Intermittent device

Abstract

To provide 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 first interrupting mechanism 210 is equipped with a rotor 281 disposed between a first driven gear 184 and a second shaft 182, and 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.SELECTED DRAWING: Figure 5

Description

Technical Field

[0001] The present invention relates to an intermittent device.

Background Art

[0002] Conventionally, an intermittent device that switches between a state where rotating bodies can rotate integrally and a state where they can rotate relatively has been known. Such an intermittent device is used in a drive device of a vehicle, a working part of a working machine, a joint device such as a prosthetic leg, etc. (for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003] [[ID=2,]]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In an 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 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 First aspect of the present invention includes an engaging element disposed between a first rotating body and a second rotating body, and an operating portion that operates the engaging element between an engaged state where the first rotating body and the second rotating body can rotate integrally and a disengaged state where the first rotating body and the second rotating body can rotate relatively. It is an intermittent device, 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 aforementioned intermittent device is The system includes a retainer that holds the retractable element, which is provided on the same diameter as the engaging element in the circumferential direction with respect to the rotation axis. 。 Furthermore, a second aspect of the present invention is: An engaging element positioned between the first rotating body and the second rotating body, An intermittent device comprising an operating unit for operating the engaging element to a state in which the first rotating body and the second rotating body can rotate together, and a 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 aforementioned intermittent device is Other engaging elements positioned between the third and fourth rotating bodies, The system further includes another operating part for operating the other engaging element to a state in which the third rotating body and the fourth rotating body can rotate together, and a state in which the third rotating body and the fourth rotating body can rotate relative to each other. The other operating parts are, Another actuator that moves the aforementioned other engaging element, It has another actuator that is provided so as to be operable to the other engaging element via the other actuator, or so as to be operable to the other engaging element without the other actuator, The other operators are, It has another reciprocating element that is provided to be movable forward and backward along a direction perpendicular to the rotation axis, It has another extending portion that extends along the rotation axis and is provided to be movable back and forth along the rotation axis, The other retractable element is provided such that its inner end, which is the end of the other retractable element on the rotation axis side in the orthogonal direction, abuts against the other extending part. The second rotating body and the fourth rotating body are provided to be rotatable together, The aforementioned extended portion and the other extended portion are provided integrally. The aforementioned extension and the other extension are When positioned in the first position in the direction of the rotation axis, the retractor is located outside the orthogonal direction, and the other retractor is located inside the orthogonal direction. When positioned in the second position in the direction of the rotation axis, the retractor is located inside the orthogonal direction, and the other retractor is located outside the orthogonal direction. When positioned in the third position in the direction of the rotation axis, the retractor is located outside the orthogonal direction, and the other retractor is also located outside the orthogonal direction.

Advantages of the Invention

[0007] According to the intermittent device of the present invention, it is possible to appropriately switch between a state in which rotating bodies can rotate together 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] This is a perspective view of the expansion joint. [Figure 4] Figure 1 is a cross-sectional view of an electric prosthetic leg. [Figure 5] This is a cross-sectional view of the expansion joint. [Figure 6] Figure 1 is a cross-sectional view of the main part showing the flexed state of the electric prosthetic leg. [Figure 7] Figure 1 is a cross-sectional view of the main part of the electric prosthetic leg showing its maximum flexion state. [Figure 8] This is a cross-sectional view of a two-way clutch. [Figure 9] Figure 8 is a perspective view showing an example of a retainer (including rollers, guides, and rubber balls). [Figure 10] Figure 8 is a perspective view showing another example of the retainer (including rollers and rubber balls). [Figure 11] These diagrams illustrate the operation of the control mechanism. (A) shows the state where the first and second intermittent sections are in the OFF position, (B) shows the state where the first intermittent section is in the OFF position and the second intermittent section is in the ON position, and (C) shows the state where the first intermittent section is in the ON position and the second intermittent section is in the OFF position. [Figure 12] (A) is a cross-sectional view showing the second intermittent section in the OFF state, 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 when the second intermittent section 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 section, 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-on state of the second intermittent section, 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 when the second intermittent section is operated from on to off, and (B) is a diagram showing the position of the operating rod at that time. [Figure 17] Figures (A) through (F) show the movements of the human and the electric prosthetic leg during the rank advancement process. [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 is an explanatory diagram showing the relationship between the lag angle of the roller in the intermittent section and the shape of the recess in the guide. [Figure 20] This is a diagram illustrating the lag angle of the roller. [Figure 21] This is an explanatory diagram showing the dimensional relationship between the retainer and the gear in the direction of the rotation axis. [Figure 22] Figure 9 is an explanatory diagram showing the assembly process of the retainer. [Figure 23] Figure 10 is an explanatory diagram showing the assembly process of the retainer. [Figure 24] This is an explanatory diagram showing a first modified example of the intermittent section, illustrating the transition from the off state (left) to the on state (right) of the intermittent section. [Figure 25] This is an explanatory diagram showing a second modified example of the intermittent section, illustrating the transition from the intermittent section in the process of transitioning to the off state (left) to the off state (right). [Figure 26] 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 of (three in this embodiment) 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 of (three in this embodiment) 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 of (three in this embodiment) 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 on the outer surface of the retainer 282 at predetermined intervals in the circumferential direction. These rubber balls 282c create appropriate friction between the gears 184, 186 and the retainer 282, thereby preventing unintended free rotation in the forced free release state. Note that the component that creates friction between the gears 184, 186 and the retainer 282 is not limited to rubber balls 282c, but may also be an O-ring. In addition, while rubber balls 282c and O-rings are effective in preventing free rotation, they can be omitted.

[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, at the moment 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] 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.

[0061] 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.

[0062] 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.

[0063] 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.

[0064] 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.

[0065] 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.

[0066] 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, so the motor M and the spindle unit SP 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.

[0067] Next, the relationship between the lag angle α of the roller 281 in the intermittent sections 212 and 222 and the shape of the recess 284a of the guide 284 (or the V-groove 282d of the retainer 282) will be explained with reference to Figures 19 and 20. In the following explanation, the small diameter sections 241b1 and 241b2 will be collectively referred to as the small diameter section 241b, and the large diameter sections 241c1 to 241c3 will be collectively referred to as the large diameter section 241c.

[0068] As described above, 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. The recess 284a has two inclined portions 284c that guide the projection 283a of the pin 283 to the circumferential center portion 284b of the recess 284a. In other words, when the projection 283a of the pin 283 is pushed by the large diameter portion 241c of the operating rod 241 and begins to engage with the recess 284a of the guide 284, the projection 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, once the engagement between the protrusion 283a of the pin 283 and the recess 284a of the guide 284 is complete, the relative rotational position of the retainer 282 with respect to the second shaft 182 is positioned at a predetermined position where it is forced into a free state (the intermittent parts 212 and 222 are in the off state). Here, the effective guide range angle β of the inclined part 284c is defined as the angle that indicates the effective circumferential guide range of one inclined part 284c (the range in which a circumferential force is generated on the retainer 282 when the pin 283 contacts it), with respect to the axis of rotation.

[0069] On the other hand, when the small-diameter portion 241b of the operating rod 241 allows the pin 283 to return in the inward direction, at the moment when relative rotation occurs between the second shaft 182 and the gears 184 and 186, the guide 284 of the retainer 282, which rotates together with the gears 184 and 186, pushes the pin 283 back in the inward direction at the inclined portion 284c of the recess 284a. As a result, the roller 281 engages with the outer circumferential surface of the second shaft 182 and the inner circumferential surfaces of the gears 184 and 186, causing the second shaft 182 and the gears 184 and 186 to rotate together in the forward or reverse direction (the intermittent portions 212 and 222 are in the ON state). Here, the relative rotation angle between the second shaft 182 and the retainer 282 (gears 184, 186) when the intermittent sections 212 and 222 switch from the off state to the on state is defined as the lag angle α (play angle, backlash reduction angle) of the roller 281.

[0070] The effective guide range angle β of the inclined portion 284c is set to be greater than the lag angle α of the roller 281. With such intermittent portions 212 and 222, when the intermittent portions 212 and 222 are in the ON state (engaged state of the roller 281), the convex portion 283a of the pin 283 is prevented from falling out of the effective guide range of the inclined portion 284c of the guide 284. Therefore, when switching the intermittent portions 212 and 222 from the ON state to the OFF state, the convex portion 283a of the pin 283 and the concave portion 284a of the guide 284 are reliably engaged, and the roller 281 can be appropriately switched from the engaged state to the disengaged state.

[0071] As shown in Figure 20, when the lag angle of the roller 281 is α, the diameter of the roller 281 is d, the inner diameters of the gears 184 and 186 are D, the height from the rotation center of the second shaft 182 to the flat portion 182a is L, the gap between the roller 281 and the flat portion 182a is t, the intersection point of the line passing through the center of the second shaft 182 and the roller 281 at the time of meshing with the flat portion 182a is P, the distance from the intersection point P to the rotation center of the second shaft 182 is E, and the distance from the intersection point P to the center of the roller 281 is F, the following relationship holds. cosα = L / E cosα=(d / 2) / F E + F = L + t + d / 2 E:F=L:d / 2 Therefore, based on these premises, the effective guide range angle β of the inclined section 284c (angle, length, etc. of the inclined section 284c) is designed to be greater than the lag angle α of the roller 281.

[0072] Next, the dimensional relationship between the retainer 282 and gears 184 and 186 in the direction of their rotational axes will be explained with reference to Figure 21.

[0073] As shown in Figure 21, the length G in the rotational axis direction of the retainer 282 is set to be shorter than the length H in the rotational axis direction of the gears 184 and 186. With this dimensional relationship, gaps are created between the flange portion 182b of the second shaft 182 and the retainer 282, and between the washer W and the retainer 282, reducing the frictional resistance acting on the retainer 282. This promotes the rotation of the retainer 282, allowing the roller 281 to be appropriately switched from the disengaged state to the engaged state and from the engaged state to the disengaged state.

[0074] For example, when switching the roller 281 from an unengaged state to an engaged state, the frictional force of the rubber ball 282c causes the gears 184 and 186 and the retainer 282 to rotate together, and the inclined portion 284c of the guide 284 pushes down the pin 283. However, the rotational resistance of the retainer 282 at this time can be reduced by the above-mentioned dimensional relationship, which not only enables proper switching but also reduces the frictional force of the rubber ball 282c.

[0075] Furthermore, when switching the roller 281 from the engaged state to the disengaged state, the servo motor 242 pushes up the pin 283 via the operating rod 241 and rotates the retainer 282 via the guide 284. The rotational resistance of the retainer 282 at this time can be reduced by the dimensional relationship described above, which not only enables proper switching but also reduces the thrust of the operating rod 241 and reduces the power consumption of the servo motor 242. In addition, when the roller 281 is disengaged, the retainer 282 and gears 184 and 186 rotate relative to each other, but the rotational resistance in relative rotation can be reduced by reducing the frictional force of the rubber ball 282c.

[0076] Next, the assembly process for the retainer 282 will be explained with reference to Figures 22 and 23.

[0077] As shown in Figure 22, the retainer 282 is mounted to the outer surface of the second shaft 182, which incorporates the operating rod 241 and the pin 283, in a sliding manner along the direction of the rotation axis. In this case, the retainer 282 shown in Figure 9 must be designed so that the pin 283 does not protrude from the outer surface of the second shaft 182. This is because the retainer 282 would catch on the protruding part of the pin 283, making assembly difficult.

[0078] On the other hand, in the modified retainer 282 shown in Figure 10, instead of the recess 284a of the guide 284, a V-groove 282d is formed through the inner circumference of the retainer 282 along the direction of the rotation axis. Therefore, even if the pin 283 protrudes from the outer surface of the second shaft 182, the retainer 282 can be assembled as shown in Figure 23. With this modified retainer 282, the pin 283 can be made longer, so the fitting length between the pin 283 and the second shaft 182 is increased, and the forward and backward movement of the pin 283 can be stabilized. Also, compared to the retainer 282 shown in Figure 9, the axial dimensional accuracy of the guide 284 is not required, making manufacturing easier. The V-groove 282d can be machined using wire cutting, electrical discharge machining, etc.

[0079] Next, the first and second modified examples of the intermittent sections 212 and 222 will be described with reference to Figures 24 and 25.

[0080] As shown in Figure 24, the intermittent portions 212 and 222 of the first modified example differ from the above embodiment in that they are equipped with a spring 285 that biases the pin 283 inward from the outer diameter direction. With the intermittent portions 212 and 222 of this first modified example, it is possible to assist in the force that retracts the pin 283 radially from the outside (outer diameter direction) to the inside (inner diameter direction), so the frictional force of the rubber ball 282c can be reduced compared to the case where the pin 283 is pushed down from the outside to the inside by only the inclined portion 284c of the guide 284. As a result, when the roller 281, which rotates relative to the retainer 282 and the gears 184 and 186, is not engaged, the rotational resistance due to the frictional force of the rubber ball 282c can be reduced.

[0081] As shown in Figure 25, the intermittent sections 212 and 222 of the second modified example are similar to the first modified example in that they are equipped with a spring 285 that biases the pin 283 from the outside to the inside. However, they differ from the first modified example in that the outer end of the pin 283 has an axial fitting projection 283b, and the circumferential center of the guide 284 has a fitting recess 284d that fits with the fitting projection 283b of the pin 283 when the pin 283 is positioned radially outward (outer radial direction). With the intermittent sections 212 and 222 of this second modified example, the pin 283 and the retainer 282 can be positioned with high precision, and therefore the roller 281 and the retainer 282 can be positioned with high precision. This allows for high-precision switching between the engaged and disengaged states of the roller 281.

[0082] 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.

[0083] 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.

[0084] Furthermore, the intermittent device of the present invention may be used not only in coupling devices but also in vehicle drive systems. Figure 26 is a schematic diagram of a vehicle drive system equipped with the intermittent device of the above embodiment.

[0085] The vehicle drive system 900 shown in Figure 26 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.

[0086] 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.

[0087] 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.

[0088] 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.

[0089] 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.

[0090] 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.

[0091] 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.

[0092] (1) An engaging element (roller 281) is positioned between the first rotating body (first driven gear 184, first drive gear 901) and the second rotating body (second shaft 182, first shaft 911), An intermittent device (first intermittent mechanism 210, second intermittent mechanism 220) comprising an operating section (operating rod 241, pin 283, retainer 282, guide 284) for operating the engaging element 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.

[0093] According to (1), the operating unit can appropriately switch between the engaged and disengaged states of the engaging element.

[0094] (2) The intermittent device described in (1), The aforementioned operating unit is The actuator (retainer 282, guide 284) moves the aforementioned engaging element, An intermittent device comprising an actuator (operating rod 241, pin 283) provided to enable operation of the engaging element via the actuator, or to enable operation of the engaging element without the actuator.

[0095] According to (2), the engaged and disengaged states of the engaging element can be appropriately switched by the operator.

[0096] (3) The intermittent device described in (2), 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 intermittent device is provided such that the inner end of the retractor, which is the end of the retractor on the rotation axis side in the orthogonal direction, abuts against the extended portion.

[0097] According to (3), in the operator, the inner end of the retractor contacts the extended portion, allowing the retractor to move forward and backward along a direction perpendicular to the rotation axis of the first and second rotating bodies.

[0098] (4) The intermittent device described in (3), The aforementioned intermittent device is An intermittent device comprising a retainer (retainer 282) that holds the reciprocating element, which is provided on the same diameter as the engaging element in the circumferential direction with respect to the rotation axis.

[0099] According to (4), the retainer can hold the retracting element.

[0100] (5) The intermittent device described in (4), The actuator includes the retainer, The retainer is an intermittent device provided to allow the engaging element to move.

[0101] According to (5), the retainer can move the engaging element in accordance with the forward and backward movement of the reciprocating element.

[0102] (6) An intermittent device as described in (4) or (5), The engaging element has a plurality of engaging bodies (rollers 281) that are spaced apart in the circumferential direction with respect to the axis of rotation, The retractor has a plurality of retractable bodies (pins 283) that are spaced apart in the circumferential direction and each is provided to be able to contact a plurality of the engaging bodies, The retainer is an intermittent device provided to hold a plurality of the engaging bodies and a plurality of the reciprocating bodies.

[0103] According to (6), the retainer can hold multiple engaging bodies and multiple retractable bodies.

[0104] (7) An intermittent device as described in any of (3) to (6), The first rotating body is formed to have a larger diameter than the second rotating body and to be hollow so as to have a first internal space inside, The second rotating body is positioned such that at least a portion of it is located in the first internal space, and is formed hollow so as to have a second internal space (internal space S2) inside it. The extension portion is arranged such that at least a part of it is located in the second internal space, and is an intermittent device.

[0105] According to (7), the extended portion can move back and forth along the rotation axis in the second internal space, so the intermittent device can be miniaturized.

[0106] (8) An intermittent device as described in any of (3) to (7), The aforementioned advancement / retraction element, When positioned outward in the orthogonal direction, the engaging element enters one of the states: the engaged state or the disengaged state. An intermittent device in which, when positioned inward in the orthogonal direction, the engaging element is in the other state between the engaged state and the disengaged state.

[0107] According to (8), the engaged and disengaged states of the engaging element are switched depending on the position of the advancing and retracting element.

[0108] (9) The intermittent device described in (8), The aforementioned extension portion, When the first position is located in the direction of the rotation axis, the retractor is located outward in the orthogonal direction, An intermittent device in which, when the retractor is positioned in a second position in the direction of the rotation axis, the retractor is positioned inward in the orthogonal direction.

[0109] According to (9), the position of the retractor can be switched according to the position of the extended portion.

[0110] (10) An intermittent device as described in any of (3) to (9), The aforementioned intermittent device is Other engaging elements (roller 281) are positioned between the third rotating body (second driven gear 186, second drive gear 905) and the fourth rotating body (second shaft 182, first shaft 911), An intermittent device further comprising other operating parts (operating rod 241, pin 283, retainer 282, guide 284) for operating the other engaging element between an engaged state in which the third rotating body and the fourth rotating body can rotate together, and an unengaged state in which the third rotating body and the fourth rotating body can rotate relative to each other.

[0111] According to (10), the engagement state of the third and fourth rotating bodies and the disengagement state of the third and fourth rotating bodies can be appropriately switched by other operating parts.

[0112] (11) The intermittent device described in (10), The other operating parts are, Other actuators (retainer 282, guide 284) that move the aforementioned other engaging elements, An intermittent device comprising: another actuator (operating rod 241, pin 283) provided to enable operation of the other engaging element via the other actuator, or to enable operation of the other engaging element without the other actuator.

[0113] According to (11), the engagement state of the third and fourth rotating bodies and the disengagement state of the third and fourth rotating bodies can be appropriately switched by other operators.

[0114] (12) The intermittent device described in (11), The other operators are, It has another reciprocating element (pin 283) that is provided to be movable back and forth along a direction perpendicular to the rotation axis, It has another extending portion (operating rod 241) that extends along the rotation axis and is provided to be movable back and forth along the rotation axis, An intermittent device in which the other retracting element is provided such that its inner end, which is the end of the other retracting element on the rotation axis side in the orthogonal direction, abuts against the other extending element.

[0115] According to (12), in the other operators, the inner end of the other reciprocating element comes into contact with the extended portion, allowing the other reciprocating element to move forward and backward along a direction perpendicular to the rotation axis of the third and fourth rotating bodies.

[0116] (13) The intermittent device described in (12), The second rotating body and the fourth rotating body are provided to be rotatable together, An intermittent device in which the extended portion and the other extended portion are provided integrally.

[0117] According to (13), the power source can be shared and control can be further simplified.

[0118] (14) The intermittent device described in (13), The aforementioned extension and the other extension are When positioned in the first position in the direction of the rotation axis, the retractor is located outside the orthogonal direction, and the other retractor is located inside the orthogonal direction. An intermittent device in which, when positioned at a second position in the direction of the rotation axis, the advancing element is located on the inside in the orthogonal direction, and the other advancing element is located on the outside in the orthogonal direction.

[0119] According to (14), the positions of both the retractor and the other retractor can be switched depending on the position of the extended part and the other extended part.

[0120] (15) The intermittent device described in (14), The aforementioned extension and the other extension are An intermittent device in which, when positioned in the third position in the direction of the rotation axis, the advancing and retracting element is located on the outside in the orthogonal direction, and the other advancing and retracting element is located on the outside in the orthogonal direction.

[0121] According to (15), depending on the position of the extended portion and other extended portions, states other than the engaged state and the disengaged state can be created.

[0122] (16) An intermittent device according to any of (4) to (15) that is subordinate to (3), The intermittent device further comprises a biasing unit (spring 285) that biases the forward and backward element from the outside to the inside in the orthogonal direction.

[0123] According to (16), the biasing part can assist in retracting the advancing / retracting element from the outside to the inside.

[0124] (17) An intermittent device according to any of (5) to (16) that is subordinate to (4), The retractable element is provided such that its outer end in the orthogonal direction contacts the retainer. The contact portion of the retainer that contacts the retracting element has an inclined portion (inclined portion 284c) that is formed to intersect the orthogonal direction, The relative rotation angle between the retainer and the second rotating body when the engaging element moves from the disengaged state to the engaged state is defined as the first angle (lag angle α). When the angle formed by the rotation axis of the inclined portion is defined as the second angle (effective guide range angle β), An intermittent device in which the second angle is greater than the first angle.

[0125] According to (17), the retracting element can be prevented from disengaging from the inclined portion of the retainer, and the engaging element can be appropriately switched from the engaged state to the disengaged state.

[0126] (18) An intermittent device according to any of (8) to (17) that is subordinate to (4), The retainer is an intermittent device having a fitting portion (fitting recess 284d) into which the outer end of the retractor in the orthogonal direction fits when the retractor is positioned outward in the orthogonal direction.

[0127] According to (18), the retractor and the retainer can be positioned with high precision, so the engaging element and the retainer can be positioned with high precision. This allows for high-precision switching between the engaged and disengaged states of the engaging element.

[0128] (19) An intermittent device according to any of (8) to (17) that is subordinate to (4), The retainer has a V-groove (V-groove 282d) formed that penetrates along the rotation axis direction, which accommodates the outer end of the retractor in the orthogonal direction when the retractor is positioned on the outside in the orthogonal direction. An intermittent device in which, when the reciprocating element is positioned on the inside in the orthogonal direction, the outer end of the reciprocating element in the orthogonal direction protrudes outward in the orthogonal direction beyond the outer circumference of the second rotating body.

[0129] According to (19), the engagement portion between the reciprocating element and the second rotating body becomes longer, and the reciprocating movement of the reciprocating element becomes more stable.

[0130] (20) An intermittent device according to any of (7) to (19) that is subordinate to (4), An intermittent device in which the length of the retainer in the direction of rotation (length G in the direction of rotation) is shorter than the length of the first rotating body in the direction of rotation (length H in the direction of rotation).

[0131] According to (20), the friction acting on the retainer is reduced, and the engaging element can be appropriately switched from the disengaged state to the engaged state by the rotation of the retainer. [Explanation of Symbols]

[0132] 182 Second shaft (second rotating body, fourth rotating body) 184 First driven gear (first rotating body) 186 Second driven gear (third 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, engaging body) 282 Retainer (operation part, actuator, retainer) 282d V groove 283 pins (operating part, control element, advance / reverse element) 284 Guide (operating part, actuator) 284c slope section 284d Fitting recess (fitting part) 901 First drive gear (first rotating body) 905 Second drive gear (third rotating body) 911 First shaft (second rotating body) S2 internal space (second internal space) α Delay angle (first angle) β Effective guide range angle (second angle) G: Length in the direction of the rotation axis (length in the direction of the rotation axis of the retainer) H is the length in the direction of the rotation axis (the length in the direction of the rotation axis of the first rotating body).

Claims

1. An engaging element positioned between the first rotating body and the second rotating body, An intermittent device comprising an operating unit for operating the engaging element to a state in which the first rotating body and the second rotating body can rotate together, and a 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 aforementioned intermittent device is An intermittent device comprising a retainer that holds the reciprocating element, which is provided on the same diameter as the engaging element in the circumferential direction with respect to the rotation axis.

2. An intermittent device according to claim 1, The actuator includes the retainer, The retainer is an intermittent device provided to allow the engaging element to move.

3. An intermittent device according to claim 1 or 2, The engaging element has a plurality of engaging bodies that are spaced apart in the circumferential direction with respect to the axis of rotation, The retractor has a plurality of retractable bodies that are spaced apart in the circumferential direction and each is provided so as to be able to contact a plurality of the engaging bodies, The retainer is an intermittent device provided to hold a plurality of the engaging bodies and a plurality of the reciprocating bodies.

4. An intermittent device according to any one of claims 1 to 3, The first rotating body is formed to have a larger diameter than the second rotating body and to be hollow so as to have a first internal space inside, The second rotating body is positioned such that at least a portion of it is located in the first internal space, and is formed hollow so as to have a second internal space inside it. The extension portion is arranged such that at least a part of it is located in the second internal space, and is an intermittent device.

5. An intermittent device according to any one of claims 1 to 4, The aforementioned advancement / retraction element, When positioned outward in the orthogonal direction, the engaging element enters one of the states: the engaged state or the disengaged state. An intermittent device in which, when positioned inward in the orthogonal direction, the engaging element is in the other state between the engaged state and the disengaged state.

6. The intermittent device according to claim 5, The aforementioned extension portion, When the first position is located in the direction of the rotation axis, the retractor is located outside the orthogonal direction. An intermittent device in which, when the retractor is positioned in a second position in the direction of the rotation axis, the retractor is positioned inward in the orthogonal direction.

7. An intermittent device according to any one of claims 1 to 6, The aforementioned intermittent device is Other engaging elements positioned between the third and fourth rotating bodies, An intermittent device further comprising: another operating part for operating the other engaging element between an engaged state in which the third rotating body and the fourth rotating body can rotate together, and an unengaged state in which the third rotating body and the fourth rotating body can rotate relative to each other.

8. The intermittent device according to claim 7, The other operating parts are, Another actuator that moves the aforementioned other engaging element, An intermittent device comprising: another actuator, which is provided to enable the other engaging element to be operated via the other actuator, or to enable the other engaging element to be operated without the other actuator.

9. The intermittent device according to claim 8, The other operators are, It has another reciprocating element that is provided to be movable forward and backward along a direction perpendicular to the rotation axis, It has another extending portion that extends along the rotation axis and is provided to be movable back and forth along the rotation axis, An intermittent device in which the other retracting element is provided such that its inner end, which is the end of the other retracting element on the rotation axis side in the orthogonal direction, abuts against the other extending element.

10. An intermittent device according to claim 9, The second rotating body and the fourth rotating body are provided to be rotatable as a single unit. An intermittent device in which the extended portion and the other extended portion are provided integrally.

11. An intermittent device according to claim 10, The aforementioned extension and the other extension are When positioned in the first position in the direction of the rotation axis, the retractor is located outside the orthogonal direction, and the other retractor is located inside the orthogonal direction. An intermittent device in which, when positioned at a second position in the direction of the rotation axis, the reciprocating element is located inside the orthogonal direction, and the other reciprocating element is located outside the orthogonal direction.

12. An intermittent device according to claim 11, The aforementioned extension and the other extension are An intermittent device in which, when positioned at a third position in the direction of the rotation axis, the advancing and retracting element is located outside the orthogonal direction, and the other advancing and retracting element is also located outside the orthogonal direction.

13. An intermittent device according to any one of claims 1 to 12, The intermittent device further comprises a biasing unit that biases the forward and backward element from the outside to the inside in the orthogonal direction.

14. An intermittent device according to any one of claims 1 to 13, The retractable element is provided such that its outer end in the orthogonal direction contacts the retainer. An intermittent device wherein the contact portion of the retainer that contacts the advancing and retracting element has an inclined portion formed to intersect with the orthogonal direction.

15. The intermittent device according to claim 14, A first straight line is located at the central position in the circumferential direction of the housing space, which is the space between the first rotating body and the second rotating body in which the engaging element is housed, and passes through the axis of rotation and the center of the engaging element when the first rotating body and the second rotating body are in the disengaged state in which they can rotate relative to each other, The first angle is defined as the angle between the axis of rotation and a second straight line passing through the center of the engaging element when the engaging element is located at the end position in the circumferential direction of the housing space and the first rotating body and the second rotating body are in the engaged state in which they can rotate together. A third straight line passing through the axis of rotation and one end of the inclined portion in the circumferential direction, When the second angle is defined as the angle formed by the rotation axis and the fourth straight line passing through the other end of the inclined portion in the circumferential direction, An intermittent device in which the second angle is greater than the first angle.

16. An intermittent device according to any one of claims 1 to 15, The retainer has a fitting portion into which the outer end of the retractor in the orthogonal direction fits when the retractor is positioned outward in the orthogonal direction.

17. An intermittent device according to any one of claims 1 to 15, The retainer has a V-groove formed through it along the rotation axis direction, which accommodates the outer end of the retractor in the orthogonal direction when the retractor is positioned outward in the orthogonal direction. An intermittent device wherein, when the retractor is positioned on the inside in the orthogonal direction, the outer end of the retractor in the orthogonal direction protrudes outward in the orthogonal direction beyond the outer circumference of the second rotating body.

18. An intermittent device according to any one of claims 1 to 17, An intermittent device in which the length of the retainer in the direction of rotational axis is shorter than the length of the first rotating body in the direction of rotational axis.

19. An engaging element disposed between a first rotating body and a second rotating body, An intermittent device comprising an operating unit for operating the engaging element to a state in which the first rotating body and the second rotating body can rotate together, and a 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 aforementioned intermittent device is Other engaging elements positioned between the third and fourth rotating bodies, The system further includes another operating part for operating the other engaging element to a state in which the third rotating body and the fourth rotating body can rotate together, and a state in which the third rotating body and the fourth rotating body can rotate relative to each other. The other operating parts are, Another actuator that moves the aforementioned other engaging element, It has another actuator that is provided so as to be operable to the other engaging element via the other actuator, or so as to be operable to the other engaging element without the other actuator, The other operators are, It has another reciprocating element that is provided to be movable forward and backward along a direction perpendicular to the rotation axis, It has another extending portion that extends along the rotation axis and is provided to be movable back and forth along the rotation axis, The other retractable element is provided such that its inner end, which is the end of the other retractable element on the rotation axis side in the orthogonal direction, abuts against the other extending part. The second rotating body and the fourth rotating body are provided to be rotatable as a single unit. The aforementioned extended portion and the other extended portion are provided integrally. The aforementioned extension and the other extension are When positioned in the first position in the direction of the rotation axis, the retractor is located outside the orthogonal direction, and the other retractor is located inside the orthogonal direction. When positioned in the second position in the direction of the rotation axis, the retractor is located inside the orthogonal direction, and the other retractor is located outside the orthogonal direction. When positioned at the third position in the direction of the rotation axis, the retractor is located outside the orthogonal direction, and the other retractor is located outside the orthogonal direction, intermittent Device.

Images