JP2009113195A - Joint device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a slim joint device capable of achieveing two degrees of freedom in one joint, and achieving complete action. <P>SOLUTION: In this joint device 10, an end of an arm 1 is jointed with an end of an arm 2 so as to move to each other. Besides, a first cross gear 13, a third and a fourth gears 13, 14 are provided. The first cross gear 3 is disposed at a joint portion 1j. In the first cross gear 3, the first gear 31 and the second gear 32 share an identical center. The first and the second gears 31, 32 are spur gears. The first gear 31 and the second gear 32 cross in a cross shape. The third gear 13 which is engaged with the first gear 31 includes the arm 1. The fourth gear 14 which is engaged with the second gear 32 includes the arm 2. The arm 1 can move to the arm 2 when the third gear 13 is rotated. The arm 2 can move to the arm 1 when the fourth gear 14 is rotated. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a joint device. In particular, the present invention relates to a structure of a joint device used for a robot or a manipulator.

  The robot has operations and forms similar to those of humans, and automates complex operations by computer control. Industrial robots are mainly used for conveying or transferring articles, and are classified into multi-joint type, cylindrical / polar coordinate type, orthogonal coordinate type, and the like. Among them, articulated industrial robots having joint devices connected thereto are widely used because they have an advantage of a large operation range.

  As the above-described joint device for an industrial robot, an articulated device for an industrial robot is invented in which a fixed arm and a driven arm are connected by a joint portion and rotated so that the driven arm is refracted with respect to the fixed arm. (For example, refer to Patent Document 1).

  In the joint device according to Patent Document 1, a hypoid gear (staggered gear) and a wave gear device (harmonic reducer) are arranged at the joint, and when a motor built in a fixed arm is driven, a hypoid gear driving gear (small gear) ) Transmits the rotation to the driven gear (large gear), and is further decelerated by the wave gear device to rotate the driven arm.

  Japanese Patent Application Laid-Open No. H10-228561 describes that a joint device for an industrial robot with high accuracy and reliability can be provided because both ends of a rotary shaft are supported by a hypoid gear driving gear. Further, Patent Document 1 describes that “such a joint device is modularized, so that various combinations are possible”. That is, it suggests that this articulated device can be connected to realize an articulated industrial robot.

  On the other hand, a manipulator can be operated on behalf of a human by remotely operating a machine simulating the structure of a human hand. The manipulator enables work under radiation or high temperature that is difficult for humans to enter.

  For example, a modular manipulator with a modular joint device facilitates work in outer space where it is difficult for humans to access. If a plurality of joint devices provided in a modular manipulator are operated cooperatively and these joint devices are controlled autonomously and distributedly, it is possible to flexibly cope with complex changes in outer space.

  As the above-described modular manipulator, a joint device having two degrees of freedom of turning and skewing at the joint is disclosed (for example, see Non-Patent Document 1).

  In the joint device according to Non-Patent Document 1, the end of one arm and the end of the other arm are connected to each other at an angle at the joint. The end of one arm and the end of the other arm cover the joint so that a pair of hollow hemispheres form a sphere.

  This sphere incorporates a motor with a wave gear device fixed to the hemisphere of one arm. And it is comprised so that the said motor can rotate the inclination axis | shaft (rotor) fixed to the hemisphere of the other arm. Since the inclined axis is inclined with respect to the axis center of the other arm, when the motor is driven, the terminal of the other arm can be turned. That is, this joint device is a cylindrical / polar coordinate type robot.

The other arm has a double tube structure, and a motor with a wave gear device fixed to the inner tube rotates the outer tube. If a joint device is connected by connecting the terminal of one arm and the terminal of the other arm, a modular manipulator capable of complicated operation can be realized.
JP 59-201787 A Shinichi Kimura and three other authors, “Fault Adaptive Kinetic Control Multi-manufacturer Randolf Mundo Random Mundo Rim.” 13 No. 5, 2001, p540-542, Fig2, Fig3

  The joint device according to Patent Document 1 has an advantage that the rotation angle of the pair of arms can be accurately operated. However, the joint device according to Patent Document 1 has only one degree of freedom per joint, and even if a multi-joint device is configured by continuously connecting the joint devices, the multi-joint device is merely unnecessarily long. It is difficult to realize complex and diverse operations in a limited space.

  If a multi-joint device is configured by connecting joint devices with two degrees of freedom to one joint, the degree of freedom doubles as a whole, realizing complex and diverse operations such as bypassing obstacles in a limited space. It is also easy to do.

  The joint device according to Non-Patent Document 1 has two degrees of freedom in one joint, and a modular manipulator using this joint device has a large degree of freedom as a whole, and can realize complicated and diverse operations. Further, by controlling the motor built in the arms, the rotation angle of the pair of arms can be operated with high accuracy.

  However, the joint device according to Non-Patent Document 1 has a motor built in the joint, and this motor directly turns the arm. Therefore, if a large torque is required to turn the arm, it is inevitable. In addition, it is difficult to realize a slim modular manipulator having a large outer diameter and a small body diameter as a whole. If a slim modular manipulator can be realized, it is easy to realize complex and diverse operations such as bypassing obstacles in a limited space. That is, a joint device that can realize a slim modular manipulator is desired.

  For example, an endoscope used for an internal examination of the digestive tract realizes a multi-joint device that is slim and has a high degree of freedom. However, this endoscope has a problem that the operation cannot be accurately controlled because it is operated by the hand-operated operation unit while checking the image of the target portion enlarged by the lens provided at the distal end portion on the monitor. .

  In addition, the above-described joint device has a problem that, for example, when the operation is stopped due to a momentary interruption or the like, the posture when the pair of arms is stopped cannot be maintained by an external force from the output side. If the posture when the pair of arms is stopped can be maintained by external force from the output side, that is, if an articulated device having an irreversible mechanism that can maintain the power from the output side without being transmitted to the input side can be realized, reset. Operation can be resumed. The above can be said to be the subject of the present invention.

  The present invention has been made in view of such problems, and an object thereof is to provide a slim joint device that has two degrees of freedom in one joint and realizes a reliable operation. It is another object of the present invention to provide a joint device including an irreversible mechanism that maintains the posture at the time of stopping without transmitting power from the output side to the input side.

  The present inventors have arranged a cross gear that crosses a pair of gears in a cross shape at a joint portion, and is configured so that each gear provided on the first and second arms meshes with the cross gear and is self-propelled. Furthermore, it has been found that the above problems can be solved by providing an irreversible transmission on each gear, and based on this, the following new joint device has been invented.

  (1) A joint device in which an end portion of one arm and an end portion of the other arm are movably connected to each other, and is a first cross gear disposed in the joint portion, and is equidistant from the first circumference. A first gear having at least a plurality of teeth and a second gear having at least a plurality of teeth at equal intervals on the second circumference share the center and the first plane including the first circumference and the second A first intersecting gear orthogonal to a second plane including the circumference, a third gear provided on the one arm and meshing with the first gear, and provided on the other arm and meshing with the second gear. And a fourth gear.

  In the joint device according to the invention of (1), the end of one arm and the end of the other arm are movably connected to each other. A first cross gear and third and fourth gears are provided. The first cross gear is disposed at the joint. In the first cross gear, the first gear and the second gear share the center. The first gear is provided with at least a plurality of teeth at equal intervals on the first circumference. The second gear is provided with at least a plurality of teeth at equal intervals on the second circumference. Furthermore, the first plane including the first circumference and the second plane including the second circumference are orthogonal to each other.

  In the joint device according to the invention of (1), the third gear is provided on one arm and meshes with the first gear. A fourth gear is provided on the other arm and meshes with the second gear.

  Here, the first to fourth gears may be spur gears whose tooth traces are parallel to the shaft, and may be involute gears whose tooth profile is a circle extending line. In addition, the first to fourth gears may be “helical gears” whose tooth surfaces are formed in a spiral curved surface, and the involute may be a helical gear, and the teeth at the center of the tooth width. It may be a “herringbone gear” in which the direction of the muscle is reversed, or a double helical gear. Spiral gears are suitable for transmitting large power efficiently and silently.

  The first and second circumferences may be pitch circles, addendum circles, or addendum circles. When the tooth traces are orthogonal to the first and second circumferences, it can be a spur gear. When the tooth traces obliquely intersect the first and second circumferences, they can be “helical gears” or “branch gears”. The first circumference and the second circumference may be the same or different.

  Providing at least a plurality of teeth at regular intervals on the first circumference of the first gear does not necessarily mean providing a plurality of teeth at regular intervals throughout the first circumference. The first gear functions by meshing with the third gear, but the movement of the third gear is limited in practice as will be described later. Therefore, for example, the first gear may be provided with a plurality of teeth limitedly at equal intervals over a substantially half circumference of the first circumference. In this case, it may include an aspect in which a plurality of teeth are provided at equal intervals over the entire semicircular arc outer periphery of the semilunar first gear, and the opening angle is 180 degrees or less on the arc outer periphery of the semilunar first gear. A mode in which a plurality of teeth are provided at equal intervals within the range of a subarc may be included. The gears provided with at least a plurality of teeth at equal intervals on the circumference are all included in the first gear according to the invention of (1).

  Similarly, providing the second gear with at least a plurality of teeth at equal intervals on the second circumference does not necessarily mean providing a plurality of teeth at equal intervals over the entire second circumference. The second gear functions by meshing with the fourth gear, but the movement of the fourth gear is limited as a matter of fact as described later. Therefore, for example, the second gear may be provided with a plurality of teeth limitedly at equal intervals over a substantially half circumference of the second circumference. In this case, it may include an aspect in which a plurality of teeth are provided at equal intervals over the entire semicircular arc outer periphery of the semilunar second gear, and the angle is opened to 180 degrees or less on the arc outer periphery of the semicircular second gear. A mode in which a plurality of teeth are provided at equal intervals within the range of a subarc may be included. The gears provided with at least a plurality of teeth at equal intervals on the circumference are all included in the second gear according to the invention of (1).

  The first gear and the second gear may be the same, with one gear being a large gear and the other gear being a small gear. The first gear and the second gear may have the same or different circumferential pitch (distance between adjacent teeth measured on the pitch circle). At the portion where the teeth of the first gear and the teeth of the second gear overlap, either one of the teeth may be formed or both of the teeth may not be formed.

  In general, a gear means a gear transmission that forms a pair, but a cross gear (including a first cross gear and a second cross gear described later) is defined by a new concept that does not mean a gear transmission. It is a single unit and a machine element. The cross gear is different from a “cross shaft gear” which is a combination of gears in which two axes intersect with each other. Here, the cross gear functions like a spherical cam in the cam device, and defines the locus of the mating gear.

  The first gear and the third gear constitute a gear transmission. By applying a force for rotating the third gear, the first gear and the third gear move relative to each other. In this case, the first gear serves as a fixed gear, the third gear serves as a movable gear, and the third gear meshes with the first gear and travels freely. Here, the center of the 3rd gear can draw the revolution locus centering on the axial center of the 1st gear.

  Similarly, the second gear and the fourth gear constitute a gear transmission. When a force for rotating the fourth gear is applied, the second gear and the fourth gear move relative to each other. In this case, the second gear is a fixed gear, the fourth gear is a movable gear, and the fourth gear meshes with the second gear and is self-propelled. Here, the center of the 4th gear can draw the revolution locus centering on the axial center of the 2nd gear.

  The first gear and the third gear may be the same, with one gear being a large gear and the other gear being a small gear. If the first gear is a large gear and the third gear is a small gear, one arm can be rotated with a low torque.

  Similarly, the second gear and the fourth gear may be the same, with one gear being a large gear and the other gear being a small gear. If the second gear is a large gear and the fourth gear is a small gear, the other arm can be rotated with a low torque.

  In the joint device according to the invention of (1), the extension direction of one arm and the extension direction of the other arm may be arranged orthogonally, and if the third gear is rotated, one arm is moved with respect to the other arm. It can move. If the fourth gear is rotated, the other arm can be moved relative to one arm. If an appropriate direction changing mechanism is connected to the third and fourth gears, the extension direction of one arm and the extension direction of the other arm can be arranged coaxially. Thus, the joint device according to the invention of (1) can realize a joint device having two degrees of freedom in one joint.

  As is well known, the gear transmission can obtain a reliable transmission by sliding contact between the tooth surfaces. In general, the gear transmission transmits the rotation of the driving vehicle (input) to the driven vehicle (output). However, the joint device according to the invention of (1) has the first rotation (input) motion of the third gear or the fourth gear. It is converted into a revolving (output) motion defined by one cross gear. In this case, the revolution trajectory can be reliably moved by the meshing of the gears. That is, the joint device according to the invention of (1) can realize a reliable operation.

  Further, the joint device according to the invention of (1) does not have a motor in the joint portion, so that a slim joint device can be realized. The first intersecting gear can theoretically be made infinitely small, and can be built in a joint portion where the end of one arm and the end of the other arm intersect, and at least the necessity of expanding the joint is necessary. Absent. Depending on the size of the actuator that rotates the third gear or the fourth gear, it is considered that an extra-fine joint device can be realized.

  (2) The one arm includes a first worm gear arranged coaxially with the third gear, and a first worm meshing with the first worm gear, and the other arm includes the fourth worm gear. The joint device according to (1), including a second worm gear arranged coaxially with the gear, and a second worm meshing with the second worm gear.

  In the joint device according to the invention of (2), one arm has the first worm gear and the first worm. The other arm has a second worm gear and a second worm. The first worm gear is arranged coaxially with the third gear. The first worm meshes with the first worm gear. The second worm gear is arranged coaxially with the fourth gear. The second worm meshes with the second worm gear.

  The first and second worms may be small gears or screw gears, and constitute a worm gear device that meshes with the first and second worm gears that are large gears. Worm gear devices are classified as staggered gears whose two axes are not parallel to each other and do not cross each other. In the worm gear device, although the two axes are orthogonal to each other in space, they do not intersect.

  The worm gear device may use a worm as a driving vehicle, and is an irreversible mechanism in which the rotation of the worm gear as a driven vehicle is not transmitted to the worm. All irreversible mechanisms that replace the worm gear device are included in the invention of (2).

  When the first worm is rotated, the rotation of the first worm is transmitted to the first worm gear. The third gear may rotate in synchronization with the rotation of the first worm gear and is driven by the first cross gear to move one arm relative to the other arm. When the rotation of the first worm is stopped, the first worm and the first worm gear are locked to each other. That is, the power from the first worm gear is not transmitted to the first worm, and the posture when the pair of arms is stopped is maintained.

  Similarly, when the second worm is rotated, the rotation of the second worm is transmitted to the second worm gear. The fourth gear may rotate in synchronization with the rotation of the second worm gear, and is driven by the first cross gear to move the other arm relative to one arm. When the rotation of the second worm is stopped, the second worm and the second worm gear are locked to each other. That is, the posture when the pair of arms is stopped is maintained without transmitting the power from the second worm gear to the second worm.

  The joint device according to the invention of (2) can provide a joint device including an irreversible mechanism that maintains the posture at the time of stopping without transmitting power from the output side to the input side.

  (3) The joint device according to (2), wherein the one arm includes a first motor that rotates the first worm, and the other arm includes a second motor that rotates the second worm.

  The first and second motors are preferably stepping motors that can subdivide the step angle and perform a reliable angular motion.

  (4) The first cross gear extends in the central axis direction of the first gear and extends in the central axis direction of the second gear, and extends in the central axis direction of the second gear. A second rotation shaft that is external to both wings of the first gear, and the one arm has a first support terminal that rotatably supports both ends of the first rotation shaft, The joint device according to any one of (1) to (3), wherein the other arm includes a second support terminal that rotatably supports both ends of the second rotation shaft.

  One arm or the other arm is preferably formed in a cylindrical shape, may include a round pipe, and may include a square pipe. In order to mount the component (element) in the arm, the pipe may be divided (halved), or the divided pipes may be combined after mounting the component.

  (5) A joint device in which an end portion of one arm and an end portion of the other arm are movably connected to each other, and is a second cross gear disposed in the joint portion. A first non-circular gear providing at least a plurality of teeth at equal intervals on the pitch curve and a second non-circular gear providing at least a plurality of teeth at equal intervals on a second pitch curve consisting of a predetermined closed curve share a contour center, And a second cross gear in which a third plane including the first pitch curve and a fourth plane including the second pitch curve are orthogonal to each other, and a fifth gear provided on the one arm and meshing with the first non-circular gear. And a sixth gear provided on the other arm and meshing with the second non-circular gear.

  In the joint device according to the invention of (5), the end of one arm and the end of the other arm are movably connected to each other. A second cross gear and fifth and sixth gears are provided. The second cross gear is arranged at the joint. In the second cross gear, the first non-circular gear and the second non-circular gear share the center of the contour.

  The first non-circular gear is provided with at least a plurality of teeth at equal intervals on a first pitch curve formed of a predetermined closed curve. The second non-circular gear is provided with at least a plurality of teeth at equal intervals on a second pitch curve formed of a predetermined closed curve. Furthermore, the third plane including the first pitch curve and the fourth plane including the second pitch curve are orthogonal to each other.

  In the joint device according to the invention of (5), the fifth gear is provided on one arm and meshes with the first non-circular gear. A sixth gear is provided on the other arm and meshes with the second non-circular gear.

In the invention of (1), the speed ratio r ₁₃ of the third gear meshing with the first gear and the first gear (the angular speed ω1 of the first gear / the angular speed ω3 of the third gear) is constant. Similarly, the speed ratio r ₂₄ of the fourth gear meshing with the second gear and the second gear (the angular speed ω 2 of the second gear / the angular speed ω 4 of the fourth gear) is constant. Thus, when the speed ratio of both gears is constant, the distance between the centers of the pitch circles of both gears is unchanged (constant).

  For example, if a displacement gear whose elliptical or logarithmic spiral contour is a pitch curve is meshed with a normal gear, an indefinite speed gear in which the distance between the centers of both gears changes during rotation (speed ratio changes) can be realized. . In this case, except for special cases, the pitch curve or the outer shape does not form a circle, so it is called “non-circular gear”. A gear having a circular pitch curve or outer shape is not called a “circular gear” but is simply called a “gear”.

  That is, in the joint device according to the invention of (5), the first gear and the second gear of the first cross gear are replaced with the first non-circular gear and the second non-circular gear. Here, the first and second non-circular gears may have, for example, the outer diameter of the ellipse as a pitch curve, and the intersection of the short radius and the long radius of the ellipse is the contour center of the first non-circular gear and the second non-circular gear. can do.

  In the elliptical first and second non-circular gears, the minor radii may intersect with each other, the major radii may intersect with each other, and the minor and major radii may intersect with each other (5) The second cross gear according to the present invention is included.

  The first and second non-circular gears are not limited to non-circular gears whose elliptical or logarithmic spiral contours are pitch curves. The invention of (5) also includes a non-circular gear whose pitch curve is the contour of a plate cam in which a specific subarc of the pitch circumference is uneven. The center of the pitch circumference of the arc of the plate cam-like non-circular gear can be the center of the contour.

  Here, the fifth and sixth gears are preferably spur gears whose tooth traces are parallel to the shaft, and are preferably small gears having the same or fewer teeth than the first and second non-circular gears.

  In the first non-circular gear, providing at least a plurality of teeth at equal intervals on the first pitch curve consisting of a predetermined closed curve does not necessarily mean providing a plurality of teeth at equal intervals over the entire first pitch curve. do not do. The first non-circular gear functions by meshing with the fifth gear, but the movement of the fifth gear is limited as a matter of fact as in the third gear.

  Therefore, for example, the first non-circular gear may be provided with a plurality of teeth limitedly at equal intervals over substantially a half circumference of the first pitch curve. In this case, it may include an aspect in which a plurality of teeth are provided at equal intervals over the entire semicircular curved outer periphery of the semicircular first noncircular gear, and the curved outer periphery of the semicircular first noncircular gear includes 180 degrees or less. A mode in which a plurality of teeth are provided at equal intervals within a range of an inferior arc that opens at an angle may be included. Non-circular gears in which at least a plurality of teeth are provided at equal intervals on a non-circular pitch curve are all included in the first non-circular gear according to the invention of (5).

  Similarly, when the second non-circular gear is provided with at least a plurality of teeth at equal intervals on the second pitch curve formed of a predetermined closed curve, a plurality of teeth are provided at equal intervals over the entire second pitch curve. Does not necessarily mean. The second non-circular gear functions by meshing with the sixth gear, but the movement of the sixth gear is limited in practice as in the fourth gear.

  Therefore, for example, the second non-circular gear may be provided with a plurality of teeth limitedly at equal intervals over substantially a half circumference of the second pitch curve. In this case, it may include an aspect in which a plurality of teeth are provided at equal intervals over the entire outer circumference of the semi-curved second non-circular gear, and the outer circumference of the curved surface of the semi-circular second non-circular gear is 180 degrees or less. A mode in which a plurality of teeth are provided at equal intervals within a range of an inferior arc that opens at an angle may be included. Non-circular gears in which at least a plurality of teeth are provided at equal intervals on a non-circular pitch curve are all included in the second non-circular gear according to the invention of (5).

  The first non-circular gear and the fifth gear constitute a gear transmission. By applying a force for rotating the fifth gear, the first non-circular gear and the fifth gear relatively move. In this case, the first non-circular gear serves as a fixed gear, the fifth gear serves as a movable gear, and the fifth gear meshes with the first non-circular gear and runs freely. Here, the center of the fifth gear can draw a revolution locus that follows (follows) the first pitch curve of the first non-circular gear.

  Similarly, the second non-circular gear and the sixth gear constitute a gear transmission. When a force for rotating the sixth gear is applied, the second non-circular gear and the sixth gear move relative to each other. In this case, the second non-circular gear serves as a fixed gear, the sixth gear serves as a movable gear, and the sixth gear meshes with the second non-circular gear and runs on its own. Here, the center of the sixth gear can draw a revolution locus that follows (follows) the second pitch curve of the second non-circular gear.

  In the joint device according to the invention of (5), the extension direction of one arm and the extension direction of the other arm may be arranged orthogonally, and if the fifth gear is rotated, one arm is moved with respect to the other arm. It can move. If the sixth gear is rotated, the other arm can be moved relative to one arm. If an appropriate direction changing mechanism is connected to the fifth and sixth gears, the extension direction of one arm and the extension direction of the other arm can be arranged coaxially. Thus, the joint device according to the invention of (5) can realize a joint device having two degrees of freedom in one joint.

  In the joint device according to the invention of (5), it can also be said that the first and second non-circular gears and the fifth and sixth gears constitute a cam device. Here, the first and second non-circular gears having the cam curve may be driven nodes, and the fifth and sixth gears rolling in contact with the cam curve may be the driven nodes. It can also be said that the joint device according to the invention constitutes an “opposite cam” in which the relationship between the gang and the follower is reversed.

  As is well known, the cam device can change the position (instant center) of the follower following the cam curve and change the speed or acceleration of the follower. That is, the position, speed, or acceleration of the follower node depends on the cam curve. On the other hand, since the second cross gear constitutes a gear transmission, for example, the joint device according to the invention of (5) becomes a driving vehicle when one arm and the other arm are closed from an obtuse angle. When the fifth and sixth gears can be driven with a low torque and one arm and the other arm open from an obtuse angle, it is possible to realize a joint device that drives the fifth and sixth gears serving as driving wheels with a high torque.

  (6) The one arm includes a first worm gear arranged coaxially with the fifth gear, and a first worm meshing with the first worm gear, and the other arm includes the sixth worm gear. The joint device according to (5), further comprising: a second worm gear arranged coaxially with the gear, and a second worm meshing with the second worm gear.

  In the joint device according to the invention of (6), one arm has the first worm gear and the first worm. The other arm has a second worm gear and a second worm. The first worm gear is arranged coaxially with the fifth gear. The first worm meshes with the first worm gear. The second worm gear is arranged coaxially with the fifth gear. The second worm meshes with the second worm gear.

  The first and second worms may be small gears or screw gears, and constitute a worm gear device that meshes with the first and second worm gears that are large gears. Worm gear devices are classified as staggered gears whose two axes are not parallel to each other and do not cross each other. In the worm gear device, the two axes are perpendicular to each other in space but do not intersect.

  The worm gear device may use a worm as a driving vehicle, and is an irreversible mechanism in which the rotation of the worm gear as a driven vehicle is not transmitted to the worm. All the irreversible mechanisms replacing the worm gear device are included in the invention of (6).

  When the first worm is rotated, the rotation of the first worm is transmitted to the first worm gear. The fifth gear may rotate in synchronization with the rotation of the first worm gear and is driven by the second cross gear to move one arm relative to the other arm. When the rotation of the first worm is stopped, the first worm and the first worm gear are locked to each other. That is, the power from the first worm gear is not transmitted to the first worm, and the posture when the pair of arms is stopped is maintained.

  Similarly, when the second worm is rotated, the rotation of the second worm is transmitted to the second worm gear. The sixth gear may rotate in synchronization with the rotation of the second worm gear, and is driven by the second cross gear to move the other arm relative to one arm. When the rotation of the second worm is stopped, the second worm and the second worm gear are locked to each other. That is, the posture when the pair of arms is stopped is maintained without transmitting the power from the second worm gear to the second worm.

  The joint device according to the invention of (6) can provide a joint device including an irreversible mechanism that maintains the posture at the time of stopping without transmitting power from the output side to the input side.

  (7) The joint device according to (6), wherein the one arm includes a first motor that rotates the first worm, and the other arm includes a second motor that rotates the second worm.

  (8) The second crossing gear includes a third rotating shaft that extends in a contour central axis direction of the first non-circular gear and is external to both wings of the second non-circular gear, and a second non-circular gear. A fourth rotating shaft extending in the direction of the contour center axis and external to both wings of the first non-circular gear, and the one arm is capable of rotating both ends of the third rotating shaft. And a third support terminal that is difficult to separate, and the other arm is capable of rotating both ends of the fourth rotation shaft and is difficult to separate. The joint device according to any one of (5) to (7).

  In the joint device according to the invention of (8), the second cross gear has a third rotating shaft and a fourth rotating shaft. The third rotation shaft extends in the direction of the contour center axis of the first non-circular gear and is external to both wings of the second non-circular gear. The fourth rotation shaft extends in the direction of the contour center axis of the second non-circular gear and is external to both wings of the first non-circular gear. And one arm has the 3rd support terminal which supports both ends of the 3rd axis of rotation so that rotation is possible and separation is difficult. The other arm serves as a fourth support terminal that supports both ends of the fourth rotation shaft so as to be rotatable and difficult to separate.

  The means for supporting the both end portions of the third and fourth rotation shafts to be difficult to separate may be an urging member described later, and an impact absorbing member described later may be provided in parallel with the urging member.

  (9) The second cross gear is a biasing member that biases a force that abuts the tooth surfaces of the fifth gear and the sixth gear on the tooth surfaces of the first noncircular gear and the second noncircular gear. The joint device according to any one of (5) to (8).

  When the combination of the fifth gear and the sixth gear and the first non-circular gear and the second non-circular gear is regarded as a cam device, the tooth surfaces of the fifth gear and the sixth gear, the first non-circular gear and the second non-circular gear. The contact of the gear tooth surfaces is not mechanically constrained. Therefore, the fifth gear and the sixth gear are provided by providing a biasing member that biases the force of contacting the tooth surfaces of the fifth gear and the sixth gear with the tooth surfaces of the first non-circular gear and the second non-circular gear. It is possible to give certainty to the exercise.

  (10) The biasing member is formed of a tension coil spring, and the second cross gear has tooth surfaces of the fifth gear and the sixth gear and teeth of the first non-circular gear and the second non-circular gear. The joint device according to (9), comprising an impact absorbing member that smoothly follows the surface.

  The shock absorbing member may be a shock absorber, for example, and can prevent unnecessary damping of the tension coil spring.

  (11) The second cross gear is a seventh gear in which either the first non-circular gear or the second non-circular gear is provided with at least a plurality of teeth at equal intervals on the third circumference (5). To the joint device according to any one of (10).

  (12) A multi-joint device in which the joint device according to any one of (1) to (11) is connected.

  (13) A robot including the joint device according to any one of (1) to (11).

  (14) A robot including the multi-joint device according to (12).

  (15) A cross fixed gear having a first fixed gear that provides at least a plurality of teeth at equal intervals on a third pitch curve, and a second fixed gear that provides at least a plurality of teeth at equal intervals on a fourth pitch curve, An X-plane including the third pitch curve and a Y-plane including the fourth pitch curve intersect with each other so as to be orthogonal to each other, and the first fixed gear meshes with the first fixed gear so that the first rotation center is predetermined on the X plane. And a second self-propelled gear that meshes with the second fixed gear and that has a second rotational center on the Y plane and that has a predetermined trajectory.

  The cross gear device according to the invention of (15) includes a cross fixed gear, a first self-propelled gear, and a second self-propelled gear. The cross fixed gear has a first fixed gear and a second fixed gear. The first fixed gear is provided with at least a plurality of teeth at regular intervals on the third pitch curve. The second fixed gear is provided with at least a plurality of teeth at regular intervals on the fourth pitch curve. The X plane including the third pitch curve and the Y plane including the fourth pitch curve intersect so as to be orthogonal.

  The first self-propelled gear meshes with the first fixed gear, and the first rotation center of the first self-propelled gear can draw a predetermined locus on the X plane. The second self-propelled gear meshes with the second fixed gear, and the second rotation center of the second self-propelled gear can draw a predetermined locus on the Y plane.

  For example, a gear train is defined as one in which a plurality of gears are sequentially meshed and these rotation shafts are appropriately connected by links. The gear train is used for power transmission or increase / decrease in the number of rotations. In general gear trains, all gears move in a plane, but a plurality of bevel gears are combined in a three-dimensional manner to transmit power or to increase or decrease the number of rotations of automobile differential gears, etc. It is said that it is included in.

  Focusing on a set of gear trains, a general gear train is configured such that the center of rotation of a set of gears is fixed in space, one gear is the prime mover, and the other gear is the follower. ing. As another gear train different from the general gear train, one gear is fixed in the space, and the other gear is used as a prime mover so that the rotation center of the other gear moves.

  The cross gear device according to the invention of (15) includes the latter set of gear trains, and is configured such that the first fixed gear is fixed in space and the center of rotation of the first self-propelled gear moves. . Further, the second fixed gear is fixed in the space, and the rotation center of the second self-propelled gear is configured to move.

  By the way, the cross gear device according to the invention of (15) is different from a general gear train in that the X plane including the first pitch curve and the Y plane including the second pitch curve intersect each other at right angles. It can also be said that the cross gear device according to the invention of (15) constitutes a special gear train not included in the category of a general gear train.

  The cross gear device according to the invention of (15) is different from the above-described differential gear device using a bevel gear. In the differential gear device, the driven vehicle is a planetary gear, whereas in the cross gear device, the driving vehicle is a planetary gear. The differential gear device can drive the other driven vehicle from the driving vehicle even if one of the driven vehicles driven by the driving vehicle is stopped. In the cross gear device, a pair of prime movers that are driven with respect to the cross fixed gear can independently move.

  Here, the third pitch curve of the first fixed gear can include either the pitch circumference of the first gear or the first pitch curve of the first non-circular gear. In addition, the fourth pitch curve of the second fixed gear can include either the pitch circumference of the second gear or the second pitch curve of the second non-circular gear. The X plane can include either the first plane or the third plane. The Y plane can include either the second plane or the fourth plane.

  The first fixed gear may be the first gear, the second fixed gear may be the second gear, and the first gear and the second gear may share the center. The running gear may be the third gear and the fourth gear, and the joint device according to the invention of (1) can be realized.

  The first fixed gear may be a first non-circular gear, the second fixed gear may be a second non-circular gear, and the first non-circular gear and the second non-circular gear may share the contour center, Further, the first self-propelling gear and the second self-propelling gear may be the fifth gear and the sixth gear, and the joint device according to the invention of (5) can be realized.

  The cross gear device according to the invention of (15) is not limited to the first fixed gear and the second fixed gear sharing the center or the contour center. The contour center of the second fixed gear may be eccentric with respect to the contour center of the first fixed gear, and the contour center of the first fixed gear may be eccentric with respect to the contour center of the second fixed gear. Therefore, various applications other than joint devices are expected to be developed.

  (16) The cross gear device according to (15), wherein each of the first fixed gear and the second fixed gear includes a fixed gear provided with at least a plurality of teeth at equal intervals on a circumference.

  (17) The cross gear device according to (15), wherein the first fixed gear and the second fixed gear are non-circular fixed gears in which at least a plurality of teeth are provided at equal intervals on a pitch curve including a predetermined closed curve.

  In the cross gear device according to the invention of (17), it is expected that a new device will be developed in which the first self-propelled gear and the second self-propelled gear are moved independently to move along a desired locus.

  The joint device according to the present invention can provide a slim joint device having two degrees of freedom in one joint and realizing a reliable operation. In addition, the joint device according to the present invention can realize a joint device including an irreversible mechanism that maintains the power from the output side without being transmitted to the input side. The multi-joint device to which the joint device according to the present invention is applied can easily realize complicated and various operations.

  The best mode for carrying out the present invention will be described below with reference to the drawings.

  FIG. 1 is a perspective view of a main part showing an embodiment of a joint device according to the present invention. FIG. 2 is a front view of a main part showing the joint device according to the embodiment. FIG. 3 is a front view of a first cross gear provided in the joint device according to the embodiment. FIG. 4 is a perspective external view of a first cross gear provided in the joint device according to the embodiment.

  FIG. 5 is a perspective external view of the joint device according to the embodiment. FIG. 6 is a plan view of the joint device according to the embodiment. FIG. 7 is a longitudinal sectional view of the joint device according to the embodiment. FIG. 8 is a longitudinal sectional view of the joint device according to the embodiment, and shows the state in which the other arm is inclined by an imaginary line. FIG. 9 is a longitudinal sectional view of the joint device according to the embodiment, and shows a state where one arm is inclined by an imaginary line.

  FIG. 10 is a front view of a main part showing an embodiment of a joint device according to another embodiment, in which the first and second non-circular gears provided in the second cross gear have an elliptical shape. FIG. 11 is a front view of a main part showing an embodiment of a joint device according to another embodiment, and the first and second non-circular gears provided in the second cross gear are plate cam-shaped. FIG. 12 is a front view of the first non-circular gear shown in FIG. FIG. 13 is a front view of the first non-circular gear shown in FIG.

  Initially, the structure of the joint apparatus by embodiment of this invention is demonstrated. 5 to 7, in the joint device 10, the end of one arm 1 and the end of the other arm 2 are movably connected to each other. The joint device 10 includes a first cross gear 3 and third and fourth gears 13 and 14. The first cross gear 3 is disposed at the joint 1j.

  As shown in FIG. 1, the first cross gear 3 has a first gear 31 and a second gear 32 sharing the center. The first gear 31 is provided with a plurality of teeth 31a at equal intervals on a first circumference that is a pitch circle. The second gear 32 is provided with a plurality of teeth 32a at equal intervals on a second circumference that is a pitch circle. The virtual first plane A1 including the first circumference is orthogonal to the virtual second plane A2 including the second circumference (see FIG. 4).

  As shown in FIGS. 5 to 7, the third gear 13 is provided on the arm 1. The fourth gear 14 is provided on the arm 2. The third gear 13 is in mesh with the first gear 31. The fourth gear 14 meshes with the second gear 32.

  5 to 7, the arm 1 has a first worm gear 15 and a first worm 16. The arm 2 has a second worm gear 17 and a second worm 18. The first worm gear 15 is arranged coaxially with the third gear 13. The first worm 16 meshes with the first worm gear 15. The second worm gear 17 is arranged coaxially with the fourth gear 14. The second worm 18 meshes with the second worm gear 17.

  5 to 7, the arm 1 has a first motor 1m. The output shaft of the first motor 1 m is directly connected to the first worm 16. When the first motor 1m is driven, the first worm 16 can be rotated. The arm 1 houses a control circuit (printed circuit board as an entity) 1c controlled by the first motor 1m.

  5 to 7, the arm 2 has a second motor 2m. The output shaft of the second motor 2m is directly connected to the second worm 18. When the second motor 2m is driven, the second worm 18 can be rotated. The arm 2 accommodates a control circuit (printed circuit board as an entity) 2c controlled by the second motor 2m.

  5 to 7, the first cross gear 3 has a first rotation shaft 31s and a second rotation shaft 32s. The first rotation shaft 31 s extends in the direction of the central axis of the first gear 31 and is external to both wings of the second gear 32. The second rotation shaft 32 s extends in the direction of the central axis of the second gear 32 and is external to both wings of the first gear 31. 1 to 4, the first and second rotating shafts 31 s and 32 s are not shown.

  5 to 7, the arm 1 is a double pipe composed of an outer pipe 1a and an inner pipe 1b. Similarly, the arm 2 is a double tube composed of an outer tube 2a and an inner tube 2b. The inner tube 1b has a pair of first support terminals 1d and 1d that rotatably support both ends of the first rotation shaft 31s. The inner tube 2b has a pair of first support terminals 2d and 2d that rotatably support both ends of the second rotation shaft 32s (see FIG. 9).

  Next, the operation will be described while supplementing the configuration of the joint device according to the embodiment of the present invention. In the illustrated embodiment, the first and second gears 31 and 32 and the third and fourth gears 13 and 14 are the most common spur gears, but may be “helical gears”. It may be a “jam gear”.

  As shown in FIG. 1, the first gear 31 and the third gear 13 constitute a gear transmission. Similarly, the second gear 32 and the fourth gear 14 constitute a gear transmission. In the embodiment shown in FIGS. 3 and 4, the first gear 31 and the second gear 32 are spur gears having the same pitch circle and circumferential pitch. The part where the tooth 31a of the first gear 31 and the tooth 32a of the second gear 32 overlap is formed with the tooth 32a of the second gear 32, but is not limited to this embodiment.

  In FIG. 1, the first gear 31 is a fixed gear, and the third gear 13 is a movable gear. When a force for rotating the third gear 13 is applied, the first gear 31 and the third gear 13 move relative to each other. In this case, the third gear 13 meshes with the first gear 31 and self-runs. Here, the center Q1 of the third gear 13 can draw a revolution locus K1 centered on the axial center of the first gear 31 (see FIG. 2).

  Similarly, in FIG. 1, the second gear 32 is a fixed gear, and the fourth gear 14 is a movable gear. By applying a force for rotating the fourth gear 14, the second gear 32 and the fourth gear 114 move relative to each other. In this case, the fourth gear 14 meshes with the second gear 32 and self-travels. Here, the center Q <b> 2 of the fourth gear 13 can draw a revolution locus (not shown) centered on the axial center of the first gear 31.

  Here, the first cross gear according to the embodiment of the present invention provides a concept of a novel transmission mechanism. In general, the gear means a gear transmission that forms a set, and the rotation and power of the driving vehicle are transmitted to the driven vehicle. The combination of the first cross gear and the spur gear is a flat gear that is the driving vehicle. The rotation and power of the gear are defined by the first cross gear and are self-propelled (moving). A rack and pinion can be considered as a self-propelled gear transmission, but the self-propelled movement of the pinion defined by the rack is limited to a linear movement. The combination of the first cross gear and the spur gear can draw an arc locus due to the self-running of the spur gear.

  In FIG. 1, if the central axis of the arm 1 is arranged so as to be coaxial with the center Q1 of the third gear 13, and the central axis of the arm 2 is arranged so as to be coaxial with the center Q2 of the third gear 14, the arm A joint device in which the extending direction of 1 and the extending direction of the arm 2 are orthogonally arranged is also possible.

  In the above case, the central axis of the arm 1 is arranged so as to be coaxial with the center Q1 of the third gear 13, and the central axis of the arm 2 is arranged so as to be coaxial with the direction orthogonal to the center Q2 of the third gear 14. In addition, if they are arranged orthogonally so that the central axis of the arm 1 and the central axis of the arm 2 are on the same plane, the joint device 10 can be bent at an acute angle similar to the shoulder joint connecting the human body and upper arm. Can also be realized. By appropriately combining such an articulation device in which one arm and the other arm can be bent at an acute angle, an effective robot that has never existed can be realized, and the first cross gear can be widely applied. I can expect.

  In the joint device 10 shown in the illustrated embodiment, the extending direction of the arm 1 and the extending direction of the arm 2 are arranged coaxially. The joint device 10 can move the arm 1 relative to the arm 2 by rotating the third gear 13 (see FIG. 9). If the fourth gear 14 is rotated, the arm 2 can be moved relative to the arm 1 (see FIG. 8). Thus, the joint device 10 according to the present invention can realize a joint device having two degrees of freedom in one joint.

  In the joint device 10 according to the invention, the rotation motion of the third gear 13 or the fourth gear 14 is converted into the revolution motion defined by the first cross gear 3. In this case, since the revolution trajectory can be reliably moved by the meshing of the gears, the joint device 10 can realize a reliable operation.

  Next, the operation of the joint device according to the invention will be described. In FIG. 5, when the first worm 16 is rotated, the rotation of the first worm 16 is transmitted to the first worm gear 15. The third gear 13 rotates in synchronization with the rotation of the first worm gear 15. And the 3rd gearwheel 13 is driven by the 1st gearwheel 31 of the 1st cross gear 3, and moves the arm 1 with respect to the arm 2 (refer FIG. 9).

  In FIG. 5, when the rotation of the motor 1m is stopped, the first worm 16 and the first worm gear 15 are locked to each other. In other words, the power from the first worm gear 15 is not transmitted to the first worm 16, and the posture when the pair of arms 1 and 2 are stopped is maintained (see FIG. 9).

  Similarly, in FIG. 5, when the second worm 18 is rotated, the rotation of the second worm 18 is transmitted to the second worm gear 17. The fourth gear 14 rotates in synchronization with the rotation of the second worm gear 17. And the 4th gearwheel 14 is driven by the 2nd gearwheel 32 of the 1st cross gear 3, and moves the arm 2 with respect to the arm 1 (refer FIG. 8).

  In FIG. 5, when the rotation of the motor 2m is stopped, the second worm 18 and the second worm gear 17 are locked to each other. That is, the power from the second worm gear 17 is not transmitted to the second worm 18, and the posture of the pair of arms 1 and 2 when stopped is maintained (see FIG. 8).

  As described above, the joint device according to the present invention includes an irreversible mechanism that maintains the posture at the time of stopping without transmitting power from the output side to the input side, and can resume operation without resetting. Can provide.

  Moreover, since the joint apparatus 10 according to the present invention does not include a motor in the joint portion 1j, a slim joint apparatus can be realized. The first cross gear 3 can theoretically be made infinitely small, and can be built in a joint portion where the end of one arm and the end of the other arm intersect, and at least the necessity of expanding the joint. There is no. In the embodiment shown in FIG. 7, the joint portion 1 j is covered with a stretchable cover 1 h, but for dust prevention and protection, the cover 1 h can be removed depending on the environment.

  The joint device 10 according to the embodiment of the present invention is considered to be able to realize a very fine joint device depending on the size of the actuator that rotates the third gear or the fourth gear.

  Next, a configuration of a joint device according to another embodiment of the present invention will be described. 5 to 7, in the joint device 10, the end of one arm 1 and the end of the other arm 2 are movably connected to each other. In FIG. 10, the joint device 10 according to another embodiment includes a second cross gear 4, a fifth gear 43, and a sixth gear 44 (not shown). The 2nd cross gear 4 is arrange | positioned at the joint part 1j (refer FIG. 5). In FIG. 11, the joint apparatus 10 according to another embodiment includes a second cross gear 5, a fifth gear 43, and a sixth gear 44 (not shown). The second cross gear 5 is disposed at the joint 1j (see FIG. 5).

  As shown in FIG. 10, in the second cross gear 4, the first non-circular gear 41 and the second non-circular gear 42 share the contour center. The first non-circular gear 41 is provided with a plurality of teeth 41a at equal intervals on a first pitch curve formed of an elliptical closed curve. The second non-circular gear 42 is provided with a plurality of teeth 42a at equal intervals on a second pitch curve formed of an elliptical closed curve. The virtual third plane A3 including the first pitch curve and the virtual fourth plane A4 including the second pitch curve are orthogonal to each other.

  As shown in FIG. 11, in the second cross gear 5, the first non-circular gear 51 and the second non-circular gear 52 share the contour center. The first non-circular gear 51 is provided with a plurality of teeth 51a at equal intervals on a first pitch curve formed of a predetermined closed curve. The second non-circular gear 52 is provided with a plurality of teeth 52a at equal intervals on a second pitch curve formed of a predetermined closed curve. The virtual third plane B3 including the first pitch curve and the virtual fourth plane B4 including the second pitch curve are orthogonal to each other.

  In FIG. 10, the fifth gear 43 meshes with the first non-circular gear 41. The sixth gear 44 (not shown) meshes with the second non-circular gear 42. Referring to FIG. 5, the first cross gear 3 can be replaced with the second cross gear 4, and the fifth gear 43 can be provided on the arm 1. Similarly, the sixth gear 44 can be provided on the arm 2.

  In FIG. 11, the fifth gear 43 meshes with the first non-circular gear 51. The sixth gear 44 (not shown) meshes with the second non-circular gear 52. Referring to FIG. 5, the first cross gear 3 can be replaced with the second cross gear 5, and the fifth gear 43 can be provided on the arm 1. Similarly, the sixth gear 44 can be provided on the arm 2.

  In FIG. 10, the first worm gear 15 is arranged coaxially with the fifth gear 43. The first worm 16 meshes with the first worm gear 15. The second worm gear 17 (not shown) is arranged coaxially with the sixth gear 44. The second worm 18 (not shown) meshes with the second worm gear 17. Referring to FIG. 5, the first worm gear 15 and the first worm 16 can be provided on the arm 1. Similarly, the second worm gear 17 and the second worm 18 can be provided on the arm 2.

  In FIG. 11, the first worm gear 15 is arranged coaxially with the fifth gear 43. The first worm 16 meshes with the first worm gear 15. The second worm gear 17 (not shown) is arranged coaxially with the sixth gear 44. The second worm 18 (not shown) meshes with the second worm gear 17. Referring to FIG. 5, the first worm gear 15 and the first worm 16 can be provided on the arm 1. Similarly, the second worm gear 17 and the second worm 18 can be provided on the arm 2.

  Referring to FIG. 5, the first cross gear 3 can be replaced with the second cross gear 4, and a first motor 1 m that rotates the first worm 16 can be provided in the arm 1. A second motor 2 m that rotates the second worm 18 can be provided on the arm 2.

  Referring to FIG. 5, the first cross gear 3 can be replaced with the second cross gear 5, and a first motor 1 m that rotates the first worm 16 can be provided in the arm 1. A second motor 2 m that rotates the second worm 18 can be provided on the arm 2.

  In FIG. 12, the second cross gear 4 includes a tension coil spring 6 serving as an urging member that urges a force that abuts the tooth surface of the fifth gear 43 against the tooth surface 41 a of the first noncircular gear 41. . When a force for rotating the fifth gear 43 is applied, the first non-circular gear 41 and the fifth gear 43 move relative to each other. In this case, the first non-circular gear 41 serves as a fixed gear, the fifth gear 43 serves as a movable gear, and the fifth gear 43 meshes with the first non-circular gear 41 to self-propell. Here, the center Q3 of the fifth gear 43 can draw a revolution locus K3 that follows the first pitch curve (ellipse) of the first non-circular gear 41.

  Although not shown, the second cross gear 4 includes a tension coil spring 6 that urges a force that abuts the tooth surface of the sixth gear 44 against the tooth surface 42 a of the second non-circular gear 42. The center of the sixth gear 44 can draw a revolution locus following the second pitch curve (ellipse) of the second non-circular gear 42.

  In FIG. 13, the second cross gear 5 includes a tension coil spring 6 that serves as an urging member that urges a force that abuts the tooth surface of the fifth gear 43 against the tooth surface of the first non-circular gear 51. When a force for rotating the fifth gear 43 is applied, the first non-circular gear 51 and the fifth gear 43 move relative to each other. In this case, the first non-circular gear 51 serves as a fixed gear, the fifth gear 43 serves as a movable gear, and the fifth gear 43 meshes with the first non-circular gear 51 and travels freely. Here, the center Q4 of the fifth gear 43 can draw a revolution locus K4 that follows a predetermined second pitch curve of the first non-circular gear 51.

  Although not shown, the second cross gear 5 includes a tension coil spring 6 that urges a force that abuts the tooth surface of the sixth gear 44 against the tooth surface of the second non-circular gear 52. The center of the sixth gear 44 can draw a revolution locus that follows the predetermined second pitch curve of the second non-circular gear 52.

  In FIG. 12, the second cross gear 4 includes a shock absorber 7 serving as an impact absorbing member that smoothly follows the tooth surface of the fifth gear 43 to the tooth surface 41 a of the first non-circular gear 41. The shock absorber 7 can prevent unnecessary damping of the tension coil spring 6. Although not shown, the second cross gear 4 includes a shock absorber 7 that smoothly follows the tooth surface of the sixth gear 44 to the tooth surface 42a of the second non-circular gear 42.

  In FIG. 13, the second cross gear 5 includes a shock absorber 7 serving as an impact absorbing member that smoothly follows the tooth surface of the fifth gear 43 to the tooth surface of the first non-circular gear 51. The shock absorber 7 can prevent unnecessary damping of the tension coil spring 6. Although not shown, the second cross gear 5 includes a shock absorber 7 that smoothly follows the tooth surface of the sixth gear 44 to the tooth surface of the second non-circular gear 52.

  In FIG. 10, the second cross gear 4 has a pair of third rotation shafts 41s and 41s and a pair of fourth rotation shafts 42s and 42s. The pair of third rotation shafts 41 s and 41 s extend in the direction of the contour center axis of the first non-circular gear 41 and are external to both blades of the second non-circular gear 42. The pair of fourth rotating shafts 42 s and 42 s extend in the direction of the contour center axis of the second non-circular gear 42 and are external to both wings of the first non-circular gear 41.

  Referring to FIG. 6, the first cross gear 3 is replaced with the second cross gear 4, and the arm 1 can turn both ends of the pair of third rotary shafts 41s and 41s and is difficult to separate. A third support terminal can be provided to support the first support terminal. Referring to FIG. 7, the first cross gear 3 is replaced with the second cross gear 4, and the arm 2 can turn both ends of the pair of fourth rotation shafts 42s and 42s and is difficult to separate. A fourth support terminal can be provided to support the first support terminal.

  In FIG. 11, the second cross gear 5 has a pair of third rotation shafts 51s and 51s and a pair of fourth rotation shafts 52s and 52s. The pair of third rotating shafts 51 s and 51 s extend in the direction of the contour center axis of the first non-circular gear 51 and are external to both blades of the second non-circular gear 52. The pair of fourth rotation shafts 52 s and 52 s extend in the direction of the contour center axis of the second non-circular gear 52 and are external to both blades of the first non-circular gear 51.

  Referring to FIG. 6, the first cross gear 3 is replaced with the second cross gear 5, and the arm 1 can turn both ends of the pair of third rotary shafts 51s and 51s and is difficult to separate. A third support terminal can be provided to support the first support terminal. Referring to FIG. 7, the first cross gear 3 is replaced with the second cross gear 5, and the arm 2 can turn both ends of the pair of fourth rotary shafts 52s and 52s and is difficult to separate. A fourth support terminal can be provided to support the first support terminal.

  Next, the operation will be described while supplementing the configuration of the joint device according to another embodiment of the present invention. In another embodiment, the first and second non-circular gears 41 and 42 and the fifth and sixth gears 43 and 44 are preferably spur gears (see FIG. 10). The first and second non-circular gears 51 and 52 and the fifth and sixth gears 43 and 44 are preferably spur gears (see FIG. 11).

  In FIG. 10, it is preferable that the fifth and sixth gears 43 and 44 are small gears having the same or fewer teeth than the first and second non-circular gears 41 and. In FIG. 11, the fifth and sixth gears 43 and 44 are preferably small gears having the same or fewer teeth than the first and second non-circular gears 51 and 52.

  In FIG. 10, the first and second non-circular gears 41 and 42 have an elliptical outer diameter as a pitch curve. Then, the intersection of the short radius and the long radius of the ellipse is the contour center of the first non-circular gear 41 and the second non-circular gear 42. The ellipse-shaped first and second non-circular gears 41 and 42 have short radii that intersect with each other, but the long radii may intersect with each other, and the short and long radii may intersect with each other.

  In FIG. 11, the first and second non-circular gears 51 and 52 have a pitch curve as an outline of a plate cam in which a specific inferior arc of the pitch circumference is uneven. The center of the pitch circumference of the arc of the plate cam-like non-circular gear can be the center of the contour.

  In FIG. 12, the first non-circular gear 41 and the fifth gear 43 constitute a gear transmission. When a force for rotating the fifth gear 43 is applied, the first non-circular gear 41 and the fifth gear 43 move relative to each other. In this case, the first non-circular gear 41 serves as a fixed gear, the fifth gear 43 serves as a movable gear, and the fifth gear 43 meshes with the first non-circular gear 41 to self-propell. Here, the center Q3 of the fifth gear 43 can draw a revolution locus K3 that follows the first pitch curve of the first non-circular gear 41.

  Similarly, in FIG. 10, the second non-circular gear 42 and the sixth gear 44 can constitute a gear transmission. By applying a force for rotating the sixth gear 44, the second non-circular gear 42 and the sixth gear 44 move relative to each other. In this case, the second non-circular gear 42 serves as a fixed gear, the sixth gear 44 serves as a movable gear, and the sixth gear 44 meshes with the second non-circular gear 42 and self-propels. Here, the center of the sixth gear 44 can draw a revolution locus that follows the second pitch curve of the second non-circular gear 42.

  In FIG. 13, the first non-circular gear 51 and the fifth gear 43 constitute a gear transmission. When a force for rotating the fifth gear 43 is applied, the first non-circular gear 51 and the fifth gear 43 move relative to each other. In this case, the first non-circular gear 51 serves as a fixed gear, the fifth gear 43 serves as a movable gear, and the fifth gear 43 meshes with the first non-circular gear 51 and travels freely. Here, the center Q4 of the fifth gear 43 can draw a revolution locus K4 that follows the first pitch curve of the first non-circular gear 51.

  Similarly, in FIG. 11, the second non-circular gear 52 and the sixth gear 44 can constitute a gear transmission. By applying a force for rotating the sixth gear 44, the second non-circular gear 52 and the sixth gear 44 move relative to each other. In this case, the second non-circular gear 52 serves as a fixed gear, the sixth gear 44 serves as a movable gear, and the sixth gear 44 meshes with the second non-circular gear 52 and runs freely. Here, the center of the sixth gear 44 can draw a revolution locus that follows the second pitch curve of the second non-circular gear 52.

  In the joint device according to another embodiment, the first gear 31 and the second gear 32 of the first cross gear 3 shown in FIGS. 1 to 3 are replaced with a first non-circular gear 41 and a second non-circular gear 42. (See FIG. 10). The first gear 31 and the second gear 32 of the first cross gear 3 can be replaced with the first non-circular gear 51 and the second non-circular gear 52.

  Referring to FIGS. 5 to 9, in the joint device according to another embodiment, the extension direction of the arm 1 and the extension direction of the arm 2 may be arranged orthogonal to each other. Thus, the arm 1 can be moved. If the sixth gear 44 is rotated, the arm 2 can be moved relative to the arm 1. If an appropriate direction changing mechanism is connected to the fifth and sixth gears 43 and 44, the extending direction of the arm 1 and the extending direction of the arm 2 can be arranged coaxially. Thus, the joint device according to another embodiment can realize a joint device having two degrees of freedom in one joint.

  Referring to FIG. 10, in the joint device according to another embodiment, the first and second non-circular gears 41 and 42 and the fifth and sixth gears 43 and 44 may also constitute a cam device. . Here, the first and second non-circular gears 41 and 42 having a cam curve may be driven nodes, and the fifth and sixth gears 43 and 44 that roll in contact with the cam curve are moving nodes. Well, it can be said that the joint device according to another embodiment constitutes an “opposite cam” in which the relationship between the ganglion and the follower is reversed.

  Referring to FIG. 11, in the joint device according to another embodiment, the first and second non-circular gears 51 and 52 and the fifth and sixth gears 43 and 44 may also constitute a cam device. . Here, the first and second non-circular gears 51 and 52 having a cam curve may be driven nodes, and the fifth and sixth gears 43 and 44 rolling in contact with the cam curve are moving nodes. Well, it can be said that the joint device according to another embodiment constitutes an “opposite cam” in which the relationship between the ganglion and the follower is reversed.

  As is well known, the cam device can change the position (instant center) of the follower following the cam curve and change the speed or acceleration of the follower. That is, the position, speed, or acceleration of the follower node depends on the cam curve. On the other hand, since the second cross gears 4 and 5 constitute a gear transmission, for example, the joint device according to another embodiment becomes a driving vehicle when the arm 1 and the arm 2 are closed from an obtuse angle. When the fifth and sixth gears 43 and 44 can be driven with a low torque and the arm 1 and the arm 2 are opened from an obtuse angle, it is possible to realize a joint device that drives the fifth and sixth gears that serve as driving vehicles with a high torque. (See FIGS. 5 to 9).

  The second non-circular gear 42 shown in FIG. 10 may be replaced with the second gear 32 (see FIGS. 1 to 3), and the second non-circular gear 52 shown in FIG. (See FIGS. 1 to 3), the first non-circular gear 41 may be replaced with the first gear 31, and the first non-circular gear 51 may be replaced with the first gear 31.

  If the articulated apparatus 10 according to the present invention is connected to form an articulated apparatus, the degree of freedom increases as a whole, and it is easy to realize complicated and diverse operations such as bypassing an obstacle in a limited space. It is. The articulated apparatus 10 according to the present invention can be connected to realize an articulated industrial robot.

  By connecting the joint device 10 according to the present invention continuously, a modular manipulator which is not conventionally provided can be realized. If a plurality of joint devices provided in this modular manipulator are operated cooperatively and these joint devices are controlled autonomously and distributedly, for example, the control circuits 1c and 2c provided in the joint device 10 are autonomously communicated. By controlling in a distributed manner, it is possible to flexibly cope with complex changes in outer space.

  By using the first cross gear 3 or the second cross gear 4, a cross gear device other than the joint device described above can be considered. In this case, the cross gear device may include a cross fixed gear, a first self-propelled gear, and a second self-propelled gear, and the cross fixed gear includes a first fixed gear and a second fixed gear.

  The first fixed gear is provided with at least a plurality of teeth at regular intervals on the third pitch curve. The second fixed gear is provided with at least a plurality of teeth at regular intervals on the fourth pitch curve. The X plane including the third pitch curve and the Y plane including the fourth pitch curve intersect so as to be orthogonal.

  The first self-propelled gear meshes with the first fixed gear, and the first rotation center of the first self-propelled gear can draw a predetermined locus on the X plane. The second self-propelled gear meshes with the second fixed gear, and the second rotation center of the second self-propelled gear can draw a predetermined locus on the Y plane.

  Here, the third pitch curve of the first fixed gear can include either the pitch circumference of the first gear 31 or the first pitch curve of the first non-circular gear 41. Further, the fourth pitch curve of the second fixed gear can include either the pitch circumference of the second gear 32 or the second pitch curve of the second non-circular gear 42. The X plane can include either the first plane A1 or the third plane A3. The Y plane can include either the second plane A2 or the fourth plane A4.

  The first fixed gear is the first gear 31, the second fixed gear is the second gear 32, the first gear 31 and the second gear 32 may share the center, and the first self-propelled gear The second self-propelled gear may be the third gear 13 and the fourth gear 14, and the joint device 10 according to the embodiment can be realized.

  The first fixed gear is the first non-circular gear 41, the second fixed gear is the second non-circular gear 42, and the first non-circular gear 41 and the second non-circular gear 42 share the contour center. Furthermore, the first self-propelling gear and the second self-propelling gear may be the fifth gear 43 and the sixth gear 44, and a joint device according to another embodiment can be realized.

  The cross gear device is not limited to the first fixed gear and the second fixed gear sharing the center or the center of the contour. The contour center of the second fixed gear may be eccentric with respect to the contour center of the first fixed gear, and the contour center of the first fixed gear may be eccentric with respect to the contour center of the second fixed gear. Therefore, various applications other than joint devices are expected to be developed.

It is a perspective view of the principal part which shows one Embodiment of the joint apparatus by this invention. It is a front view of the principal part which shows the joint apparatus by the said embodiment. It is a front view of the 1st crossing gear with which the joint apparatus by the said embodiment is equipped. FIG. 3 is a perspective external view of a first cross gear provided in the joint device according to the embodiment. FIG. 2 is a perspective external view of the joint device according to the embodiment. It is a top view of the joint apparatus by the said embodiment. It is a longitudinal cross-sectional view of the joint apparatus by the said embodiment. It is a longitudinal cross-sectional view of the joint apparatus by the said embodiment, The state which the other arm inclined is shown with the imaginary line. It is a longitudinal cross-sectional view of the joint apparatus by the said embodiment, The state in which one arm inclined was shown with the imaginary line. It is a front view of the important section showing one embodiment of a joint device by another embodiment, and the 1st and 2nd non-circular gears with which the 2nd cross gear is equipped are elliptical. It is a front view of the principal part which shows one Embodiment of the joint apparatus by another embodiment, and the 1st and 2nd non-circular gear with which a 2nd cross gear is equipped is plate cam shape. FIG. 11 is a front view of the first non-circular gear shown in FIG. 10. FIG. 12 is a front view of the first non-circular gear shown in FIG. 11.

Explanation of symbols

1 arm (one arm)
1j Joint part 2 Arm (the other arm)
3 First cross gear 10 Joint device 13 Third gear 14 Fourth gear 31 First gear 32 Second gear

Claims (17)

A joint device in which an end of one arm and an end of the other arm are movably connected to each other,
A first cross gear disposed at a joint portion, and a first gear that provides at least a plurality of teeth at equal intervals on a first circumference and a second gear that provides at least a plurality of teeth at equal intervals on a second circumference. A first intersecting gear that shares a center and is perpendicular to a first plane that includes the first circumference and a second plane that includes the second circumference;
A third gear provided on the one arm and meshing with the first gear;
And a fourth gear provided on the other arm and meshing with the second gear. The one arm has a first worm gear arranged coaxially with the third gear, and a first worm meshing with the first worm gear,
The joint device according to claim 1, wherein the other arm includes a second worm gear arranged coaxially with the fourth gear, and a second worm meshing with the second worm gear. The one arm has a first motor for rotating the first worm,
The joint device according to claim 2, wherein the other arm has a second motor that rotates the second worm. The first cross gear extends in the direction of the central axis of the first gear and extends outwardly from both blades of the second gear, and extends in the direction of the central axis of the second gear. A second pivot shaft external to both wings of
The one arm has a first support terminal that rotatably supports both ends of the first rotation shaft,
The joint device according to any one of claims 1 to 3, wherein the other arm has a second support terminal that rotatably supports both ends of the second rotation shaft. A joint device in which an end of one arm and an end of the other arm are movably connected to each other,
A second intersecting gear disposed at the joint, wherein the first non-circular gear provided with at least a plurality of teeth at equal intervals on the first pitch curve consisting of a predetermined closed curve and the second pitch curve consisting of a predetermined closed curve are equally spaced And a second non-circular gear provided with at least a plurality of teeth on the same, and a second intersecting gear sharing a contour center, and a third plane including the first pitch curve and a fourth plane including the second pitch curve orthogonal to each other ,
A fifth gear provided on the one arm and meshing with the first non-circular gear;
And a sixth gear provided on the other arm and meshing with the second non-circular gear. The one arm has a first worm gear arranged coaxially with the fifth gear, and a first worm meshing with the first worm gear,
The joint device according to claim 5, wherein the other arm includes a second worm gear arranged coaxially with the sixth gear, and a second worm meshing with the second worm gear. The one arm has a first motor for rotating the first worm,
The joint device according to claim 6, wherein the other arm has a second motor that rotates the second worm. The second crossing gear extends in the contour central axis direction of the first non-circular gear and extends outwardly on both blades of the second non-circular gear; and the contour central axis of the second non-circular gear A fourth rotating shaft extending in the direction and external to both wings of the first non-circular gear,
The one arm has a third support terminal that is capable of rotating both ends of the third rotation shaft and that is difficult to separate,
The joint device according to any one of claims 5 to 7, wherein the other arm has a fourth support terminal that supports both ends of the fourth rotation shaft so as to be rotatable and difficult to separate.   The second cross gear includes a biasing member that biases a force that abuts the tooth surfaces of the fifth gear and the sixth gear against the tooth surfaces of the first noncircular gear and the second noncircular gear. Item 9. The joint device according to any one of Items 5 to 8. The biasing member comprises a tension coil spring,
The second cross gear includes an impact absorbing member that smoothly causes the tooth surfaces of the fifth gear and the sixth gear to follow the tooth surfaces of the first non-circular gear and the second non-circular gear. Joint device.   The said 2nd cross gear consists of a 7th gearwheel in which any one of a said 1st non-circular gear or a said 2nd non-circular gear equips a 3rd circumference with at least some teeth at equal intervals. The joint device according to any one of the above.   A multi-joint device in which the joint device according to any one of claims 1 to 11 is connected.   A robot comprising the joint device according to any one of claims 1 to 11.   A robot comprising the multi-joint device according to claim 12. A cross fixed gear having a first fixed gear that provides at least a plurality of teeth at equal intervals on a third pitch curve, and a second fixed gear that provides at least a plurality of teeth at equal intervals on a fourth pitch curve, An intersecting fixed gear that intersects so that the X plane including the pitch curve and the Y plane including the fourth pitch curve intersect;
A first self-propelled gear that meshes with the first fixed gear and draws a predetermined trajectory of the first rotation center in the X plane;
A cross gear device comprising: a second self-propelled gear that meshes with the second fixed gear and has a second locus of rotation on the Y plane that forms a predetermined locus.   16. The cross gear device according to claim 15, wherein the first fixed gear and the second fixed gear are fixed gears provided with at least a plurality of teeth at equal intervals on a circumference.   16. The cross gear device according to claim 15, wherein the first fixed gear and the second fixed gear are non-circular fixed gears having at least a plurality of teeth equidistantly arranged on a pitch curve formed of a predetermined closed curve.

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