in a direction perpendicular to the rotation axis. In other words, they are arranged so that at least a portion of each lies on the same plane perpendicular to the rotation axis. The first transmission 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 high torque.

[0024] The second transmission mechanism T2 comprises a second drive gear 185 and a second driven gear 186 that mesh with each other. The second drive gear 185 is supported so as to be rotatable integrally with the first shaft 181, and the second driven gear 186 is supported so as to be rotatable relative to the second shaft 182. The rotation axes of the second driven gear 186 and the second shaft 182 coincide. Furthermore, they are arranged so that at least a portion of each overlaps when viewed in a direction perpendicular to the rotation axis. In other words, they are arranged so that at least a portion of each lies on the same plane perpendicular to the rotation axis. The second transmission mechanism T2 in this embodiment is a speed-increasing transmission mechanism in which the second drive gear 185 has a larger diameter than the second driven gear 186, and can extend and retract the spindle unit SP at high speed and with low torque. In this embodiment, the second transmission mechanism T2 is arranged above the first transmission mechanism T1, but the second transmission mechanism T2 may be arranged below the first transmission mechanism T1. In other words, 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. Also, although the first shaft 181 and the second shaft 182 in this embodiment are formed as a single unit from the beginning, the upper and lower gear support parts may be formed separately and then integrally connected (joined).

[0025] The first intermittent mechanism 210 includes a first intermittent section 212 provided between the first driven gear 184 and the second shaft 182, and an operating mechanism 240 for switching the first intermittent section 212. The second intermittent mechanism 220 includes a second intermittent section 222 provided between the second driven gear 186 and the second shaft 182, and an operating mechanism 240 for switching the second intermittent section 222. These intermittent sections 212 and 222 have a common configuration and are configured to be switchable between an interrupted state that interrupts power transmission and a power-transmitting state that can transmit rotational power in both one direction and the other direction. Details of the intermittent sections 212 and 222 will be described later.

[0026] The operating mechanism 240 includes an operating rod 241 that is provided to allow intermittent operation of the intermittent sections 212 and 222, and a servo motor 242 that moves the operating rod 241 in a linear fashion.

[0027] The second shaft 182 is a hollow shaft having an internal space S2 extending in the direction of the rotation axis (also referred to as the vertical direction), and an operating rod 241 is arranged in this internal space S2. A rack 241a is provided at the lower end of the operating rod 241 that is exposed from the internal space S2. The operating rod 241 is supported by bearings B4 and B5 located in the internal space S2 so as to be unable to rotate relative to the rack 241a and to be able to move back and forth integrally in the direction of the rotation axis. A cover member 188 having an insertion hole through which the operating rod 241 is inserted is screwed onto the lower end of the second shaft 182. The cover member 188 prevents foreign matter from entering the internal space S2 and facilitates the replacement of the operating rod 241. A pinion 243 provided on the output shaft 242a of the servo motor 242 meshes with the rack 241a, and the vertical position of the operating rod 241 is switched in accordance with the drive of the servo motor 242. The outer circumference of the operating rod 241 is formed with small-diameter sections 241b1, 241b2 and large-diameter sections 241c1 to 241c3, which will be described later. Depending on the position of the operating rod 241, the small-diameter sections 241b1, 241b2 and large-diameter sections 241c1 to 241c3 intermittently operate the intermittent sections 212 and 222. Details of the operating mechanism 240 will be described later.

[0028] As shown in Figures 3 to 5, the unit case 250 comprises 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 circumference of the spindle unit SP, and supports the sleeve 174 of the spindle unit SP so that it is immobile and vertically movable via a bush 254 provided on the inner circumference of its upper end. The lower end of the upper case 251 is provided with a flange portion 251a that extends outward. 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 bearing B1 and the upper end of the second shaft 182 via bearing B2. The upper case 251 is fastened to the front and above the middle case 252, and the motor M is fastened to the rear and above the middle case 252. The motor M is fastened to the middle case 252 by a plurality of screws N2 that pass through the middle case 252 from below (inside). The outer circumference 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 lower part of the middle case 252 by a number 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 lower and side of the transmission T, but also rotatably supports the lower end of the first shaft 181 via a bearing B3.

[0032] With this type of unit case 250, the three-stage structure of the upper case 251, middle case 252, and lower case 253 allows not only to casing the transmission T and spindle unit SP, but also to unitize the telescopic device 140 including the motor M, thereby reducing the number of parts and weight.

[0033] Furthermore, as shown in Figure 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 middle bracket 257 are attached to the main frame 111 before assembling the telescopic device 140, 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 telescopic device 140 to the main frame 111. This makes it easier to fasten the middle case 252 to the middle brackets 257 and to fasten the upper case 251 to the upper brackets 256. It also makes it easier to remove the telescopic device 140 by reversing the procedure.

[0035] Furthermore, since the upper case 251 and middle case 252 are subjected to higher loads than the lower case 253, fastening them to the main frame 111 via the upper bracket 256 and middle bracket 257 not only increases the support strength of the transmission T and spindle unit SP, but also reduces the rigidity of the lower case 253, thereby reducing its weight.

[0036] Figure 4 shows the extended state of the electric prosthesis 1, Figure 6 shows the flexed state of the electric prosthesis 1, and Figure 7 shows the maximum flexed state of the electric prosthesis 1. Note that the maximum flexed state shown in Figure 7 will not occur during walking with the electric prosthesis 1.

[0037] As shown in Figures 4, 6, and 7, the mechanical stop mechanism 150 includes a stopper member 151 provided on the lower knee member 110, and a first contact portion 152 and a second contact portion 153 provided on the upper knee member 120. In the state shown in Figure 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 Figure 7, the second contact portion 153 contacts the stopper member 151, thereby restricting the knee joint mechanism 130 from bending further from its maximum flexion state.

[0038] The cushioning mechanism 160 is provided on the knee-upper member 120 side and includes a pressing portion 162 capable of pressing the upper end of the link member 175 with the biasing force of a spring 161 (for example, a compression coil spring). The lower end of the link member 175 is rotatably connected to the 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 knee-upper member 120 via a second rotating portion 177. A cam portion 178 is formed at the upper end of the link member 175. The cam portion 178 has a small diameter outer circumference portion 178a centered on the second rotating portion 177, a large diameter outer circumference portion 178b that is a long distance from the second rotating portion 177, and a connecting outer circumference portion 178c that connects the small diameter outer circumference portion 178a and the large diameter outer circumference portion 178b without any steps.

[0039] As shown in Figures 6 and 7, when the knee joint mechanism 130 is flexed, the pressing portion 162 faces the small-diameter outer circumference 178a of the cam portion 178, so the pressing portion 162 and the cam portion 178 are separated. As shown in Figure 4, when the knee joint mechanism 130 extends in response to the contraction movement 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 circumference 178c to the large-diameter outer circumference 178b. As a result, the cam portion 178 comes into contact with the pressing portion 162, and the large-diameter outer circumference 178b pushes 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 resistance, cushioning the impact when the first contact portion 152 comes into contact with the stopper member 151.

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

[0041] Each of the intermittent sections 212 and 222 has a common configuration and is configured to be switchable between an interrupted state that interrupts power transmission and a power-transmitting state that can transmit rotational power in both one and other directions. In this embodiment, each of the intermittent sections 212 and 222 is configured using a two-way clutch 280 with a forced-free function, as shown in Figure 8. The two-way clutch 280 comprises a plurality (three in this embodiment) of rollers 281 positioned between the outer circumferential surface of the second shaft 182 and the inner circumferential surfaces of the gears 184 and 186; a retainer 282 that holds the plurality of rollers 281 at predetermined intervals; a plurality (three in this embodiment) of pins 283 that pass radially through the second shaft 182 and are operated by an operating mechanism 240 to a forced free position and a forced free release position; and a plurality (three in this embodiment) of guides 284 provided on the retainer 282 that define the relative rotational 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] The radial distance A between the outer circumferential surface of the second shaft 182 and the inner circumferential surfaces of the gears 184 and 186 is smaller than the diameter B of the roller 281. In addition, flat portions 182a are formed on the outer circumferential surface of the second shaft 182 at predetermined intervals in the circumferential direction, and the distance A is larger than the diameter B towards the circumferential center of the flat portions 182a.

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

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

[0045] As shown in Figure 9, the retainer 282 is ring-shaped and rotatable relative to the second shaft 182 and gears 184 and 186, and has a plurality of roller holding portions 282a for holding the roller 281 and a plurality of guide holding portions 282b for holding the guide 284. In other words, the retainer 282 is provided adjacent to the roller 281 in the circumferential direction with respect to the axis of rotation.

[0046] Furthermore, multiple rubber balls 282c are embedded in the outer circumferential surface of the retainer 282 at predetermined intervals in the circumferential direction. These rubber balls 282c prevent unintended free rotation in the forced free release state by generating appropriate friction between the gears 184, 186 and the retainer 282. Note that the component that generates friction between the gears 184, 186 and the retainer 282 is not limited to rubber balls 282c, but may also be an O-ring.

[0047] Returning to Figure 8, the pin 283 has a conical projection 283a at its radially outer end, and the guide 284 has a conical recess 284a on its radially inner end face that engages with the projection 283a. When the projection 283a of the pin 283 engages with the recess 284a of the guide 284, the guiding action of the pin 283 and the guide 284 positions the retainer 282 to a predetermined position where its relative rotational position with respect to the second shaft 182 is forced into a free state. Alternatively, as shown in Figure 10, instead of the recess 284a of the guide 284, a V-groove 282d along the axial direction may be formed on the inner circumference of the retainer 282. In this way, the guide 284 can be eliminated, reducing the number of parts and assembly steps, and allowing for axial errors in the pin 283.

[0048] As shown in Figure 11, the operating rod 241 has a first large diameter section 241c1, a first small diameter section 241b1, a second large diameter section 241c2, a second small diameter section 241b2, and a third large diameter section 241c3 formed in order from top to bottom at predetermined lengths and intervals. The operating rod 241 is provided to control two intermittent sections 212 and 222 simultaneously, but each intermittent section 212 and 222 may be provided separately. In addition, the operating rod 241 of this embodiment is formed as a single unit from the beginning, but each intermittent section 212 and 222 may be formed separately and then integrally connected (joined). Furthermore, in this embodiment, the position of the roller 281 is changed via a pin 283, a guide 284, and a retainer 282, but this can also be applied to a modified version in which the position of the roller 281 is changed directly by the pin 283 without using the guide 284 and retainer 282.

[0049] The following explanation describes the operation of the operating mechanism 240 that simultaneously controls the intermittent sections 212 and 222, with reference to Figure 11.

[0050] As shown in Figure 11, the intermittent sections 212 and 222 can be switched between a forced free state (hereinafter referred to as the off state as appropriate) and a forced free release state (hereinafter referred to as the on state as appropriate) by the operating mechanism 240.

[0051] When the operating rod 241 of the operating mechanism 240 is in the upper position shown in Figure 11(A), the second large diameter portion 241c2 pushes the pin 283 of the second intermittent portion 222 outward while the third large diameter portion 241c3 pushes the pin 283 of the first intermittent portion 212 outward, thereby turning off the first intermittent portion 212 and the second intermittent portion 222.

[0052] Furthermore, when the operating rod 241 of the operating mechanism 240 is in the middle position shown in Figure 11(B), the first small diameter portion 241b1 allows the pin 283 of the second intermittent portion 222 to return in the inward direction, while the third large diameter portion 241c3 pushes the pin 283 of the first intermittent portion 212 outward, thereby turning the second intermittent portion 222 to the ON state and the first intermittent portion 212 to the OFF state.

[0053] Furthermore, when the operating rod 241 of the operating mechanism 240 is in the lower position shown in Figure 11(C), the first large-diameter portion 241c1 pushes the pin 283 of the second intermittent portion 222 outward while the second small-diameter portion 241b2 allows the pin 283 of the first intermittent portion 212 to return inward, thereby setting the second intermittent portion 222 to the off state and the first intermittent portion 212 to the on state.

[0054] Next, the operation of the two-way clutch 280 will be explained using the second intermittent section 222 as an example, with reference to Figures 12 to 16. In the following example, the case where the second intermittent section 222 transitions from (A) to (B) and then to (C) in Figure 11 will be explained.

[0055] As shown in Figures 12(A) and (B), when the second large-diameter portion 241c2 of the operating rod 241 pushes the pin 283 of the second intermittent portion 222 outward, the convex portion 283a of the pin 283 fits into the recess 284a of the guide 284, and the relative rotational position of the retainer 282 with respect to the second shaft 182 is fixed at a predetermined position. In this state, the roller 281 is held in the circumferential center of the flat portion 182a, so 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.

[0056] Figures 13(A) and (B) show the 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 outward to a position where the first small-diameter portion 241b1 allows the pin 283 to return inward. In Figure 13, the pin 283 has already moved inward, but in reality, as shown in Figure 19, 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 inward with the inclined surface of the recess 284a.

[0057] As shown in Figures 14(A) and (B), when the pin 283 is allowed to return in the inward direction, and relative rotation in the forward direction, as indicated by the arrow in the figure, occurs between the second shaft 182 and the second driven gear 186, the retainer 282, which rotates together with the second driven gear 186, moves the roller 281 in the forward direction relative to the second shaft 182. As a result, the roller 281 meshes with the outer circumferential surface of the second shaft 182 and the inner circumferential surface of the second driven gear 186, creating a forward rotation-on state in which the second shaft 182 and the second driven gear 186 rotate together in the forward direction.

[0058] As shown in Figures 15(A) and (B), when the pin 283 is allowed to return in the inward direction, and relative rotation in the reverse direction indicated by the arrow in the figure occurs between the second shaft 182 and the second driven gear 186, the retainer 282, which rotates together with the second driven gear 186, moves the roller 281 in the reverse direction relative to the second shaft 182. As a result, the roller 281 engages with the outer circumferential surface of the second shaft 182 and the inner circumferential surface of the second driven gear 186, creating a reverse-on state in which the second shaft 182 and the second driven gear 186 rotate together in the reverse direction. The retainer 282 can be considered as an element of the actuator of the operating part that moves the roller 281.

[0059] As shown in Figures 16(A) and (B), when the operating rod 241 moves from a position where the first small-diameter portion 241b1 allows the pin 283 of the second intermittent portion 222 to return in the inward 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 recess 284a of the guide 284, and the guiding action of the pin 283 and the guide 284 fixes the relative rotational position of the retainer 282 with respect to the second shaft 182 in a predetermined position. In this state, since the roller 281 is held in the circumferential center of the flat portion 182a, 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.

[0060] As explained using Figure 19, when the second intermittent portion 222 is operated from off to on, and the pin 283 is allowed to return in the inward direction, if relative rotation occurs between the second shaft 182 and the second driven gear 186 in the forward or reverse direction, the second driven gear 186 and the retainer 282 must rotate together due to the frictional force of the multiple rubber balls 282c provided between the second driven gear 186 and the retainer 282 until the roller 281 engages with the outer surface of the second shaft 182 and the inner surface of the second driven gear 186. At this time, the guide 284 of the retainer 282 that rotates together with the second driven gear 186 needs to push the pin 283 back in the inward direction with the inclined surface of the recess 284a.

[0061] Therefore, the multiple rubber balls 282c are set such that the frictional force between the second driven gear 186 and the retainer 282 generated by these multiple rubber balls 282c is greater than the resistance force applied to the retainer 282 when the retainer 282 moves in the circumferential direction. The resistance force applied to the retainer 282 is the sum of the pin resistance force that pushes the pin 283 inward and the frictional force between the second shaft 182 and the retainer 282. The pin resistance force that pushes the pin 283 inward is the frictional force between the pin 283 and the guide 284 and the frictional force between the pin 283 and the second shaft 182.

[0062] By appropriately setting the frictional force of the multiple rubber balls 282c, the retainer 282 moves circumferentially as the second driven gear 186 rotates, thereby moving the roller 281. This allows switching between the engaged and disengaged states of the roller 281, and enables appropriate switching between a state in which the second driven gear 186 and the second shaft 182 can rotate together and a state in which they can rotate relative to each other.

[0063] Furthermore, in the first intermittent section 212, by appropriately setting the frictional force of the multiple rubber balls 282c, the retainer 282 moves in the circumferential direction as the first driven gear 184 rotates, thereby moving the roller 281. This makes it possible to switch between the engaged and disengaged states of the roller 281, and to appropriately switch between a state in which the first driven gear 184 and the second shaft 182 can rotate together and a state in which they can rotate relative to each other.

[0064] With the powered prosthetic leg 1 configured in this way, it becomes possible to smoothly perform the action of climbing stairs, which previously required climbing one step at a time with the non-prosthetic leg when using a passive prosthetic leg equipped with a passive damper.

[0065] To explain in more detail, as shown in Figure 17 (A) → (B), when the electric prosthesis 1 is extended forward to climb stairs (step up), a large amount of power is required when the knee joint mechanism 130 is extended from a flexed state while a load is applied to the electric prosthesis 1.

[0066] At this time, the transmission T is in a shifted state, with the operating rod 241 in the position shown in Figure 11(C). In this shifted 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 intermittent part 212 of the first intermittent mechanism 210, the second shaft 182, and the spindle unit SP. As a result, the sleeve 174 moves translationally (extends) away from the transmission T, and the upper knee member 120 to which the sleeve 174 is connected rotates around the pivot part 135 relative to the lower knee member 110 to which the transmission T is attached, causing the knee joint mechanism 130 to extend. Furthermore, since this extension power is a high-torque power that is reduced in the first transmission mechanism T1, it is possible to reliably extend the knee joint mechanism 130 from a flexed position, even when a large load is placed on the electric prosthetic leg 1 when it is moved forward to climb stairs.

[0067] On the other hand, in order to perform the movement of climbing stairs smoothly, as shown in Figure 17 (D)→(E), the knee joint mechanism 130 needs to be flexed (lifted) from an extended position while weight is applied to the healthy foot. When the knee joint mechanism 130 is flexed from an extended position, a large amount of power is not required, but a quick movement is necessary.

[0068] At this time, the transmission T is in a shifted state, with the operating rod 241 in the position shown in Figure 11(B). In this shifted 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 the 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 intermittent part 222 of the second intermittent mechanism 220, the second shaft 182, and the spindle unit SP. As a result, the sleeve 174 moves translationally (shrinks) so as to move closer to the transmission T, and the lower knee member 110 to which the transmission T is attached rotates around the pivot part 135 relative to the upper knee member 120 to which the sleeve 174 is connected, causing the knee joint mechanism 130 to bend. Furthermore, since this bending power is reduced in torque when it is accelerated by the second transmission mechanism T2, it becomes possible to quickly flex the knee joint mechanism 130.

[0069] Furthermore, when descending stairs (as shown in Figure 18) and walking on flat ground, the electric prosthesis 1 is set to a variable speed state where no load is applied to the swing leg, with the operating rod 241 positioned in the position shown in Figure 11(A). In this variable speed state, the first intermittent section 212 and the second intermittent section 222 are turned off, resulting in a free state where the motor M and the spindle unit SP are not connected. In this state, arbitrary extension and flexion of the knee joint mechanism 130 are permitted according to the walking situation, enabling smooth swing leg walking with the prosthesis.

[0070] On the other hand, when descending stairs (as shown in Figure 18) and walking on flat ground, during the stance phase when a load is applied to the electric prosthesis 1, the operating rod 241 is set to the position shown in Figure 11(B), thus entering a gear shift state. In this gear shift state, the second intermittent unit 222 is turned on, and the motor M and spindle unit SP are able to transmit power via the second gear shift mechanism T2. In this state, the external force acting on the electric prosthesis 1 in the bending direction is transmitted from the spindle unit SP to the motor M via the second gear shift mechanism T2. By utilizing the friction of the motor M to dampen the external force in the bending direction, smooth stance walking with the prosthesis becomes possible.

[0071] Switching control during walking on level ground will be explained in detail with reference to Figures 20 and 21. In the upper diagrams of Figures 20 and 21, (A) to (H) show the state of the user of the electric prosthesis 1 walking on level ground. With the electric prosthesis 1 as the reference point, (A) is the initial contact phase, (B) is the load response phase, (C) is the mid-stance phase, (D) is the terminal stance phase, (E) is the pre-swing phase, (F) is the initial swing phase, (G) is the mid-swing phase, and (H) is the terminal swing phase.

[0072] Figure 22 shows the control block of the electric prosthetic leg 1. The electric prosthetic leg 1 includes a control unit 300. The control unit 300 includes a first control unit 301 that controls the servo motor 242, a second control unit 302 that controls the motor M, and a state detection unit 304 that detects the state of the electric prosthetic leg 1 by receiving information from one or more sensors 303 provided on the electric prosthetic leg 1. The control unit 300 functions as a processing unit and control device, and controls the overall operation of the electric prosthetic leg 1 according to various programs. The control unit 300 is implemented by electronic circuits such as a CPU (Central Processing Unit) or a microprocessor. The sensors 303 are, for example, load sensors, rotation angle sensors, force sensors, and IMUs (inertial measurement units).

[0073] The first control unit 301 and the second control unit 302 control the servo motor 242 and the motor M, respectively, based on the state of the electric prosthesis 1 detected by the state detection unit 304. Alternatively, the first control unit 301 and the second control unit 302 may control the servo motor 242 and the motor M based on commands from the user of the electric prosthesis 1.

[0074] As mentioned above, during the standing phase (A) to (D) when a load is applied to the electric prosthesis 1, the second intermittent section 222 is in the ON state. When the second intermittent section 222 is in the ON state, the roller 281 engages with the outer circumferential surface of the second shaft 182 and the inner circumferential surface of the second driven gear 186. Therefore, the external force acting on the electric prosthesis 1 in the bending direction is transmitted from the spindle unit SP to the motor M via the second speed control mechanism T2, and the external force in the bending direction is attenuated by the friction of the motor M.

[0075] Furthermore, during the swing phase (E) to (H), when no load is applied to the electric prosthesis 1, the first intermittent section 212 and the second intermittent section 222 are in the off state. When the first intermittent section 212 and the second intermittent section 222 are in the off state, the roller 281 is in a disengaged state, not meshing with the outer circumferential surface of the second shaft 182 and the inner circumferential surface of the second driven gear 186. Therefore, arbitrary extension and flexion of the knee joint mechanism 130 are permitted.

[0076] As shown in Figure 20, in the final stance phase (D), in preparation for the pre-swing phase (E), it is necessary to drive the servo motor 242 to move the operating rod 241 from the position shown in Figure 11(B) to the position shown in Figure 11(A). However, when the roller 281 is firmly meshed with the outer surface of the second shaft 182 and the inner surface of the second driven gear 186, even if the servo motor 242 is driven, the resistance force due to the meshing may be greater than the force with which the pin 283a rotates the retainer 282. In this case, the operating rod 241 will not move even if the servo motor 242 is driven.

[0077] Therefore, when the first control unit 301, which controls the servo motor 242, operates the operating rod 241 to disengage the roller 281 while the roller 281 is engaged, it requests that the motor M generate rotational force (torque) in a direction that weakens the engagement of the second driven gear 186. When the second control unit 302 receives a request from the first control unit 301 to generate rotational force in a direction that weakens the engagement of the second driven gear 186, it controls the motor M to generate rotational force in a direction that weakens the engagement of the roller 281. As shown in Figure 20, the first control unit 301 drives the motor M to rotate the second driven gear 186 counterclockwise, as indicated by the arrow.

[0078] Alternatively, instead of requiring the motor M to generate rotational force in a direction that weakens the engagement of the second driven gear 186, the first control unit 301 may operate the operating rod 241 after rotational force in a direction that weakens the engagement of the second driven gear 186 has been generated. If rotational force in a direction that weakens the engagement of the second driven gear 186 is generated by an external force, the roller 281 can be easily transitioned from an engaged state to an unengaged state by operating the operating rod 241 after rotational force in a direction that weakens the engagement of the second driven gear 186 has been generated.

[0079] Furthermore, "generating rotational force in a direction that weakens the engagement state" includes not only the mode in which the motor M is required to generate a new rotational force in the opposite direction to the engagement state, as mentioned above, but also, in cases where the motor M is generating rotational force in the forward direction (engagement direction) relative to the engagement state of the roller 281, the mode in which that forward rotational force is weakened. As a result, even if the roller 281 is firmly engaged, the engagement state of the roller 281 is relaxed, and the roller 281 can be appropriately switched from the engaged state to the disengaged state.

[0080] As shown in Figure 21, at the end of the swing phase (H), in preparation for the initial ground contact phase (A), the servo motor 242 is driven to move the operating rod 241 from the position shown in Figure 11(A) to the position shown in Figure 11(B). However, simply moving the operating rod 241 to the position shown in Figure 11(B) does not cause the roller 281 to engage with the outer surface of the second shaft 182 and the inner surface of the second driven gear 186, as the roller 281 is located in the circumferential center of the flat portion 182a. In other words, the roller 281 does not become engaged.

[0081] As explained in Figure 19, in order to engage the roller 281, the guide 284 of the retainer 282, which rotates together with the second driven gear 186, pushes the pin 283 inward with the inclined surface of the recess 284a, and at the same time, the rotation of the retainer 282 moves the roller 281 to a position where it engages with the outer circumferential surface of the second shaft 182 and the inner circumferential surface of the second driven gear 186.

[0082] Therefore, when the roller 281 is disengaged and the operating rod 241 is used to engage the roller 281, the first control unit 301, which controls the servo motor 242, requests the motor M to generate rotational force in a direction that strengthens the engagement of the second driven gear 186 after operating the operating rod 241 to engage the roller 281. When the second control unit 302 receives a request from the first control unit 301 to generate rotational force in a direction that strengthens the engagement of the second driven gear 186, it controls the motor M to generate rotational force in a direction that strengthens the engagement of the roller 281. As shown in Figure 21, the first control unit 301 drives the motor M to rotate the second driven gear 186 clockwise, as indicated by the arrow.

[0083] This allows the roller 281 to be moved to a position where it engages with the outer circumferential surface of the second shaft 182 and the inner circumferential surface of the second driven gear 186, enabling the roller 281 to be immediately engaged in response to the rotation of the second driven gear 186. Alternatively, instead of the first control unit 301 operating the operating rod 241 to engage the roller 281 when it is disengaged, the first control unit 301 may operate the operating rod 241 before rotational force is generated in the second driven gear 186 in a direction that strengthens the engagement. For example, when rotational force is generated in the second driven gear 186 due to an external force in a direction that strengthens the engagement, operating the operating rod 241 before the roller 281 becomes engaged allows the roller 281 to transition from a disengaged state to an engaged state.

[0084] Although various embodiments have been described above with reference to the drawings, it goes without saying that the present invention is not limited to these examples. It is clear to those skilled in the art that various modifications or alterations can be conceived within the scope of the claims, and these will naturally also fall within the technical scope of the present invention. Furthermore, the components of the above embodiments may be combined in any way without departing from the spirit of the invention.

[0085] For example, in the above embodiment, a prosthetic leg device (electric prosthesis) applied to a knee joint as one embodiment of a joint device using the intermittent device of the present invention was illustrated, but it is not limited to this, and it may also be a prosthetic limb device (electric prosthesis) applied to an elbow joint, and the wearer may be an animal other than a human, or a robot. When applied to an elbow joint, the lower knee member 110 of the above embodiment becomes the distal end of the wearer relative to the upper knee member 120, i.e., the forearm.

[0086] Furthermore, the intermittent device of the present invention may be used not only in coupling devices but also in vehicle drive systems. Figure 23 is a schematic diagram of a vehicle drive system equipped with the intermittent device of the above embodiment.

[0087] The vehicle drive system 900 shown in Figure 23 includes a motor M as a drive source, a transmission T' that transmits power from the motor M, a first intermittent mechanism 210 and a second intermittent 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.

[0088] The transmission T' includes a first transmission mechanism T1 that transmits power from the motor M to the left and right drive wheels WH at a first gear ratio, and a second transmission mechanism T2 that transmits power from the motor M to the left and right drive wheels WH at a second gear ratio different from the first gear ratio. The relationship between the first gear ratio and the second gear ratio is the same as in the embodiment described above.

[0089] The first transmission mechanism T1 comprises a first drive gear 901 and a first driven gear 902 that mesh with each other. The first drive gear 901 is supported on the first shaft 911 so as to be rotatable relative to it, and the first driven gear 902 is supported on the second shaft 912 so as to be rotatable as a whole. The second transmission mechanism T2 comprises a second drive gear 905 and a second driven gear 906 that mesh with each other. The second drive gear 905 is supported on the first shaft 911 so as to be rotatable relative to it, and the second driven gear 906 is supported on the second shaft 912 so as to be rotatable as a whole. In addition to the first drive gear 901 and the second drive gear 905, an input gear 907 to which the power of the motor M is input is rotatably mounted on the first shaft 911. In addition, the second shaft 912 is rotatably mounted with the first driven gear 902 and the second driven gear 906, as well as an output gear 908 capable of outputting power from the motor M to the differential device DIF.

[0090] The first intermittent mechanism 210 includes a first intermittent section 212 provided between the first drive gear 901 and the first shaft 911, and an operating mechanism 240 for switching the first intermittent section 212. The second intermittent mechanism 220 includes a second intermittent section 222 provided between the second drive gear 905 and the first shaft 911, and an operating mechanism 240 for switching the second intermittent section 222. These intermittent sections 212 and 222 have a common configuration and are configured to be switchable between an interrupted state that interrupts power transmission and a power-transmitting state that can transmit rotational power in both one direction and the other direction. Note that the roller 281, operating rod 241, pin 283, retainer 282, and guide 284 that constitute the intermittent sections 212 and 222 are the same as in the above-described embodiment, so they are denoted by the same reference numerals and their description is omitted.

[0091] In the vehicle drive system 900 configured in this way, when the first intermittent unit 212 is off and the second intermittent unit 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. Also, when the first intermittent unit 212 is on and the second intermittent unit 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. Furthermore, when the first intermittent unit 212 is off and the second intermittent unit 222 is off, the power of the motor M is not transmitted to the left and right drive wheels WH, resulting in a so-called neutral state.

[0092] By applying the intermittent device of the present invention to a vehicle drive unit 900, rotation matching during gear changes becomes unnecessary, and responsiveness during gear changes is improved. Furthermore, the number of parts constituting the intermittent device can be reduced compared to a general dog clutch, etc. Note that the first intermittent mechanism 210 and / or the second intermittent mechanism 220 may be provided on the second shaft 912 instead of the first shaft 911. In addition, the drive wheel WH may be a circular wheel as in this embodiment, or a drive wheel that moves an endless track, etc. Furthermore, although this embodiment applied the intermittent device to a drive unit that drives the drive wheel WH as a propulsion unit that propels a vehicle, the intermittent device may also be applied to a drive unit that drives a propulsion unit such as a propeller that propels other moving objects such as ships and aircraft. Moreover, in addition to the propulsion unit of a moving object, the intermittent device may also be applied to a drive unit that drives a working unit such as a snowplow or grass cutter in a work machine such as a snowplow or grass cutter.

[0093] This specification contains at least the following information. Note that the components etc. in parentheses indicate those corresponding to the embodiments described above, but are not limited thereto.

[0094] (1) A power transmission device (transmissions T, T') arranged on the power transmission path between the drive unit (motor M) and the driven unit (spindle unit SP, drive wheels WH), The first rotating body (first driven gear 184, first drive gear 901), The second rotating body (second shaft 182, first shaft 911), It comprises an intermittent device (first intermittent mechanism 210, second intermittent mechanism 220), The aforementioned intermittent device is An engaging element (roller 281) is positioned between the first rotating body and the second rotating body, The engaging element is operated by an operating part (operating rod 241, pin 283, retainer 282, guide 284) that operates the engaging element to an engaged state in which the first rotating body and the second rotating body can rotate together, and an unengaged state in which the first rotating body and the second rotating body can rotate relative to each other. The aforementioned operating unit is The actuator (retainer 282, guide 284) moves the aforementioned engaging element, The device includes an operating element (operating rod 241, pin 283) which is provided so that the engaging element can be operated via the actuator, or so that the engaging element can be operated without the actuator, The first and second bodies of rotation are So that their respective axes of rotation coincide, They are arranged such that at least a portion of each overlaps when viewed in a direction perpendicular to the aforementioned axis of rotation, The aforementioned operator is A reciprocating element (pin 283) is provided that is movable forward and backward along a direction perpendicular to the rotation axis, It has an extending portion (operating rod 241) that extends along the rotation axis and is provided to be movable back and forth along the rotation axis, The retractable element is provided such that its inner end, which is the end of the retractable element on the rotation axis side in the orthogonal direction, abuts against the extended portion. The power transmission device includes a control unit (first control unit 301) that controls the operating unit.

[0095] According to (1), the control unit can appropriately switch between the engaged and disengaged states of the engaging element by controlling the operating unit.

[0096] (2) The power transmission device described in (1), The first rotating body is mechanically connected to the drive unit, The second rotating body is mechanically connected to the driven part, When the engaging element is in the engaged state and the operating unit operates the engaging element to disengage it, the control unit The drive unit is required to generate rotational force on the first rotating body in a direction that weakens the engagement state, or A power transmission device that operates the operating part after rotational force is generated in the first rotating body in a direction that weakens the engagement state.

[0097] In some cases, the engaging element cannot be disengaged by operating the operating part while it is engaged. According to (2), when operating the operating part to disengage the engaging element, by requiring the first rotating body to generate rotational force in a direction that weakens the engagement, or by operating the operating part after rotational force has been generated in the first rotating body in a direction that weakens the engagement, the engagement of the engaging element can be relaxed even if it was firmly engaged, and the engaging element can be switched more appropriately from the engaged state to the disengaged state.

[0098] (3) A power transmission device as described in (1) or (2), The first rotating body is mechanically connected to the drive unit, The second rotating body is mechanically connected to the driven part, When the engaging element is in the disengaged state and the operating unit operates the engaging element to bring it into the engaged state, the control unit After operating the operating unit to achieve the engaged state, the drive unit is requested to generate rotational force on the first rotating body in a direction that strengthens the engaged state, or A power transmission device that operates the operating part before rotational force is generated in the first rotating body in a direction that strengthens the engagement state.

[0099] To move the engaging element from an unengaged state to an engaged state, it is not sufficient to simply operate the operating part so that the engaging element is engaged. According to (3), after operating the operating part to the engaged state, the time it takes for the engaging element to become engaged can be shortened by requesting the drive unit to generate rotational force on the first rotating body in a direction that strengthens the engagement. Furthermore, by operating the operating part before rotational force is generated on the first rotating body in a direction that strengthens the engagement, the operating part can be operated before the engaging element becomes engaged. [Explanation of symbols]

[0100] 182 Second shaft (second rotating body) 184 First driven gear (first rotating body) 210 First intermittent mechanism (intermittent device) 220 Second intermittent mechanism (intermittent device) 241 Operation rod (operation part, operator, extension part) 281 Roller (engineer) 282 Retainer (operation part, actuator) 282c Rubber bulb (intermediate component) 283 pins (operating part, control element, advance / reverse element) 284 Guide (operating part, actuator) 901 First drive gear (first rotating body) 911 First shaft (second rotating body) M Motor (drive unit) WH Drive wheels (driven parts) SP Spindle Unit (Driven Part) T Transmission (power transmission device) T' Transmission (power transmission device)

Claims

1. A power transmission device arranged on the power transmission path between a drive unit and a driven unit, The first rotating body and, The second rotating body and, Equipped with an intermittent device, The aforementioned intermittent device is An engaging element disposed between the first rotating body and the second rotating body, The engaging element is provided with an operating unit for operating it to a state in which the first rotating body and the second rotating body can rotate together as one, and a state in which the first rotating body and the second rotating body can rotate relative to one another. The aforementioned operating unit is An actuator that moves the aforementioned engaging element, The device includes an operator that is provided to enable the engagement element to be operated via the actuator, or to enable the engagement element to be operated without the actuator, The first and second bodies of rotation are So that their respective axes of rotation coincide, They are arranged such that at least a portion of each overlaps when viewed in a direction perpendicular to the aforementioned axis of rotation, The aforementioned operator is A reciprocating element is provided that is capable of moving back and forth along a direction perpendicular to the rotation axis, It has an extending portion that extends along the rotation axis and is provided to be movable back and forth along the rotation axis, The retractable element is provided such that its inner end, which is the end of the retractable element on the rotation axis side in the orthogonal direction, abuts against the extended portion. The power transmission device includes a control unit that controls the operating unit, The first rotating body is mechanically connected to the drive unit, The second rotating body is mechanically connected to the driven part, When the engaging element is in the engaged state and the operating unit operates the engaging element to disengage it, the control unit The drive unit is required to generate rotational force on the first rotating body in a direction that weakens the engagement state, or The operating part is operated after a rotational force is generated in the first rotating body in a direction that weakens the engagement state. Power transmission device.

2. A power transmission device according to claim 1, The first rotating body is mechanically connected to the drive unit, The second rotating body is mechanically connected to the driven part, When the engaging element is in the disengaged state and the operating unit operates the engaging element to bring it into the engaged state, the control unit After operating the operating unit to achieve the engaged state, the drive unit is requested to generate rotational force on the first rotating body in a direction that strengthens the engaged state, or A power transmission device that operates the operating part before rotational force is generated in the first rotating body in a direction that strengthens the engagement state.

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