JP7075133B2 - Power transmission device and oral processing device - Google Patents

Description

The present invention relates to a power transmission device and an oral processing device including the power transmission device.

As disclosed in Patent Document 1, a configuration is known in which a motor and a rotated drive body driven by the rotation of the motor are connected by a flexible shaft. The flexible shaft transmits rotation from the motor to the rotated drive body while allowing relative displacement between the motor and the rotated drive body. The rotated drive body receives rotation from the flexible shaft and operates by the power of the received rotation.

Japanese Unexamined Patent Publication No. 2010-69580

When the motor and the driven body rotate relatively, unintended rotation, that is, rotation not based on the power of the motor may be transmitted to the rotated drive body. That is, even if the motor does not rotate the flexible shaft, the rotation may be transmitted to the rotated drive body.

The transmission of unintended rotation to the rotated drive body results in unintended movement of the rotated drive body. For example, when the rotated drive body is composed of a mechanism that converts the rotation received from the flexible shaft into the displacement of the cutting tool in the oral cavity, the transmission of the unintended rotation to the rotated drive body is a processing error in the oral cavity. Leads to.

The configuration in which the motor as a power source and the rotated drive body are connected by a flexible shaft has been described above, but even when both are connected by a shaft having rigidity against bending, the power source and the rotated drive body are connected. The relative rotation with and can result in the transmission of unintended rotation to the driven body.

An object of the present invention is a power transmission device provided with a power transmission device that makes it difficult for rotation not based on the power of the power source to be transmitted to the rotated drive body even when the power source and the rotated drive body rotate relatively. It is to provide a processing device.

In order to achieve the above object, the power transmission device according to the present invention is
An input shaft that is connected to a power source and rotated by the power source,
An output shaft that is connected to the rotated drive body and transmits rotation to the rotated drive body,
A first intermediate shaft and a second intermediate shaft for transmitting the rotation of the input shaft in parallel to the output shaft,
A power distribution mechanism that transmits torque from the input shaft to the first intermediate shaft and the second intermediate shaft so that the first intermediate shaft and the second intermediate shaft rotate in opposite directions.
A power synthesis mechanism that receives torque from each of the first intermediate shaft and the second intermediate shaft that are rotated in opposite directions by the power distribution mechanism, aligns the directions of the received torque, and transmits the torque to the output shaft. And, with
When at least one of the power distribution mechanism and the power synthesis mechanism causes a difference in the rotation angle between the first intermediate shaft and the second intermediate shaft with respect to itself, the difference is absorbed.

The power distribution mechanism
A power distribution inversion shaft connected to one of the first intermediate shaft and the second intermediate shaft,
A power distribution reversing mechanism that connects the power distribution reversing shaft to the one intermediate shaft, reverses the rotation of the power distribution reversing shaft, and transmits the rotation to the one intermediate shaft.
While absorbing the difference between the rotation angle of the other intermediate shaft of the first intermediate shaft and the second intermediate shaft and the rotation angle of the power distribution reversing shaft, the torque of the input shaft is applied to the other intermediate shaft. And the differential gear for power distribution that distributes to the reversing shaft for power distribution,
May have.

An input shaft side housing that supports the input shaft and houses the power distribution mechanism,
Further provided with an output shaft side housing connected to the input shaft side housing by the first intermediate shaft and the second intermediate shaft, supporting the output shaft, and accommodating the power synthesis mechanism.
Of the power distribution mechanism and the power synthesis mechanism, only the power distribution mechanism may absorb the difference in the rotation angle between the first intermediate shaft and the second intermediate shaft.

The power synthesis mechanism
An inversion shaft for power synthesis connected to one of the first intermediate shaft and the second intermediate shaft,
A power synthesis reversing mechanism that connects the power synthesis reversing shaft to the one intermediate shaft, reverses the rotation of the one intermediate shaft, and transmits the power synthesis reversing shaft to the power synthesis reversing shaft.
While absorbing the difference between the rotation angle of the other intermediate shaft of the first intermediate shaft and the second intermediate shaft and the rotation angle of the power synthesis inversion shaft, the other intermediate shaft and the power synthesis inversion shaft are absorbed. The differential gear for power synthesis that transmits each torque of the above to the output shaft, and
May have.

One of the first intermediate shaft and the second intermediate shaft has a hollow tubular shape.
The other intermediate shaft of the first intermediate shaft and the second intermediate shaft may be inserted through the one intermediate shaft forming the hollow tubular shape.

The first intermediate shaft and the second intermediate shaft may be configured by a flexible shaft capable of transmitting rotation in a bent state.

The oral processing apparatus according to the present invention is
With the above power transmission device,
With the power source installed outside the oral cavity and rotating the input shaft of the power transmission device,
The teeth and bones are fixed to the jaw while holding a machineable head, and the rotation transmitted by the output shaft of the power transmission device is converted into a motion with displacement of the machine head in the oral cavity. Displacement mechanism as a driven body to be rotated and
To prepare for.

According to the above configuration, when the power source and the driven body rotate relative to each other, at least one of the power distribution mechanism and the power synthesis mechanism is relative to the first intermediate shaft and the second intermediate shaft. Rotation can occur. Since the first intermediate shaft and the second intermediate shaft are rotated in opposite directions by the power distribution mechanism, when the relative rotation occurs, the first intermediate shaft and the second intermediate with respect to at least one of the above mechanisms. There is a difference in rotation angle between the shaft and the shaft.

In this case, at least one of the above mechanisms absorbs the difference in the rotation angle. As a result, the torsional stress associated with the relative rotation between the power source and the driven body to be rotated is released. Therefore, the relative rotation between the driven body to be rotated and the output shaft due to the torsional stress is suppressed. Therefore, even when the power source and the rotated drive body rotate relatively, it is difficult to transmit the rotation not based on the power of the power source to the rotated drive body.

The conceptual diagram of the power transmission means which concerns on the comparative example. The conceptual diagram of the power transmission apparatus which concerns on Embodiment 1. The partial fracture plan view which shows the structure of the power transmission apparatus which concerns on Embodiment 1. FIG. FIG. 3 is a partially broken plan view showing the configuration of the power transmission device according to the second embodiment. FIG. 3 is a partially broken plan view showing the configuration of the power transmission device according to the third embodiment. FIG. 6 is a partially broken plan view showing the configuration of the power transmission device according to the fourth embodiment. The partial fracture plan view which shows the internal structure of the input shaft side housing which concerns on Embodiment 4. FIG. The partial fracture plan view which shows the internal structure of the output shaft side housing which concerns on Embodiment 4. FIG. The conceptual diagram which shows the structure of the oral cavity processing apparatus which concerns on Embodiment 5. The conceptual diagram which shows the universal axis which concerns on a modification. The conceptual diagram which shows the structure of the power transmission apparatus which concerns on Embodiment 6. FIG. 6 is a cross-sectional view of the periphery of the motor of the power transmission device according to the sixth embodiment. The conceptual diagram which shows the operation of the power transmission apparatus which concerns on Embodiment 6. The conceptual diagram which shows the structure of the power transmission apparatus which concerns on Embodiment 7. The conceptual diagram which shows the operation of the power transmission apparatus which concerns on Embodiment 7. The conceptual diagram which shows the other operation of the power transmission apparatus which concerns on Embodiment 7. The conceptual diagram which shows the structure of the power transmission apparatus which concerns on Embodiment 8. The conceptual diagram which shows the operation of the power transmission apparatus which concerns on Embodiment 8. The conceptual diagram which shows the structure of the power transmission apparatus which concerns on Embodiment 9. The conceptual diagram which shows the operation of the power transmission apparatus which concerns on Embodiment 8. The conceptual diagram which shows the other operation of the power transmission apparatus which concerns on Embodiment 8. The conceptual diagram which shows the structure of the power transmission apparatus which concerns on Embodiment 9. The conceptual diagram which shows the structure of the power transmission apparatus which concerns on Embodiment 10. The conceptual diagram which shows the structure of the oral cavity processing apparatus which concerns on Embodiment 11.

Hereinafter, embodiments and comparative examples of the present invention will be described with reference to the drawings. In the figure, the same or corresponding parts are designated by the same reference numerals. Prior to the description of the embodiment of the present invention, a comparative example will be described first in order to describe the problems of the prior art.

[Comparison example]
As shown in FIG. 1A, the power transmission means according to the comparative example includes one flexible shaft FS connecting the motor MT and the rotated drive body RA. The rotated drive body RA receives rotation from the flexible shaft FS and operates by the power of the received rotation. It is desired that the rotation angle of the rotation shaft of the motor MT and the rotation angle transmitted from the flexible shaft FS to the rotated drive body RA match.

In this configuration, when a torsional displacement τ, which is a relative rotation between the motor MT and the rotated drive body RA, occurs, the flexible shaft FS and the rotated drive body RA may rotate relatively. That is, the rotated drive body RA rotates with respect to the flexible shaft FS, and the motor MT and the flexible shaft FS rotate with respect to the rotated drive body RA.

In this case, the rotation not based on the power of the motor MT is transmitted to the rotated drive body RA. That is, the rotation angle of the rotation shaft of the motor MT and the rotation angle transmitted from the flexible shaft FS to the rotated drive body RA do not match, and even if the motor MT does not rotate the flexible shaft FS, the rotation drive is performed. The rotation is transmitted to the body RA. Hereinafter, embodiments of the present invention that solve this problem will be described.

[Embodiment 1]
As shown in FIG. 1B, the power transmission device 100 according to the present embodiment is interposed between the motor MT as a power source and the rotated drive body RA, and rotates from the motor MT to the rotated drive body RA. Responsible for communication. The rotated drive body RA receives rotation from the power transmission device 100 and operates by the power of the received rotation. In these respects, the present embodiment is common to the comparative example.

On the other hand, in the power transmission device 100, the rotation based on the power of the motor MT is transmitted to the rotated drive body RA, and the unintended rotation caused by the torsional displacement τ between the motor MT and the rotated drive body RA, that is, the motor MT. Rotation that is not based on power is suppressed from being transmitted to the rotated drive body RA. Hereinafter, the configuration of the power transmission device 100 will be described.

As shown in FIG. 2, the power transmission device 100 includes an input shaft S-IN connected to the motor MT and an output shaft S-OUT connected to the rotated drive body RA, and rotates the input shaft S-IN. It is transmitted to the output shaft S-OUT.

The input shaft S-IN has entered the input shaft side housing H-IN, and the output shaft S-OUT has advanced from the output shaft side housing H-OUT. The input shaft side housing H-IN and the output shaft side housing H-OUT are connected by a flexible intermediate shaft structure 110.

The intermediate shaft structure 110 includes a first flexible shaft 111 as a first intermediate shaft, a second flexible shaft 112 as a second intermediate shaft, a covering member 113a covering the first flexible shaft 111, and a second flexible shaft 112. It is composed of a covering member 113b that covers the above.

The first flexible shaft 111 and the second flexible shaft 112 are for transmitting the rotation of the input shaft S-IN in parallel with the output shaft S-OUT. In a natural state where both the first flexible shaft 111 and the second flexible shaft 112 do not bend, the first flexible shaft 111 and the second flexible shaft 112 are arranged in parallel with each other.

The first flexible shaft 111 freely rotates with respect to the covering member 113a, and the second flexible shaft 112 freely rotates with respect to the covering member 113b. The covering members 113a and 113b also have flexibility like the first flexible shaft 111 and the second flexible shaft 112. The covering members 113a and 113b are for preventing the first flexible shaft 111 and the second flexible shaft 112 from coming into contact with external members, and are not essential.

Since the intermediate shaft structure 110 has flexibility, the input shaft side housing H-IN and the output shaft side housing H-OUT can be relatively displaced. The first flexible shaft 111 and the second flexible shaft 112 can transmit rotation in a bent state. That is, each of the first flexible shaft 111 and the second flexible shaft 112 is from the input shaft side housing H-IN while allowing the relative displacement of the input shaft side housing H-IN and the output shaft side housing H-OUT. The rotation is transmitted to the output shaft side housing H-OUT.

The input shaft side housing H-IN contains a power distribution mechanism 120 that transmits the torque of the input shaft S-IN to the first flexible shaft 111 and the second flexible shaft 112. The power distribution mechanism 120 has a first spur gear 121 and a second spur gear 122 that are meshed with each other.

The first spur gear 121 is rotated by the input shaft S—IN and transmits its own rotation to the first flexible shaft 111. Specifically, the input shaft S-IN, the first spur gear 121, and the first flexible shaft 111 are arranged in series in this order, and these three rotate in the same direction. The first spur gear 121 is supported by an input shaft S—IN and a first flexible shaft 111.

The input shaft S-IN and the first flexible shaft 111 may be configured as an integral flexible shaft, and the first spur gear 121 may be penetrated by the flexible shaft. The flexible shaft and the first spur gear 121 are prevented from rotating relative to each other by, for example, spline fitting the flexible shaft and the first spur gear 121 so as to prevent the relative rotation between the flexible shaft and the first spur gear 121. can.

The second spur gear 122 is connected to the second flexible shaft 112. Specifically, the second spur gear 122 is penetrated by the second flexible shaft 112, and the second flexible shaft 112 and the second spur gear 122 are fitted so as to prevent their relative rotation. Matching. The second spur gear 122 is supported by the second flexible shaft 112.

The second spur gear 122 transmits its own rotation to the second flexible shaft 112. Since the second spur gear 122 rotates in the opposite direction to the first spur gear 121, the second flexible shaft 112 rotates in the opposite direction to the first flexible shaft 111. The gear ratio between the first spur gear 121 and the second spur gear 122 is 1: 1.

Further, the input shaft side housing H-IN supports the bearing BE1 that supports the input shaft S-IN at the portion penetrated by the input shaft S-IN and the first flexible shaft 111 at the portion penetrated by the first flexible shaft 111. Bearing BE2, bearing BE3 that supports the second flexible shaft 112 at a portion penetrated by the second flexible shaft 112, and the second flexible shaft 112 that supports the second flexible shaft 112 on the opposite side of the bearing BE3 with the second spur gear 122 interposed therebetween. It has a bearing BE4.

The power synthesis mechanism 130 is housed in the output shaft side housing H-OUT. The power synthesis mechanism 130 receives torque from each of the first flexible shaft 111 and the second flexible shaft 112, which are rotated in opposite directions by the power distribution mechanism 120, and aligns the directions of the received torques with the output shaft S. -Transmit to OUT.

The power synthesis mechanism 130 connects the reversing shaft 131 as a reversing shaft for power synthesis connected to the first flexible shaft 111 and the reversing shaft 131 to the first flexible shaft 111, and reverses the rotation of the first flexible shaft 111. The third spur gear 132 and the fourth spur gear 133 as a power synthesis reversing mechanism transmitted to the reversing shaft 131, and the differential gear as a power synthesis differential gear connected to the reversing shaft 131 and the second flexible shaft 112. It has 134 and.

The third spur gear 132 is connected to the first flexible shaft 111. Specifically, the third spur gear 132 is penetrated by the first flexible shaft 111, and the first flexible shaft 111 and the third spur gear 132 are fitted so as to prevent their relative rotation. Matching. The third spur gear 132 is supported by the first flexible shaft 111 and is rotated by the first flexible shaft 111.

The fourth spur gear 133 is connected to the reversing shaft 131. Specifically, the fourth spur gear 133 is penetrated by the reversing shaft 131, and the reversing shaft 131 and the fourth spur gear 133 are fitted so as to prevent their relative rotation. The fourth spur gear 133 is supported by the reversing shaft 131.

The fourth spur gear 133 meshes with the third spur gear 132. The fourth spur gear 133 is rotated by the third spur gear 132 and transmits its own rotation to the reversing shaft 131. Since the fourth spur gear 133 rotates in the opposite direction to the third spur gear 132, the reversing shaft 131 rotates in the opposite direction to the first flexible shaft 111. The gear ratio between the third spur gear 132 and the fourth spur gear 133 is 1: 1.

The output shaft side housing H-OUT has a bearing BE5 that supports the first flexible shaft 111 at a portion penetrated by the first flexible shaft 111 and a bearing BE6 that supports the first flexible shaft 111 on both sides of the third spur gear 132. And BE7, and bearings BE8 and BE9 that support the reversing shaft 131 on both sides of the fourth spur gear 133.

The differential gear 134 is the same as the master gear 135 made of spur gears, the frame body 136 that rotates integrally with the master gear 135, and the first side gear 137 and the second side gear 138 housed in the frame body 136. It has a first intermediate gear 139 and a second intermediate gear 140, which are housed in the body 136 and rotate at a rotation speed corresponding to a difference in the number of times between the first side gear 137 and the second side gear 138, respectively. The first side gear 137, the second side gear 138, the first intermediate gear 139, and the second intermediate gear 140 are bevel gears.

The first side gear 137 is rotated by the reversing shaft 131. The reversing shaft 131 penetrates the frame body 136 and is connected to the first side gear 137. The reversing shaft 131 is rotatable with respect to the frame body 136.

The second side gear 138 is rotated by the second flexible shaft 112. The second flexible shaft 112 penetrates the master gear 135 and is connected to the second side gear 138. The second flexible shaft 112 is rotatable with respect to the master gear 135. The second flexible shaft 112 is arranged on an extension line of the reversing shaft 131, and the second side gear 138 is arranged at a position facing the first side gear 137.

Each of the first intermediate gear 139 and the second intermediate gear 140 is attached to the frame body 136 in a state of being meshed with both the first side gear 137 and the second side gear 138. Each of the first intermediate gear 139 and the second intermediate gear 140 is rotatable with respect to the frame body 136.

The differential gear 134 is supported by the second flexible shaft 112 and the reversing shaft 131. The output shaft side housing H-OUT has a bearing BE10 that supports the second flexible shaft 112 at a portion penetrated by the second flexible shaft 112. The bearing BE10 and the bearing BE9 described above support the differential gear 134 through the second flexible shaft 112 and the reversing shaft 131.

Further, the power synthesis mechanism 130 has a fifth spur gear 141 that meshes with the master gear 135. The fifth spur gear 141 is connected to the output shaft S-OUT. Specifically, the fifth spur gear 141 is penetrated by the output shaft S-OUT, and the output shaft S-OUT and the fifth spur gear 141 are fitted so as to prevent their relative rotation. Matching. The fifth spur gear 141 is supported by the output shaft S-OUT.

The output shaft side housing H-OUT supports the bearings BE11 and BE12 that support the output shaft S-OUT on both sides of the fifth spur gear 141, and the output shaft S-OUT at the portion penetrated by the output shaft S-OUT. It has a bearing BE13.

The fifth spur gear 141 is rotated by the master gear 135 and transmits its own rotation to the output shaft S-OUT. Since the fifth spur gear 141 rotates in the opposite direction to the master gear 135, the output shaft S-OUT rotates in the opposite direction to the master gear 135.

Hereinafter, the operation of the power transmission device 100 described above will be described.

First, a case where there is no torsional displacement, which is a relative rotation between the motor MT and the rotated drive body RA, will be described.

When the motor MT rotates the input shaft S-IN, the power distribution mechanism 120 distributes the torque of the input shaft S-IN to the first flexible shaft 111 and the second flexible shaft 112. The first flexible shaft 111 rotates in the same direction as the input shaft S—IN, and the second flexible shaft 112 rotates in the opposite direction to the input shaft S—IN. Since the gear ratio of the first spur gear 121 and the second spur gear 122 is 1: 1, the rotation angles of the first flexible shaft 111 and the second flexible shaft 112 are the same.

The rotation of the first flexible shaft 111 is inverted by the third spur gear 132 and the fourth spur gear 133 and transmitted to the reversing shaft 131, and further transmitted from the reversing shaft 131 to the first side gear 137. On the other hand, the rotation of the second flexible shaft 112 is transmitted to the second side gear 138.

Since the reversing shaft 131 rotates in the same direction as the second flexible shaft 112, the first side gear 137 and the second side tooth 1 wheel 38 rotate in the same direction. Further, since the gear ratio of the third spur gear 132 and the fourth spur gear 133 is 1: 1, the rotation angles of the first side gear 137 and the second side gear 138 are the same. Therefore, the first intermediate gear 139 and the second intermediate gear 140 do not rotate.

The first side gear 137 and the second side gear 138 transmit their respective rotations to the frame body 136 through the non-rotating first intermediate gear 139 and the second intermediate gear 140. As a result, the master gear 135 that is integrated with the frame body 136 also rotates. The rotation of the master gear 135 is transmitted to the output shaft S-OUT through the fifth spur gear 141.

Since the fifth spur gear 141 rotates in the opposite direction to the master gear 135, the output shaft S-OUT rotates in the same direction as the input shaft S-IN by the same rotation angle. The rotated drive body RA receives rotation from the output shaft S-OUT and operates by the power of the received rotation.

Next, in order to facilitate understanding, the motor MT and the input shaft side housing H- are in a state where the motor MT is stopped and the input shaft S-IN does not rotate with respect to the input shaft side housing H-IN. A case where the output shaft side housing H-OUT and the rotated drive body RA are torsionally displaced with respect to the IN and the intermediate shaft structure 110 will be described.

In this case, for the power synthesis mechanism 130, each of the first flexible shaft 111 and the second flexible shaft 112 rotates in the same direction. That is, the power synthesis mechanism 130 receives torque in the same direction from the first flexible shaft 111 and the second flexible shaft 112. Therefore, the third spur gear 132 and the second side gear 138 rotate in the same direction.

Since the rotation of the third spur gear 132 is inverted and transmitted to the first side gear 137, the first side gear 137 and the second side gear 138 rotate in exactly opposite directions. Here, for ease of understanding, the absolute values of the rotation angles of the first side gear 137 and the second side gear 138 are assumed to be the same.

Then, the rotation of the first side gear 137 and the second side gear 138 is absorbed by the rotation of the first intermediate gear 139 and the second intermediate gear 140, and is not transmitted to the frame body 136. That is, the master gear 135 does not rotate. Therefore, the output shaft S-OUT does not rotate either. Therefore, the rotation is not transmitted to the rotated drive body RA.

As described above, even when the torsional displacement τ shown in FIG. 1B occurs between the motor M and the rotated drive body RA, the torsional stress associated with the torsional displacement τ is the first intermediate gear 139 and the second intermediate. It is escaped by the rotation of the gear 140. Therefore, the relative rotation between the rotated drive body RA and the output shaft S-OUT due to the torsional stress is avoided.

The operation of the power transmission device 100 has been described above with reference to the case where the motor MT has stopped. Next, the general operation of the power transmission device 100 including the case where the motor MT rotates the input shaft S-IN will be described.

When the first flexible shaft 111 and the second flexible shaft 112 and the power synthesis mechanism 130 rotate relatively due to the torsional displacement τ which is the relative rotation between the motor MT and the rotated drive body RA, the power synthesis mechanism 130 On the other hand, there is a difference in the rotation angle between the first flexible shaft 111 and the second flexible shaft 112. That is, there is a difference between the rotation angle of the rotation received by the power synthesis mechanism 130 from the first flexible shaft 111 and the rotation angle of the rotation received from the second flexible shaft 112.

The rotation angle here is a concept including positive and negative signs indicating the direction of rotation. In the present specification, the rotation angle of the first flexible shaft 111 is positive clockwise when viewed from the input shaft side housing H-IN to the output shaft side housing H-OUT, and the rotation angle of the second flexible shaft 112 is Similarly, the counterclockwise direction is positive when viewed from the input shaft side housing H-IN toward the output shaft side housing H-OUT. However, the difference in rotation angle is a concept expressed by an absolute value.

For example, both are rotated in opposite directions by the power distribution mechanism 120 so that the rotation angle of the first flexible shaft 111 is θ [rad] and the rotation angle of the second flexible shaft 112 is also θ [rad]. In this state, it is assumed that both and the power synthesis mechanism 130 rotate relative to each other. Then, the rotation angle of rotation received from one of the first flexible shaft 111 and the second flexible shaft 112 by the power synthesis mechanism 130 changes to θ + εa [rad], and the rotation angle of rotation received from the other changes to θ-εb [rad]. ] (However, εa> 0 and εb> 0). As a result, a difference in rotation angle εa + εb [rad] is generated with respect to the power synthesis mechanism 130.

Further, when the rotation angles of the first flexible shaft 111 and the second flexible shaft 112 are both zero, that is, when θ is zero, when both of them and the power synthesis mechanism 130 rotate relatively, the power synthesis mechanism 130 Means that the first flexible shaft 111 and the second flexible shaft 112 have rotated in the same direction. Therefore, the power synthesis mechanism 130 receives the rotation of the rotation angle εc [rad] from one of the first flexible shaft 111 and the second flexible shaft 112, and receives the rotation of the rotation angle −εd [rad] from the other (provided that the power synthesis mechanism 130 receives rotation of the rotation angle −εd [rad] from the other. , Εc> 0, εd> 0). In this case, a difference in rotation angle εc + εd [rad] has occurred with respect to the power synthesis mechanism 130.

In the present embodiment, the first flexible shaft 111 and the second flexible shaft 112 extend in parallel. Therefore, as described above, the first flexible shaft 111 and the second flexible shaft 112, and the power synthesis mechanism 130 The relative rotation of the above appears as the difference in the rotation angle between the first flexible shaft 111 and the second flexible shaft 112 with respect to the power synthesis mechanism 130.

Then, the difference in the rotation angle is absorbed by the rotation of the first intermediate gear 139 and the second intermediate gear 140 in the differential gear 134. As a result, the torsional stress associated with the torsional displacement τ shown in FIG. 1B is released.

The master gear 135 rotates by a rotation angle equal to the average value of the rotation angle of the first side gear 137 and the rotation angle of the second side gear 138. However, it is assumed that the positive direction of the rotation angle of the master gear 135, the first side gear 137, and the second side gear 138 is the same as the positive direction of the rotation angle of the second flexible shaft 112. The rotation angles of the first flexible shaft 111 and the first side gear 137 are equal including the positive and negative signs, and the rotation angles of the second flexible shaft 112 and the second side gear 138 are equal including the positive and negative signs. Therefore, the rotation angle of the master gear 135 is equal to the average value of the rotation angle of the rotation received from the first flexible shaft 111 by the power synthesis mechanism 130 and the rotation angle of the rotation received from the second flexible shaft 112.

For example, the rotation angle of rotation received from one of the first flexible shaft 111 and the second flexible shaft 112 by the power synthesis mechanism 130 is θ + εa [rad], and the rotation angle of rotation received from the other is θ−εb [rad]. In this case, the rotation angle of the master gear 135 is θ + (εa-εb) / 2 [rad], and the error from θ is suppressed to (εa-εb) / 2 [rad].

If εa ≠ εb, the torsional stress associated with the torsional displacement τ is not completely released, and the rotation angle of the output shaft S-OUT includes the first flexible shaft 111 and the second flexible shaft before the torsional displacement τ occurs. An error occurs by (εa-εb) / 2 [rad] from each rotation angle θ [rad] of 112. This error can be transmitted to the rotated drive body RA as rotation not based on the power of the motor MT.

However, if εa = εb, the torsional stress associated with the torsional displacement τ is completely released, and the rotation angle of the master gear 135 is the first flexible shaft 111 and the second flexible shaft 112 before the torsional displacement τ occurs. It is maintained at the same value as each rotation angle θ [rad] of. By giving the first flexible shaft 111 and the second flexible shaft 112 substantially the same torsional rigidity, εa≈εb can be obtained.

Further, when the rotation angle of rotation received from one of the first flexible shaft 111 and the second flexible shaft 112 by the power synthesis mechanism 130 is εc [rad], and the rotation angle of rotation received from the other is −εc [rad]. , The rotation angle of the master gear 135 is suppressed to (εc-εc) / 2 = 0 [rad]. That is, as in the case of εa = εb described above, the torsional stress is completely released, and the rotation not based on the power of the motor MT is not transmitted to the rotated drive body RA.

As described above, according to the power transmission device 100 according to the present embodiment, even when a torsional displacement τ that is a relative rotation between the motor MT and the rotated drive body RA occurs, the torsional displacement τ is accompanied by the torsional displacement τ. Torsional stress is released by the differential gear 134. Therefore, the relative rotation between the rotated drive body RA and the output shaft S-OUT due to the torsional stress is suppressed. Therefore, the rotation not based on the power of the motor MT is difficult to be transmitted to the rotated drive body RA.

[Embodiment 2]
In the above embodiment, the differential gear 134 is used in a mode of transmitting rotation from the first side gear 137 and the second side gear 138 to the master gear 135, but the first side gear 137 and the second side gear are used from the master gear 135. The differential gear 134 may be used in such a manner that rotation is transmitted to 138. Hereinafter, a specific example thereof will be described.

As shown in FIG. 3, the power transmission device 200 according to the present embodiment has the roles of the input shaft S-IN and the output shaft S-OUT interchanged in the configuration shown in FIG. The configuration of the power synthesis mechanism 130 shown in FIG. 2 functions as the power distribution mechanism 120'in the present embodiment, and the configuration of the power distribution mechanism 120 shown in FIG. 2 functions as the power synthesis mechanism 130'in the present embodiment. do.

In the power distribution mechanism 120', the differential gear 134 absorbs the difference between the rotation angle between the second flexible shaft 112 and the reversing shaft 131 as the reversing shaft for power distribution, and absorbs the torque of the input shaft S-IN. , It functions as a power distribution differential gear that distributes to the second flexible shaft 112 and the reversing shaft 131. The third spur gear 132 and the fourth spur gear 133 function as a power distribution reversing mechanism that reverses the rotation of the reversing shaft 131 and transmits the rotation to the first flexible shaft 111.

The first spur gear 121 and the second spur gear 122 constituting the power synthesis mechanism 130'rotate from each of the first flexible shaft 111 and the second flexible shaft 112 rotated in opposite directions by the power distribution mechanism 120'. At the same time as receiving, the direction of the received rotation is aligned and transmitted to the output shaft S-OUT.

Also in this embodiment, the first flexible shaft 111 and the second flexible shaft 112 and the power distribution mechanism 120'are caused by the torsional displacement τ which is the relative rotation between the motor MT and the rotated drive body RA. When relatively rotated, a difference occurs in the rotation angles of the first flexible shaft 111 and the second flexible shaft 112 for the power distribution mechanism 120'. Then, the difference in the rotation angle is absorbed by the rotation of the first intermediate gear 139 and the second intermediate gear 140. As a result, the torsional stress associated with the torsional displacement τ is released. Therefore, the relative rotation between the rotated drive body RA and the output shaft S-OUT due to the torsional stress is suppressed. Therefore, the rotation not based on the power of the motor MT is difficult to be transmitted to the rotated drive body RA.

[Embodiment 3]
In the first embodiment, of the power distribution mechanism 120 and the power synthesis mechanism 130, only the power synthesis mechanism 130 has the differential gear 134, but both the power distribution mechanism 120 and the power synthesis mechanism 130 have the differential gear 134. You may have. Similarly, in the second embodiment, of the power distribution mechanism 120'and the power synthesis mechanism 130', only the power distribution mechanism 120' has the differential gear 134, but the power distribution mechanism 120' and the power synthesis mechanism 130' Both may be equipped with a differential gear 134. Hereinafter, a specific example thereof will be described.

As shown in FIG. 4, in the power transmission device 300 according to the present embodiment, both the power distribution mechanism 120 ″ and the power synthesis mechanism 130 ″ include the differential gear 134. The function of the power distribution mechanism 120'' is the same as the function of the power distribution device 120'shown in FIG. 3, and the function of the power synthesizer 130'' is the function of the power synthesizer 130'shown in FIG. The same is true.

According to the present embodiment, due to the torsional displacement τ, the first flexible shaft 111 and the second flexible shaft 112, and each of the power distribution mechanism 120 ″ and the power synthesis mechanism 130 ″ rotate relatively. , There is a difference in the rotation angle between the first flexible shaft 111 and the second flexible shaft 112 with respect to the power distribution mechanism 120'', and the first flexible shaft 111 and the second flexible shaft 111 with respect to the power synthesis mechanism 130''. 2 There is a difference in the rotation angle of the flexible shaft 112.

In this case, each of the power distribution mechanism 120 ″ and the power synthesis mechanism 130 ″ absorbs the difference in the rotation angle with respect to the self. As a result, the torsional stress associated with the torsional displacement τ is released. Therefore, the relative rotation between the rotated drive body RA and the output shaft S-OUT due to the torsional stress is suppressed. Therefore, the rotation not based on the power of the motor MT is difficult to be transmitted to the rotated drive body RA.

[Embodiment 4]
In the above embodiment, the first flexible shaft 111 and the second flexible shaft 112 are arranged side by side so that their outer peripheral surfaces face each other, but one of the first flexible shaft 111 and the second flexible shaft 112 is arranged. It may have a hollow tubular structure and a coaxial structure in which the other is inserted into one. Hereinafter, a specific example thereof will be described.

As shown in FIG. 5, the power transmission device 400 according to the present embodiment includes an intermediate shaft structure 150 having a coaxial structure. The intermediate shaft structure 150 connects the input shaft side housing H-IN and the output shaft side housing H-OUT. The intermediate shaft structure 150 is composed of an inner flexible shaft 151 and an outer flexible shaft 152 forming a hollow tubular shape. Both the inner flexible shaft 151 and the outer flexible shaft 152 can transmit rotation in a bent state.

The inner flexible shaft 151 is coaxially inserted through the outer flexible shaft 152. The inner flexible shaft 151 is rotatable with respect to the outer flexible shaft 152.

As shown in FIG. 6, the power distribution mechanism 160 housed in the input shaft side housing H-IN is arranged to face the first bevel gear 161 rotated by the input shaft S-IN and the first bevel gear 161. It has a second bevel gear 162 and a third bevel gear 163 and a fourth bevel gear 164 that are meshed with the first bevel gear 161 and the second bevel gear 162, respectively, and are arranged facing each other. The third bevel gear 163 and the fourth bevel gear 164 transmit the rotation of the first bevel gear 161 to the second bevel gear 162. The second bevel gear 162 rotates in the direction opposite to that of the first bevel gear 161.

The first bevel gear 161 rotated by the input shaft S-IN transmits its own rotation to the inner flexible shaft 151. Specifically, the input shaft S-IN, the first bevel gear 161 and the inner flexible shaft 151 are arranged in series in this order, and these three rotate in the same direction. The first bevel gear 161 is supported by an input shaft S—IN and an inner flexible shaft 151.

The input shaft S-IN and the inner flexible shaft 151 are configured as an integral flexible shaft, and the flexible shaft and the first bevel gear 161 are fitted so as to prevent their relative rotation. May be good.

The inner flexible shaft 151 penetrates the second bevel gear 162 and extends toward the output shaft side housing H-OUT shown in FIG. The inner flexible shaft 151 rotates freely with respect to the second bevel gear 162.

The second bevel gear 162 transmits its own rotation to the outer flexible shaft 152. The second bevel gear 162 is supported by the outer flexible shaft 152. The outer flexible shaft 152 extends from the second bevel gear 162 toward the output shaft side housing H-OUT shown in FIG.

The input shaft side housing H-IN includes a bearing BE14 that supports the input shaft S-IN in a portion penetrated by the input shaft S-IN and a bearing BE15 that supports the outer flexible shaft 152 in a portion penetrated by the outer flexible shaft 152. , The bearing BE16 that supports the rotating shaft 163a of the third bevel gear 163, and the bearing BE17 that supports the rotating shaft 164a of the fourth bevel gear 164.

As shown in FIG. 7, the power synthesis mechanism 170 housed in the output shaft side housing H-OUT is arranged to face the fifth bevel gear 171 rotated by the inner flexible shaft 151 and the fifth bevel gear 171. It has a sixth bevel gear 172 and a seventh bevel gear 173 and an eighth bevel gear 174 that mesh with the fifth bevel gear 171 and the sixth bevel gear 172, respectively, and are arranged facing each other. The seventh bevel gear 173 and the eighth bevel gear 174 transmit the rotation of the fifth bevel gear 171 to the sixth bevel gear 172. The sixth bevel gear 172 rotates in the opposite direction to the fifth bevel gear 171.

The fifth bevel gear 171 is penetrated by the inner flexible shaft 151, and the inner flexible shaft 151 and the fifth spur gear 171 are fitted so as to prevent their relative rotation.

The output shaft side housing H-OUT includes a bearing BE18 that supports the inner flexible shaft 151 that penetrates the fifth bevel gear 171 and a bearing BE19 that supports the rotating shaft 173a of the seventh bevel gear 173, and the eighth bevel gear 174. It has a bearing BE20 that supports the rotating shaft 174a.

Further, the power synthesis mechanism 170 has a tube shaft 175 as a power synthesis reversing shaft rotated by the sixth bevel gear 172, and a differential gear 134 also shown in FIG. 2.

The first side gear 137 of the differential gear 134 is rotated by the tube shaft 175. The tube shaft 175 penetrates the frame body 136 of the differential gear 134 and is connected to the first side gear 137. The tube shaft 175 rotates freely with respect to the frame body 136.

On the other hand, the second side gear 138 of the differential gear 134 is rotated by the outer flexible shaft 152. The outer flexible shaft 152 penetrates the base gear 135 of the differential gear 134 and is connected to the second side gear 138. The outer flexible shaft 152 rotates freely with respect to the master gear 135.

The output shaft side housing H-OUT has a bearing BE21 that supports the tube shaft 175, and a bearing BE22 that supports the outer flexible shaft 152 at a portion pierced by the outer flexible shaft 152. Bearings BE21 and BE22 support the differential gear 134 through the tube shaft 175 and the outer flexible shaft 152.

The differential gear 134 is arranged at a position closer to the input shaft side housing H-IN shown in FIGS. 5 and 6 than the fifth bevel gear 171 rotated by the inner flexible shaft 151. The inner flexible shaft 151 penetrates the second side gear 138 and the first side gear 137, is inserted into the tube shaft 175, further penetrates the sixth bevel gear 172, and is connected to the fifth bevel gear 171.

The inner flexible shaft 151 rotates freely with respect to the second side gear 138, the first side gear 137, the tube shaft 175, and the sixth bevel gear 172.

Hereinafter, the operation of the power transmission device 400 according to the present embodiment will be described.

First, a case where there is no torsional displacement, which is a relative rotation between the motor MT and the rotated drive body RA, will be described.

When the motor MT shown in FIG. 5 rotates the input shaft S—IN, the power distribution mechanism 160 shown in FIG. 6 distributes the torque of the input shaft S—IN to the inner flexible shaft 151 and the outer flexible shaft 152. The power distribution mechanism 160 rotates the inner flexible shaft 151 in the same direction as the input shaft S—IN and the outer flexible shaft 152 in the opposite direction to the input shaft S—IN.

The rotation of the inner flexible shaft 151 is 4 of the 5th bevel gear 171 and the 6th bevel gear 172, the 7th bevel gear 173, and the 8th bevel gear 174 as a reversing mechanism for connecting the inner flexible shaft 151 to the tube shaft 175. It is inverted and transmitted to the tube shaft 175 by the two bevel gears, and further transmitted from the tube shaft 175 to the first side gear 137. On the other hand, the rotation of the outer flexible shaft 152 is transmitted to the second side gear 138.

Since the tube shaft 175 rotates in the same direction as the outer flexible shaft 152, the first side gear 137 and the second side gear 138 rotate in the same direction. As a result, the first side gear 137 and the second side gear 138 transmit their respective rotations to the frame body 136 through the non-rotating first intermediate gear 139 and the second intermediate gear 140. Therefore, the master gear 135 that is integrated with the frame body 136 also rotates. The rotation of the master gear 135 is transmitted to the output shaft S-OUT through the fifth spur gear 141.

Since the fifth spur gear 141 rotates in the opposite direction to the master gear 135, the output shaft S-OUT rotates in the same direction as the input shaft S-IN. The rotated drive body RA shown in FIG. 5 receives rotation from the output shaft S-OUT and operates by the power of the received rotation.

Next, when the inner flexible shaft 151 and the outer flexible shaft 152 and the power synthesis mechanism 170 rotate relative to each other due to the torsional displacement τ which is the relative rotation between the motor MT and the rotated drive body RA, the rotation is caused. , It appears as a difference in the rotation angle between the inner flexible shaft 151 and the outer flexible shaft 152 with respect to the power synthesis mechanism 170.

In the present specification, the rotation angle of the inner flexible shaft 151 is positive clockwise when viewed from the input shaft side housing H-IN to the output shaft side housing H-OUT, and the rotation angle of the outer flexible shaft 152 is Similarly, the counterclockwise direction is positive when viewed from the input shaft side housing H-IN toward the output shaft side housing H-OUT.

That is, there is a difference between the rotation angle of rotation received by the power synthesis mechanism 170 from the inner flexible shaft 151 and the rotation angle of rotation received from the outer flexible shaft 152. Then, the difference in the rotation angle is absorbed by the rotation of the first intermediate gear 139 and the second intermediate gear 140 in the differential gear 134.

As a result, the torsional stress associated with the torsional displacement τ is released, so that the relative rotation between the rotated drive body RA and the output shaft S-OUT due to the torsional stress is suppressed. Therefore, unintended rotation, that is, rotation not based on the power of the motor MT is difficult to be transmitted to the rotated drive body RA.

[Embodiment 5]
Since the power transmission devices 100, 200, 300, and 400 according to each of the above embodiments have the effect of suppressing the transmission of unintended rotation to the rotated drive body RA, the operation of the rotated drive body RA is precise. Especially suitable for required applications. Hereinafter, as a specific example thereof, a case where the rotated drive body RA performs precision processing in the oral cavity will be described.

As shown in FIG. 8, the intraoral processing apparatus 900 according to the present embodiment has a processing head WH capable of processing teeth and bones and a displacement mechanism 500 fixed to the jaw of a patient while holding the processing head WH. The power source group 600 installed outside the patient's oral cavity, the power transmission device group 700 connecting the displacement mechanism 500 and the power source group 600, and the power source group 600 located outside the patient's oral cavity to control the power source group 600. The control device 800 is provided.

The power source group 600 is composed of an r-direction motor 600r, a z-direction motor 600z, and a θ-direction motor 600θ, respectively, which generate rotational motion.

The displacement mechanism 500 includes an r-direction motion conversion unit 500r as a rotated drive body powered by an r-direction motor 600r, and a z-direction motion conversion unit as a rotated drive body powered by a z-direction motor 600z. It has 500z and a θ-direction motion conversion unit 500θ as a rotated drive body powered by a θ-direction motor 600θ.

The displacement mechanism 500 also has an arm 501 for holding the machining head WH. The processing head WH includes a tool CT made of a material harder than the tooth, and by rotating the tool CT around the rotation axis AX1, the tooth is cut at the tip portion of the tool CT. Here, cutting is a concept that includes not only the meaning of grinding with a cutting edge but also the meaning of grinding with abrasive grains.

The power transmission device group 700 transmits the rotation of the r-direction motor 600r to the r-direction motion conversion unit 500r and the rotation of the z-direction motor 600z to the z-direction motion conversion unit 500z. It is composed of a power transmission device 700z for the z direction and a power transmission device 700θ for the θ direction that transmits the rotation of the motor 600θ for the θ direction to the motion conversion unit 500θ in the θ direction. Each of the r-direction power transmission device 700r, the θ-direction power transmission device 700θ, and the z-direction power transmission device 700z comprises the above-mentioned power transmission device 100, 200, 300, or 400.

The displacement mechanism 500 is a machining head in each of the radial direction (hereinafter referred to as r direction), the circumferential direction (hereinafter referred to as θ direction), and the height direction (hereinafter referred to as z direction) in the cylindrical coordinate system. The WH can be displaced. The z direction is a direction parallel to the rotation axis AX1 of the tool CT. The θ direction is a direction in which the rotation axis AX1 is swiveled around the rotation axis AX2 which is separated from the rotation axis AX1 and extends in parallel with the rotation axis AX1. The r direction is the direction in which the rotation shaft AX1 and the swivel shaft AX2 face each other.

The rotation shaft AX1 is fixed to the processing head WH. The swivel shaft AX2 is fixed to the displacement mechanism 500. The rotation axis AX1 can be displaced in the θ direction and the r direction with respect to the rotation axis AX2.

The r-direction motion conversion unit 500r holds the processing head WH via the arm 501. The r-direction motion conversion unit 500r converts the rotational motion transmitted from the r-direction motor 600r through the r-direction power transmission device 700r into the advancing / retreating motion of the arm 501 with respect to itself, that is, the linear motion of the machining head WH in the r-direction. ..

The z-direction motion conversion unit 500z processes the rotational motion transmitted from the z-direction motor 600z through the z-direction power transmission device 700z to the linear motion of the r-direction motion conversion unit 500r in the direction parallel to the swivel axis AX2, that is, processing. It is converted into a linear motion of the head WH in the z direction.

The θ-direction motion conversion unit 500θ rotates the rotational motion transmitted from the θ-direction motor 600θ through the θ-direction power transmission device 700θ by the r-direction motion conversion unit 500r and the z-direction motion conversion unit 500z around the swivel axis AX2. It is converted into a motion, that is, a turning motion in the θ direction of the processing head WH.

The control device 800 sets the rotation speeds of the r-direction motor 600r, the θ-direction motor 600θ, and the z-direction motor 600z so that the tip of the tool CT is displaced along a predetermined path in the oral cavity. Control.

According to the oral processing apparatus 900 according to the present embodiment, the r-direction motion conversion unit 500r moves with respect to the r-direction motor 600r as the patient's jaw moves with respect to the power source group 600 during treatment. Even if this is the case, the torsional stress caused by the movement is absorbed by the r-direction power transmission device 700r, and the output shaft of the r-direction power transmission device 700r and the r-direction motion conversion unit 500r are caused by the torsional stress. The relative rotation of and is suppressed. Therefore, even if the patient's jaw moves with respect to the power source group 600 during the treatment, a processing error in the r direction is unlikely to occur at the treated portion in the oral cavity.

Further, even if the z-direction motion conversion unit 500z moves with respect to the z-direction motor 600z, the torsional stress caused by the movement is absorbed by the z-direction power transmission device 700z, which is caused by the torsional stress. The relative rotation of the output shaft of the z-direction power transmission device 700z and the z-direction motion conversion unit 500z is suppressed. Therefore, even if the patient's jaw moves with respect to the power source group 600 during the treatment, a processing error in the z direction is unlikely to occur at the treated portion in the oral cavity.

Further, even if the θ-direction motion conversion unit 500θ moves with respect to the θ-direction motor 600θ, the θ-direction power transmission device 700θ absorbs the torsional stress caused by the movement, resulting in the torsional stress. The relative rotation of the output shaft of the power transmission device 700θ in the θ direction and the motion conversion unit 500θ in the θ direction is suppressed. Therefore, even if the patient's jaw moves with respect to the power source group 600 during the treatment, a processing error in the θ direction is unlikely to occur at the treated portion in the oral cavity.

Although the embodiments of the present invention have been described above, the present invention is not limited thereto. For example, the following modifications are also possible.

In FIGS. 1B and 2 to 5, the input shaft S-IN may be detachable from the motor MT. Further, the output shaft S-OUT may be detachable from the rotated drive body RA. Further, in FIGS. 2 to 4, the first flexible shaft 111 and the second flexible shaft 112 may be detachable from at least one of the input shaft side housing H-IN and the output shaft side housing H-OUT. .. Similarly, in FIG. 5, the inner flexible shaft 151 and the outer flexible shaft 152 may be detachable from at least one of the input shaft side housing H-IN and the output shaft side housing H-OUT.

The power transmission devices 100 to 300 shown in FIGS. 2 to 4 include at least one of the power distribution mechanisms 120 and 120'and the power synthesis mechanism 130 and 130', and the first flexible shaft 111 and the second flexible shaft 112. A displacement absorbing mechanism capable of absorbing the relative displacement of the first flexible shaft 111 and the second flexible shaft 112 in the length direction may be provided. The displacement absorption mechanism can be realized, for example, by a configuration in which the first flexible shaft 111 or the second flexible shaft 112 and the gear to which the first flexible shaft 112 is connected are spline-fitted. Similarly, the power transmission device 400 shown in FIG. 5 also has an inner flexible shaft 151 and an outer flexible shaft 152 having at least one of the power distribution mechanism 160 and the power synthesis mechanism 170 and the inner flexible shaft 151 and the outer flexible shaft 152. A displacement absorption mechanism capable of absorbing relative displacement in the length direction may be provided.

FIG. 2 shows a configuration in which the motor MT can freely rotate with respect to the input shaft side housing H-IN, but the motor MT may be fixed to the input shaft side housing H-IN. Further, although the rotated drive body RA has shown a configuration in which the rotated drive body RA can freely rotate with respect to the output shaft side housing H-OUT, the rotated drive body RA is fixed to the output shaft side housing H-OUT. May be good. The same applies to the configurations shown in FIGS. 3 to 5.

5 to 7 show a configuration in which the outer flexible shaft 152 is exposed between the input shaft side housing H-IN and the output shaft side housing H-OUT, but a covering member covering the outer flexible shaft 152 is provided. You may. The covering member may be fixed to at least one of the input shaft side housing H-IN and the output shaft side housing H-OUT.

6 and 7, between the second bevel gear 162 and the inner flexible shaft 151, between the outer flexible shaft 152 and the inner flexible shaft 151, between the master gear 135 and the outer flexible shaft 152, the frame body 136 and the tube shaft 175. Place the bearing in the sliding part such as between the frame body 136 and the inner flexible shaft 151, between the first side gear 137 and the inner flexible shaft 151, and between the second side gear 138 and the inner flexible shaft 151. May be good.

In each of the above embodiments 1 to 3, flexible shafts are used for each of the first intermediate shaft and the second intermediate shaft for transmitting the rotation of the input shaft S-IN in parallel to the output shaft S-OUT. The intermediate shaft and the second intermediate shaft are not limited to the flexible shaft. Hereinafter, deformation examples of the first intermediate shaft and the second intermediate shaft will be described.

As shown in FIG. 9, the universal shaft 180 according to the modified example is configured to include a plurality of shaft bodies 181 that are rod-shaped rigid bodies, and a universal joint 182 that connects the shaft bodies 181 to each other. The universal shaft 180 can be used as an alternative to at least one of the first flexible shaft 111 and the second flexible shaft 112. Like the flexible shaft, the universal shaft 180 also transmits its own rotational motion from the input shaft S-IN to the output shaft S-OUT while allowing the relative displacement between the input shaft S-IN and the output shaft S-OUT. Can be done.

FIG. 2 shows a configuration in which the covering members 113a and 113b are separated from the input shaft side housing H-IN and the output shaft side housing H-OUT, but the covering members 113a and 113b are separated from the input shaft side housing H-IN. It may be fixed to at least one of the output shaft side housings H-OUT.

When the covering members 113a and 113b are fixed to both the input shaft side housing H-IN and the output shaft side housing H-OUT, the covering members 113a and 113b are attached to the input shaft side housing H-IN and the output shaft side. It can serve as a rotation deviation prevention unit that prevents a relative rotation deviation from the housing H-OUT. The same applies to the configurations shown in FIGS. 3 and 4.

Hereinafter, embodiments 6 to 12 provided with a rotation shift prevention unit will be described.

[Embodiment 6]
As shown in FIG. 10, the power transmission device 1A according to the present embodiment includes a motor 2 as a drive unit, a driven unit 3, a transmission unit 4, and a rotation shift prevention unit 5. The power transmission device 1A has a rotation shaft (driven) of the driven portion 3 due to a relative rotational deviation between the motor 2 (motor housing 2A) and the driven portion 3 (driven portion housing 3A). It is characterized in that the rotating shaft 3B) is prevented from rotating.

The motor 2 includes a motor housing 2A as a first housing and a motor rotation shaft 2B as a first rotation shaft that rotates with respect to the motor housing 2A. The motor 2 is a power source that generates a torque for rotating the rotor by passing a current through a stator provided in the motor housing 2A and rotates the first rotating shaft 2B together with the rotor. ..

The driven unit 3 includes a driven unit housing 3A as a second housing and a driven rotating shaft 3B as a second rotating shaft that can rotate with respect to the driven unit housing 3A. Although not shown in FIG. 10, the driven portion housing 3A is fixed to a member (not shown).

The transmission unit 4 transmits the rotational force of the motor rotary shaft 2B to the driven rotary shaft 3B. The transmission unit 4 is composed of a flexible shaft having one end connected to the motor rotary shaft 2B and the other end connected to the driven rotary shaft 3B. That is, the transmission unit 4 is composed of a transmission shaft that transmits the rotational force of the motor rotation shaft 2B to the driven rotation shaft 3B while allowing the relative displacement between the motor rotation shaft 2B and the driven rotation shaft 3B. The transmission unit 4 is a flexible rotating shaft called a flexible shaft or a flexible shaft. Due to this flexibility, the relative displacement between the motor 2 and the driven portion 3 can be adjusted.

However, when a rotational deviation occurs around the axis of the transmission unit 4 between the motor 2 and the driven unit 3 along the transmission direction and a twist occurs in the transmission unit 4, the reaction force of the twist causes the driven rotation shaft 3B. May rotate. Therefore, the rotation deviation prevention unit 5 prevents the relative rotation deviation between the motor housing 2A and the driven unit housing 3A.

As shown in FIG. 11, the rotation deviation prevention portion 5 includes a pedestal 5A as a holding portion, a bearing 5B, and a synchronization portion 5C. A circular opening is provided on the side wall of the pedestal 5A, and the bearing 5B is inserted into this opening. A cylindrical member 2C is fixed to the motor housing 2A, and the cylindrical member 2C is inserted into the bearing 5B. As a result, the motor housing 2A is rotatably held around the motor rotation shaft 2B by the pedestal 5A via the bearing 5B.

The synchronization unit 5C synchronizes the rotation of the motor housing 2A around the motor rotation shaft 2B with the rotation of the driven unit housing 3A around the driven rotation shaft 3B. In the present embodiment, the synchronous portion 5C is composed of a flexible sleeve 5C having one end connected to the motor housing 2A and the other end connected to the driven portion housing 3A. The synchronization unit 5C is a cover of the flexible shaft 4, has flexibility, and is composed of a cylindrical body concentric with the flexible shaft 4. The synchronization unit 5C allows the relative displacement between the motor housing 2A and the driven portion housing 3A, while allowing the rotation of the motor housing 2A around the motor rotation shaft 2B and the driven rotation shaft of the driven portion housing 3A. Synchronize with the rotation around 3B. That is, when the driven portion housing 3A tries to rotate around the driven rotation shaft 3B, the synchronization unit 5C transmits the rotational force to the motor housing 2A and rotates the motor housing 2A in the same direction and at the same angle. .. In FIG. 10, the flexible sleeve 5C is partially crushed so that the flexible shaft 4 can be seen.

Next, the operation of the power transmission device 1A according to the present embodiment will be described.

When the motor 2 rotates the motor rotation shaft 2B, the rotational force thereof is transmitted to the driven rotation shaft 3B of the driven unit 3 via the transmission unit 4. For example, as shown in FIG. 12, when the motor rotation shaft 2B rotates by α1 degree, the driven rotation shaft 3B also rotates by α1 degree. On the other hand, even if the driven portion housing 3A rotates β1 degrees around an axis parallel to the driven rotation shaft 3B or the driven rotation shaft 3B, the rotational force thereof is transmitted to the motor housing 2A via the flexible shaft 5C. The motor housing 2A also rotates by β1 degree. As a result, it is possible to prevent the occurrence of rotational deviation between the motor housing 2A and the driven portion housing 3A, and to prevent the flexible shaft 4 from being twisted.

As described in detail above, according to the present embodiment, a power provided with a mechanism for transmitting the rotational force of the motor rotating shaft 2B of the motor 2 to the driven rotating shaft 3B of the driven unit 3 via the transmitting unit 4. The transmission device 1A includes a rotation deviation prevention unit 5 for preventing a relative rotation deviation between the motor housing 2A of the motor 2 and the driven unit housing 3A of the driven unit 3. Since the rotation deviation prevention unit 5 prevents the relative rotation deviation between the motor housing 2A and the driven unit housing 3A, the generation of twisting of the transmission unit 4 due to the relative rotation deviation is prevented. .. As a result, it is possible to prevent unintended rotation of the driven rotation shaft 3B.

In the present embodiment, it is possible to prevent unintended rotation of the driven rotary shaft 3B without increasing the number of flexible shafts 4.

The power transmission device 1A according to the present embodiment has one system, but it is also possible to provide a plurality of systems.

[Embodiment 7]
The second embodiment will be described with reference to FIGS. 13, 14, and 15. The power transmission device 1A according to the above embodiment has one system, but the power transmission device 1B according to the present embodiment has two systems.

In this embodiment, two motors 2 are provided. The motors 2 are arranged vertically so that the motor rotation shafts 2B are parallel to each other. The arrangement direction of the motors 2 is not limited to the top and bottom. For example, the arrangement direction of the motors 2 may be left or right. Further, the mounting surfaces of the motors 2 do not have to be the same. For example, the mounting surface may be stepped up and down or left and right.

Further, in the driven unit 3, the driven rotation shafts 3B are provided as many as the number of the motors 2, that is, two. In the driven unit 3, the driven rotation shafts 3B are arranged vertically so as to be parallel to each other. The arrangement direction of the driven rotation shaft 3B is not limited to the vertical direction. For example, the arrangement direction of the driven rotation shaft 3B may be left or right. Further, the mounting surfaces of the driven rotary shafts 3B do not have to be the same. For example, the mounting surface may be stepped up and down or left and right.

Further, the transmission units 4 and 14 are provided with the number of motors 2, that is, one each, for a total of two. The transmission unit 4 transmits the rotational force of the motor rotation shaft 2B of the lower motor 2 to the lower driven rotation shaft 3B. The transmission unit 14 transmits the rotational force of the motor rotation shaft 2B of the upper motor 2 to the upper driven rotation shaft 3B.

The transmission unit 4 is composed of a flexible shaft. The lower motor 2, the lower driven rotary shaft 3B, and the transmission unit 4 form the first system of power transmission. The rotation deviation prevention unit 15 includes a pedestal 15A as a holding unit, a bearing 15B, and synchronization units 15C and 15D corresponding to the first system. A circular opening is provided on the side wall of the pedestal 15A, and the bearing 15B is inserted into this opening. A cylindrical member 2C is fixed to the motor housing 2A of the lower motor 2, and the cylindrical member 2C is inserted into the bearing 15B. As a result, the motor housing 2A of the lower motor 2 is rotatably held around the motor rotation shaft 2B by the pedestal 15A via the bearing 15B.

The synchronization unit 15C synchronizes the rotation of the motor housing 2A of the lower motor 2 around the motor rotation shaft 2B with the rotation of the driven rotation shaft 3B below the driven unit housing 3A. In the present embodiment, the synchronization unit 15C is composed of a flexible sleeve, one end of which is connected to the driven portion housing 3A and the other end of which is connected to the lower motor housing 2A of the two motor housings 2A. Will be done. The synchronization unit 15C is a cover of the flexible shaft 4, has flexibility, and is a cylindrical body concentric with the flexible shaft 4. The synchronization unit 15C allows the relative displacement between the driven unit housing 3A and the motor housing 2A, while allowing the rotation of the connected lower motor housing 2A around the motor rotation shaft 2B and the driven unit housing 3A. It is a transmission shaft that synchronizes with the rotation around the driven rotation shaft 3B. That is, when the driven portion housing 3A tries to rotate around the driven rotation shaft 3B, the synchronization unit 15C transmits the rotational force to the motor housing 2A of the lower motor 2 and causes the lower motor 2 to rotate. The motor housing 2A is rotated in the same direction and at the same angle. In FIG. 13, the flexible sleeve 15C is partially crushed so that the flexible shaft 4 can be seen.

As described above, the configuration of the first system of the power transmission device 1B according to the present embodiment is substantially the same as the configuration of the power transmission device 1A according to the first embodiment.

The upper motor 2, the upper driven rotary shaft 3B, and the transmission unit 14 form a second system. The transmission unit 14 includes a transmission mechanism 14A as a first transmission mechanism and a transmission mechanism 14B as a second transmission mechanism. The transmission mechanism 14A is a gear mechanism that rotates with the rotation of the rotational force of the motor rotation shaft 2B in a direction approaching another transmission unit, that is, the transmission unit 4. As shown in FIG. 14, the transmission mechanism 14A is configured by meshing spur gears 14A1, 14A2, 14A3. The spur gear 14A1 rotates with the rotation of the motor rotation shaft 2B, and the spur gears 14A2 and 14A3 are rotatably held by the pedestal 15A via the bearing 14C. The rotation ratio of the spur gears 14A1 and 14A3 is 1: 1. The transmission mechanism 14A may be configured to mesh two gears having a rotation ratio of 1: 1 so that the transmission mechanism 14B is brought closer to the transmission unit 4. However, in this case, it is necessary to rotate the motor rotation shaft 2B of the upper motor 2 in the opposite direction, and the transmission with the transmission mechanism 14B is performed as compared with the case where three gears are used as in the present embodiment. The distance of part 4 becomes long.

The transmission mechanism 14B is a flexible shaft having one end connected to the spur gear 14A3 and the other end connected to the upper driven rotary shaft 3B. The transmission mechanism 14B transmits the rotational force transmitted by the transmission mechanism 14A to the upper driven rotation shaft 3B while allowing the relative displacement between the transmission mechanism 14A and the upper driven rotation shaft 3B. If the transmission unit 14 is composed of the transmission units 14A and 14B, the transmission unit 14 can be brought closer to the transmission unit (flexible shaft) 4, so that the transmission units 4 and 14 occupy the disconnection in the longitudinal direction of the transmission units 4 and 14. The area can be reduced.

As shown in FIG. 13, the rotation deviation prevention unit 15 includes a pedestal 15A, a bearing 15B, the above-mentioned synchronization unit 15C, and a synchronization unit 15D, corresponding to the second system. A circular opening is provided on the side wall of the pedestal 15A, and the bearing 15B is inserted into this opening. A cylindrical member 2C is fixed to the motor housing 2A of the upper motor 2, and the cylindrical member 2C is inserted into the bearing 15B. As a result, the motor housing 2A of the upper motor 2 is rotatably held around the motor rotation shaft 2B by the pedestal 15A via the bearing 15B. In this way, the pedestal 15A rotatably holds the two upper and lower motors 2.

The synchronization units 15C and 15D synchronize the rotation of the driven unit housing 3A around the driven rotation shaft 3B with the rotation of the motor housing 2A around the motor rotation shaft 2B in all the motors 2. More specifically, the synchronization unit 15C is a flexible sleeve as described above, and the synchronization unit 15D is a gear mechanism. The synchronization unit 15D includes spur gears 15D1, 15D2, 15D3 and a bearing 15E. The spur gears 15D1 and 15D3 are fixed to the motor housing 2A so as to rotate about the motor rotation shaft 2B, respectively. The rotation ratio of the spur gears 15D1 and 15D3 is 1: 1. The spur gear 15D2 is inserted between the two spur gears 15D1 and 15D3 and is rotatably supported by the pedestal 15A via the bearing 15E. When the spur gear 15D1 fixed to the lower motor housing 2A rotates, the spur gear 15D3 fixed to the upper motor housing 2A also rotates at the same angle. In this way, the synchronization unit 15D transmits the rotational force between the lower motor housing 2A connected to the synchronization unit 15C and the remaining upper motor housing 2A at an equal rotation ratio.

The spur gear 15D1 fixed to the lower motor housing 2A rotates according to the rotation of the synchronous portion 15C. The spur gear 15D3 fixed to the upper motor housing 2A also rotates in accordance with this rotation. With such a configuration, the synchronization unit 15D transmits a rotational force between the lower motor housing 2A connected to the flexible shaft 4 and the upper motor housing 2A.

Next, the operation of the power transmission device 1B according to the present embodiment will be described.

When the lower motor 2 rotates the motor rotation shaft 2B, the rotational force thereof is transmitted to the driven rotation shaft 3B below the driven portion 3 via the transmission portion 4. Further, with respect to the upper motor 2, when the motor rotation shaft 2B rotates, the rotational force thereof is transmitted to the upper driven rotation shaft 3B of the driven portion 3 via the transmission portion 14. Specifically, as shown in FIG. 14, when the motor rotating shaft 2B of the upper motor 2 rotates by α2 degrees, the rotational force is transmitted as spur gear 14A1 → spur gear 14A2 → spur gear 14A3, and spur gear 14A3. Also rotates α2 degrees. Then, the rotary motion of the spur gear 14A3 is transmitted to the transmission mechanism 14B, and finally the upper driven rotary shaft 3B rotates α2 degrees.

Further, as shown in FIG. 15, even if the driven portion housing 3A rotates β2 degrees around an axis parallel to the driven rotation shaft 3B or the driven rotation shaft 3B, the rotational force thereof is transmitted through the synchronization portion 15C. It is transmitted to the motor housing 2A of the lower motor 2, and the motor housing 2A rotates by β2 degrees. Then, the rotation of the motor housing 2A of the lower motor 2 causes the spur gear 15D1 attached to the motor housing 2A to rotate, and the rotation thereof is the spur gear 15D2 and the spur gear attached to the upper motor housing 2A. It is transmitted to the gear 15D3, and the upper motor housing 2A also rotates β2 degrees. This prevents the occurrence of rotational deviation between the motor housing 2A and the driven portion housing 3A.

In this embodiment, the transmission unit 14 and the synchronization units 15C and 15D are configured by the gear mechanism, but a rotary motion transmission mechanism that does not slip like the pulley mechanism composed of the toothed pulley and the toothed belt is used. The transmission unit 14 and the synchronization units 15C and 15D may be configured. Further, the number of motors 2 is not limited to two, and may be three or more. In all embodiments, a gear mechanism or a rotary motion transmission mechanism that does not slip, such as a pulley mechanism composed of a toothed pulley and a toothed belt, is used as the transmission unit and the synchronization unit.

[Embodiment 8]
The eighth embodiment will be described with reference to FIGS. 16 and 17. The power transmission device 1C according to this embodiment is one system.

In the power transmission device 1C according to the present embodiment, a transmission unit 4 composed of a flexible shaft 4A and a flexible sleeve 4B is provided between the motor rotation shaft 2B of the motor 2 and the driven rotation shaft 3B of the driven unit 3. You are connected. By driving the transmission unit 4, the driven rotation shaft 3B of the driven unit 3 is rotationally driven.

The power transmission device 1C includes a rotation shift prevention unit 18. The rotation deviation prevention unit 18 includes a rotation plate 18A, a rotation shaft 18B, a holding unit 18C, and a synchronization unit 18D. The motor housing 2A of the motor 2 is fixed to the rotating plate 18A. The rotary shaft 18B as the third rotary shaft extends in parallel with the motor rotary shaft 2B and rotates the rotary plate 18A. The holding portion 18C rotatably holds the rotating shaft 18B. The synchronization unit 18D synchronizes the rotation of the motor housing 2A around the rotation shaft 2B with the rotation of the rotation plate 18A around the rotation shaft 18B.

The rotary plate 18A is provided with a counterweight 18E so that the weight distribution of the portion rotating along the rotation direction of the rotary shaft 18B becomes uniform. Further, a spring may be provided in a part of the rotating plate 18A to determine the origin (reference point) of the rotating position of the rotating plate 18A. Further, by intentionally making the weight distribution of the rotary plate 18A non-uniform, for example, in a no-load state, the heaviest portion of the rotary plate 18A is placed at the bottom, and the origin (reference point) of the rotation position of the rotary plate 18A is set. May be set.

When the motor 2 rotates the motor rotation shaft 2B, the rotational force thereof is transmitted to the driven rotation shaft 3B of the driven unit 3 via the transmission unit 4. Further, even if the driven unit 3 rotates by θ degrees around an axis parallel to the driven rotation shaft 3B or the driven rotation shaft 3B, the rotational force is transmitted to the rotation shaft 18B via the synchronization unit 18D, and the rotation shaft is rotated. 18B rotates by θ degrees. As a result, the rotating plate 18A also rotates by θ degrees. As shown in FIG. 17, when the rotating plate 18A rotates by θ degrees, the motor housing 2A also rotates substantially by θ degrees. As a result, rotational deviation between the driven portion housing 3A and the motor housing 2A does not occur, and twisting of the transmission portion (flexible shaft) 4 is prevented.

A plurality of motors 2 may be attached to the rotary plate 18A. In this case, in the driven unit 3, the driven rotation shafts 3B are provided as many as the number of motors 2, and the transmission units 4 (4A, 4B) are provided as many as the number of motors 2. In this case, it is desirable that the motor 2 is attached to the rotating plate 18A so that the weight distribution of the portion rotating along the rotation direction of the rotating shaft 18B is uniform. However, the origin (reference point) of the rotation position of the rotation plate 18A may be determined by arranging the motor 2 non-uniformly on the rotation plate 18A. Further, a plurality of motors 2 may be centrally arranged on a part of the rotary plate 18A, and the weight distribution in the rotational direction of the rotary plate 18A may be adjusted by a counterweight.

If there is a synchronization unit 18D, the flexible sleeve 4B may not be present. This is because the rotation around the axis parallel to the driven portion housing 3B or the driven portion housing 3B of the driven portion 3 can be transmitted to the synchronous portion 18D. On the contrary, if the flexible sleeve 4B is strong against twisting, the synchronization portion 18D may be omitted. This is because the rotation around the axis parallel to the driven portion housing 3B or the driven portion housing 3B of the driven portion 3 can be transmitted to the rotating plate 18A. Even when both the flexible sleeve 4B and the synchronization unit 18D are provided as in the present embodiment, around the axis parallel to the driven unit housing 3B or the driven unit housing 3B of the driven unit 3. The rotation can be transmitted to the rotating plate 18A.

Further, also in the present embodiment, similarly to the above-mentioned embodiment 7, a configuration may be adopted in which the transmission unit 4 on the motor housing 2A side is brought closer to the synchronization unit 18D by using a gear mechanism or a pulley mechanism. ..

[Embodiment 9]
The ninth embodiment will be described with reference to FIGS. 18, 19A, and 19B. The power transmission device 1D according to this embodiment has two systems.

In the present embodiment, the power transmission device 1D includes a motor 2, a driven unit 3, and a transmission unit 16. The motors 2 are arranged vertically so that the motor rotation shafts 2B are parallel to each other. Further, in the driven unit 3, the driven rotation shafts 3B are provided as many as the number of the motors 2, that is, two. In the driven unit 3, the driven rotation shafts 3B are arranged vertically so as to be parallel to each other. Further, the transmission unit 16 is provided with the number of motors 2, that is, two sets. The transmission unit 16 transmits the rotational force of the motor rotation shaft 2B of each motor 2 to the corresponding driven rotation shaft 3B.

More specifically, the transmission unit 16 includes a transmission mechanism 16A as a first transmission mechanism and a transmission mechanism 16B as a second transmission mechanism. As shown in FIG. 18, the transmission mechanism 16A transmits the rotational force of the motor rotation shaft 2B in a direction approaching the other transmission unit 16. The transmission mechanism 16A includes pulleys 16C and 16D, a belt 16E, and a bearing 16F. The pulley 16C is attached to the motor rotation shaft 2B, and the pulley 16D is rotatably held with respect to the pedestal 17A via the bearing 16F. The belt 16E is wound around the pulleys 16C and 16D. The rotation ratio of the pulleys 16C and 16D is 1: 1. Therefore, the rotation angle of the motor rotation shaft 2B and the rotation angle of the driven rotation shaft 3B are the same (for example, the rotation angle α3 in FIG. 19A).

The transmission mechanism 16B is a flexible shaft that transmits the rotational force transmitted by the transmission mechanism 16A in the direction of the driven rotation shaft 3B. If the transmission unit 16 is composed of the transmission mechanisms 16A and 16B, the transmission unit 16 can be brought closer to the other transmission units 16, so that the cross-sectional area occupied by the two transmission units 16 in the longitudinal direction of the transmission unit 16 is reduced. be able to.

As shown in FIG. 18, the rotation deviation prevention unit 17 includes a pedestal 17A, a bearing 17B, and synchronization units 17C and 17D. A circular opening is provided on the side wall of the pedestal 17A, and the bearing 17B is inserted into this opening. A cylindrical member 2C is fixed to the motor housing 2A, and the cylindrical member 2C is inserted into the bearing 17B. As a result, the motor housing 2A is rotatably held around the motor rotation shaft 2B by the pedestal 17A via the bearing 17B.

The synchronization units 17C (transmission shaft) and 17D (pulley mechanism) rotate around the driven rotation shaft 3B of the driven unit housing 3A and rotate around the motor rotation shaft 2B of the motor housing 2A in all the motors 2. To synchronize. One end of the synchronization unit 17C is connected to the pulley 17D1 as the first pulley, and the other end is connected to the driven unit housing 3A of the driven unit 3, so that the relative displacement between the pulley 17D1 and the driven unit housing 3A is determined. It is a flexible shaft that synchronizes the rotation of the pulley 17D1 with the rotation of the driven rotation shaft 3A around the driven rotation shaft 3B or the rotation around the shaft parallel to the driven rotation shaft 3B while allowing it. The synchronization unit 17D is a pulley mechanism. The pulley mechanism includes a pulley 17D1 (first pulley), 17D2 (second pulley), 17D3 (second pulley), a belt 17D4, and an idler 17D5 and an idler 17D6. The pulleys 17D1 and idlers 17D5 and 17D6 are rotatably attached to the pedestal 17A via bearings 17B. The pulleys 17D2 and 17D3 are fixed to the motor housing 2A so as to rotate about the motor rotation shaft 2B, respectively. The pulley 17D1 is inserted between the two pulleys 17D2 and 17D3, and the belt 17D4 is wound around the pulleys 17D1, 17D2 and 17D3. The idlers 17D5 and 17D6 abut on the belt 17D4 to give tension so that the pulleys 17D1, 17D2 and 17D3 do not slip against the belt 17D4. When the pulley 17D1 rotates, the pulleys 17D2 and 17D3 fixed to the motor 2 also rotate at the same angle by driving the belt 17D4. The rotation ratio of the pulleys 17D1, 17D2, 17D3 is 1: 1: 1 as shown in FIG. 19B. Therefore, the rotation angle of the driven portion housing 3A and the rotation angle of the motor housing 2A can be made the same (for example, the rotation angle β3 in FIG. 19B). In this way, the synchronization unit 17D transmits the rotational force at the same rotation ratio between the pulley 17D1 and the pulleys 17D2 and 17D3 attached to all the motor housings 2A.

As described above, the pulley 17D1 rotates with the rotation of the synchronization unit 17C. The pulleys 17D2 and 17D3 fixed to the upper and lower motor housings 2A also rotate in accordance with this rotation. With such a configuration, the rotation of the motor housing 2A can be synchronized with the rotation of the driven portion housing 3A.

In the present embodiment, the transmission unit 16 and the synchronization units 17C and 17D are configured by the pulley mechanism (first pulley mechanism, second pulley mechanism), but the gear mechanism (first gear mechanism, second gear mechanism) The transmission unit 16 and the synchronization units 17C and 17D may be configured by using a gear mechanism). In this case, the gear that replaces the pulley 17D1 becomes the first gear, and the gear that transmits the rotational motion from the first gear instead of the pulleys 17D2 and 17D3 that rotate together with the motor housing 2A becomes the second gear. Further, the number of motors 2 is not limited to two, and may be three or more. Further, the number of idlers is not limited to two, and may be one or three or more. Also, the idler may not be required.

[Embodiment 10]
The tenth embodiment will be described with reference to FIG. The power transmission device 1E according to the present embodiment is one system.

As shown in FIG. 20, the power transmission device 1E includes a driven unit 2'and a driven unit 3'. The drive unit 2'includes a housing 2A'as a first housing and an input shaft 2B' as a first rotation shaft. The driven unit 3'includes a housing 3A'and an output shaft 3B' as a second rotation shaft. The input shaft 2B'is a drive shaft connected to a motor (not shown). The power transmission device 1E transmits the rotational motion of the input shaft 2B'to the output shaft 3B'.

The input shaft 2B'and the output shaft 3B' are connected by a transmission unit 4'. The transmission unit 4'includes a first flexible shaft 4A'as a first intermediate shaft and a second flexible shaft 4B' as a second intermediate shaft. The first flexible shaft 4A'and the second flexible shaft 4B'have flexibility only in the portion connecting the driven portion 2'and the driven portion 3', and serve as a rigid body shaft in the other portions. There is. The first flexible shaft 4A'and the second flexible shaft 4B' rotate freely and transmit the rotational motion of the input shaft 2B'to the output shaft 3B' in parallel. Therefore, each of the first flexible shaft 4A'and the second flexible shaft 4B' allows the relative displacement of the housing 2A'and the housing 3A', while allowing the housing 2A'to the housing 3A'. It is possible to transmit the rotational force to.

The drive unit 2'transmits the rotational force of the input shaft 2B'to the first flexible shaft 4A'and the second flexible shaft 4B'. The drive unit 2'has a spur gear 21 and a spur gear 22 that are meshed with each other. The spur gear 21 is rotated by the input shaft 2B'and transmits the rotational motion to the first flexible shaft 4A'. The input shaft 2B', the spur gear 21 and the first flexible shaft 4A' rotate in the same direction.

The spur gear 22 is connected to the second flexible shaft 4B'. The spur gear 22 transmits the rotational motion to the second flexible shaft 4B'. Since the spur gear 22 rotates in the opposite direction to the spur gear 21, the second flexible shaft 4B'rotates in the opposite direction to the first flexible shaft 4A'. The rotation ratio of the spur gear 21 and the spur gear 22 is 1: 1.

The driven unit 3'combines the rotational forces received from each of the first flexible shaft 4A'and the second flexible shaft 4B', which are rotated in opposite directions by the drive unit 2', in the same direction. It is transmitted to the output shaft 3B'. The driven unit 3'is connected to the reversing shaft 31 and the reversing shaft 31 to the first flexible shaft 4A', and the spur gear 32 and the spur gear 32 that reverse the rotation of the first flexible shaft 4A'and transmit it to the reversing shaft 31. It has a spur gear 33 and a differential gear 34 connected to a reversing shaft 31 and a second flexible shaft 4B'.

The spur gear 32 is connected to the first flexible shaft 4A'. That is, the spur gear 32 rotates with the rotation of the first flexible shaft 4A'. The spur gear 33 is connected to the reversing shaft 31. The spur gear 33 meshes with the spur gear 32. The spur gear 33 is rotated by the spur gear 32 and transmits the rotational motion to the reversing shaft 31. Since the spur gear 33 rotates in the opposite direction to the spur gear 32, the reversing shaft 31 rotates in the opposite direction to the first flexible shaft 4A'. The rotation ratio of the spur gear 32 and the spur gear 33 is 1: 1.

The differential gear 34 is a spur gear 35, a side gear 37 and a side gear 38, and an intermediate gear 39 and an intermediate gear that rotate at a rotation speed corresponding to the difference in the rotation speed between the side gear 37 and the side gear 38, respectively. It has a gear 40 and. The side gear 37, the side gear 38, the intermediate gear 39, and the intermediate gear 40 are bevel gears.

The side gear 37 rotates with the rotation of the reversing shaft 31. The side gear 38 is rotated by the second flexible shaft 4B'. The second flexible shaft 4B'is connected to the side gear 38 through the master gear 35. The second flexible shaft 4B'is rotatable with respect to the master gear 35. The second flexible shaft 4B'is arranged on the extension line of the reversing shaft 31, and the side gear 38 is arranged at a position facing the side gear 37. Each of the intermediate gear 39 and the intermediate gear 40 meshes with both the side gear 37 and the side gear 38.

Further, the driven portion 3'has a spur gear 41 that meshes with the master gear 35. The spur gear 41 is connected to the output shaft 3B'. The spur gear 41 is rotated by the master gear 35 and transmits the rotational motion to the output shaft 3B'. Since the spur gear 41 rotates in the opposite direction to the master gear 35, the output shaft 3B'rotates in the opposite direction to the master gear 35.

Further, the power transmission device 1E is also provided with a rotation deviation prevention unit 5'that prevents rotation deviation between the housing 2A'and the housing 3A'. The rotation deviation prevention portion 5'consists of a holding portion 5A'that rotatably holds the housing 2A'via a bearing 5B', and a synchronization unit 5C'that connects the housing 2A'and the housing 3A'. Will be done.

When the motor rotates the input shaft 2B', the drive unit 2'distributes the rotational force of the input shaft 2B' to the first flexible shaft 4A'and the second flexible shaft 4B'. The first flexible shaft 4A'rotates in the same direction as the input shaft 2B', and the second flexible shaft 4B'rotates in the opposite direction to the input shaft 2B'. Since the rotation ratio of the spur gear 21 and the spur gear 22 is 1: 1, the rotation angles of the first flexible shaft 4A'and the second flexible shaft 4B' are equal.

The rotation of the first flexible shaft 4A'is inverted by the spur gear 32 and the spur gear 33 and transmitted to the reversing shaft 31, and further transmitted from the reversing shaft 31 to the side gear 37. On the other hand, the rotation of the second flexible shaft 4B'is transmitted to the side gear 38. Since the reversing shaft 31 rotates in the same direction as the second flexible shaft 4B', the side gear 37 and the side gear 38 rotate in the same direction. Further, since the rotation ratio of the spur gear 32 and the spur gear 33 is 1: 1, the rotation angles of the side gear 37 and the side gear 38 are equal. Therefore, the intermediate gear 39 and the intermediate gear 40 do not rotate.

The side gear 37 and the side gear 38 also rotate the master gear 35 with each rotation via the intermediate gear 39 and the intermediate gear 40 that do not rotate. The rotation of the master gear 35 is transmitted to the output shaft 3B'through the spur gear 41. Since the spur gear 41 rotates in the opposite direction to the master gear 35, the output shaft 3B'rotates in the same direction as the input shaft 2B'and by the same rotation angle.

The relative rotational deviation between the driven unit 2'and the driven unit 3'is prevented by the rotational deviation preventing unit 5'. That is, with the rotation of the housing 3A'of the driven unit 3'by the synchronization unit 5C', the housing 2A'of the driving unit 2'also rotates. This prevents the relative rotational deviation between the driven unit 2'and the driven unit 3'.

Further, in the unlikely event that the allowable range of the rotation deviation prevention unit 5'is exceeded and a relative rotation deviation between the drive unit 2'and the driven unit 3'occurs, the driven unit 3'is the first flexible. Each of the shaft 4A'and the second flexible shaft 4B' has rotated in the same direction. In this case, the driven unit 3 receives rotational force in the same direction from the first flexible shaft 4A'and the second flexible shaft 4B'. Therefore, the spur gear 32 and the side gear 38 rotate in the same direction. Since the rotation of the spur gear 32 is inverted and transmitted to the side gear 37, the side gear 37 and the side gear 38 rotate in exactly opposite directions. The absolute values of the rotation angles of the side gear 37 and the side gear 38 are the same. Then, since the rotation of the side gear 37 and the side gear 38 is absorbed by the rotation of the intermediate gear 39 and the intermediate gear 40, the master gear 35 does not rotate. Therefore, the output shaft 3B'also does not rotate.

As described above, even when a relative rotation deviation occurs between the driven unit 2'and the driven unit 3', the rotation of the output shaft 3B'is prevented, and at worst, it is suppressed.

[Embodiment 11]
The eleventh embodiment will be described with reference to FIG. The power transmission device 1F according to this embodiment is one system.

As shown in FIG. 21, the power transmission device 1F according to the present embodiment includes a drive unit 2 ", a driven unit 3", and a transmission unit 4 ". The transmission unit 4" includes an inner flexible shaft 4A. "And an outer flexible shaft 4B forming a hollow tube" is provided. The inner flexible shaft 4A "and the outer flexible shaft 4B" have flexibility and can transmit rotation in a bent state. The inner flexible shaft 4A "is coaxially inserted through the outer flexible shaft 4B". The inner flexible shaft 4A "is rotatable with respect to the outer flexible shaft 4B".

The drive unit 2 "includes a housing 2A" and an input shaft 2B ". In the housing 2A", a bevel gear 61 that rotates according to the rotation of the input shaft 2B "and a bevel gear 61 facing the bevel gear 61 are arranged. It has a bevel gear 62 and a bevel gear 63 and a bevel gear 64 that mesh with the bevel gear 61 and the bevel gear 62, respectively, and are arranged facing each other. The bevel gear 63 and the bevel gear 64 rotate the bevel gear 61. , The bevel gear 62 is transmitted to the bevel gear 62. The bevel gear 62 rotates in the direction opposite to that of the bevel gear 61.

The bevel gear 61 transmits the rotational motion to the inner flexible shaft 4A ". The input shaft 2B", the bevel gear 61 and the inner flexible shaft 4A "rotate in the same direction. The inner flexible shaft 4A" transmits the bevel gear 62. It penetrates and rotates freely with respect to the bevel gear 62.

The bevel gear 62 transmits the rotational motion to the outer flexible shaft 4B ". The bevel gear 62 is connected to one end of the outer flexible shaft 4B". The other end of the outer flexible shaft 4B "extends toward the housing 3A" of the driven portion 3 ".

The driven portion 3 "is a bevel gear 71 that is connected to the other end of the inner flexible shaft 4A" and is rotated, a bevel gear 72 that is arranged facing the bevel gear 71, and a bevel gear 71 and a bevel gear 72, respectively. It is provided with bevel gears 73 and bevel gears 74 that are engaged with each other and arranged to face each other. The bevel gear 73 and the bevel gear 74 transmit the rotation of the bevel gear 71 to the bevel gear 72. The bevel gear 72 rotates in the direction opposite to that of the bevel gear 71.

Further, the driven portion 3 "has a tube shaft 75 rotated by the bevel gear 72 and a differential gear 34. The side gear 37 of the differential gear 34 is rotated by the tube shaft 75. Is connected to the side gear 37 through the differential gear 34. The tube shaft 75 rotates freely with respect to the master gear 35.

The side gear 38 of the differential gear 34 is rotated by the outer flexible shaft 4B ". The outer flexible shaft 4B" is connected to the side gear 38. The outer flexible shaft 4B "rotates freely with respect to the master gear 35.

The differential gear 34 is arranged at a position closer to the housing 2A "than the bevel gear 71 rotated by the inner flexible shaft 4A". The inner flexible shaft 4A "penetrates the side gear 38 and the side gear 37, is inserted into the tube shaft 75, further penetrates the bevel gear 72, and is connected to the bevel gear 71. The inner flexible shaft 4A" is the side. It rotates freely with respect to the gear 38, the side gear 37, the tube shaft 75, and the bevel gear 72.

Further, the power transmission device 1F is also provided with a rotation deviation prevention unit 5 "that prevents rotation deviation between the housing 2A" and the housing 3A ". The rotation deviation prevention unit 5" is interposed via the bearing 5B ". It is composed of a holding portion 5A "that holds the body 2A" in a rotatable manner and a synchronization portion 5C "that connects the housing 2A" and the housing 3A ".

When the motor rotates the input shaft 2B ", the rotational force of the input shaft 2B" is distributed to the inner flexible shaft 4A "and the outer flexible shaft 4B". The inner flexible shaft 4A "rotates in the same direction as the input shaft 2A", and the outer flexible shaft 4B "rotates in the opposite direction to the input shaft 2A".

The rotation of the inner flexible shaft 4A "is reversed by four bevel gears, a bevel gear 71, a bevel gear 72, a bevel gear 73 and a bevel gear 74, as a reversing mechanism for connecting the inner flexible shaft 4A" to the tube shaft 75. Is transmitted to the tube shaft 75, and further transmitted from the tube shaft 75 to the side gear 37. On the other hand, the rotation of the outer flexible shaft 4B "is transmitted to the side gear 38.

In this case, since the tube shaft 75 rotates in the same direction as the outer flexible shaft 4B ”, the side gear 37 and the side gear 38 rotate in the same direction. As a result, the rotational movements of the side gear 37 and the side gear 38, respectively. Is transmitted to the master gear 35 via the non-rotating intermediate gear 39 and the intermediate gear 40. The rotation of the master gear 35 is transmitted to the output shaft 3B "via the spur gear 41. Since the spur gear 41 rotates in the opposite direction to the master gear 35, the output shaft 3B "rotates in the same direction as the input shaft 2B".

The relative rotation deviation between the driven unit 2 "and the driven unit 3" is prevented by the rotation deviation prevention unit 5 ". That is, the rotation of the housing 3A" of the driven unit 3 "by the synchronization unit 5C". Along with this, the housing 2A "of the drive unit 2" also rotates. This prevents the relative rotational deviation between the driven unit 2 "and the driven unit 3".

Further, in the unlikely event that the allowable range of the rotation deviation prevention unit 5 "exceeds and a relative rotation deviation occurs between the drive unit 2" and the driven unit 3 ", the inner flexible shaft 4A is used for the driven unit 3". Each of "and the outer flexible shaft 4B" has rotated in the same direction. This rotation is absorbed by the rotation of the intermediate gear 39 and the intermediate gear 40 in the differential gear 34. As a result, the torsional stress associated with the torsional displacement is released, so that the relative rotation between the housing 3A "and the output shaft 3B" due to the torsional stress is suppressed.

Although the configuration of the rotation shift prevention unit 5 shown in FIG. 10 is adopted in the embodiments 10 and 11, the configuration of the rotation shift prevention unit disclosed in the above embodiments 2 to 4 may be adopted.

[Embodiment 12]
The twelfth embodiment will be described with reference to FIG. In this embodiment, the oral cavity processing device 1G will be described.

The oral cavity processing device 1G according to the present embodiment includes three motors 2 and a driven unit 3. The three motors 2 are attached to the holding portion 5A and are installed outside the oral cavity. Further, the driven portion 3 is fixed to the jaw while holding the processing head 90 capable of processing teeth and bones. The intraoral processing apparatus 1G controls the position of the processing head 90 based on the rotational force transmitted from the motor 2 to the driven unit 3.

In this embodiment, the position of the machining head 90 is controlled in a cylindrical coordinate system including an r-axis (radial direction), a z-axis (height direction), and a θ-axis (circumferential direction). The three motors 2 drive the machining head 90 in the r direction, the z direction, and the θ direction, respectively. The driven unit 3 includes an r-direction motion conversion unit 81, a z-direction motion conversion unit 82, and a θ-direction motion conversion unit 83. The r-direction motion conversion unit 81, the z-direction motion conversion unit 82, and the θ-direction motion conversion unit 83 each have a driven rotation shaft 3B, and the motor rotation shaft 2B and the driven rotation shaft 3B of the motor 2 are provided. The transmission unit 4 is connected to and from. The rotational movement of the motor 2 is transmitted to the r-direction motion conversion unit 81, the z-direction motion conversion unit 82, and the θ-direction motion conversion unit 83 having the driven rotation axis 3B via the transmission unit 4. The r-direction motion conversion unit 81, the z-direction motion conversion unit 82, and the θ-direction motion conversion unit 83 drive the arm 91 according to the transmitted rotational motion to position the machining head 90.

Further, in the present embodiment, the rotation deviation prevention unit 5 is provided for each of the motors 2. The rotation deviation prevention unit 5 includes a pedestal 5A that rotatably holds each motor 2 via a bearing 5B, and a synchronization unit 5C that connects each motor 2 and a driven unit housing 3A.

According to the oral cavity processing device 1G according to the present embodiment, the rotation deviation between the driven portion 3 and each motor 2 does not occur due to the movement of the patient's jaw with respect to the motor 2 during the treatment. Therefore, even if the patient's jaw moves during treatment, processing errors in the r, z, and θ directions can be reduced at the treatment site in the oral cavity.

In conventional dental treatment, a dentist uses a handpiece for treatment. However, this greatly depends on the skill of the dentist, so automation of the tooth cutting process has been required. According to the intraoral processing apparatus 1G according to the present embodiment, a cutting model can be created as CAD / CAM data, and teeth can be processed with high accuracy according to the data. In addition, the positioning accuracy of the tool for cutting the teeth in the oral cavity can be improved. As a result, accurate processing of teeth can be realized.

Further, in each of the above embodiments, instead of a flexible shaft or the like in which the material itself bends, for example, a transmission shaft configured by connecting a plurality of rigid shafts via a universal joint may be used. Even if such a transmission shaft is used, the rotational force (rotation) transmitted from the rotation shaft connected to one end is allowed while allowing the relative displacement between the rotation shaft to which one end is connected and the rotation shaft to which the other end is connected. This is because the motion) can be transmitted to the rotating shaft connected to the other end. Further, in each of the above embodiments, instead of a flexible sleeve or the like in which the material itself bends, for example, a cylindrical body formed by connecting a plurality of rigid body cylinders via a universal joint may be used. Even if such a tubular body is used, the rotational motion transmitted from the housing connected to one end is transmitted while allowing the relative displacement between the housing to which one end is connected and the housing to which the other end is connected. This is because it can be transmitted to the housing connected to the other end.

However, the present invention is applicable not only to processing in the oral cavity but also to power transmission devices for all purposes. It can be applied not only to a flexible shaft but also to a device that transmits power by a rotating shaft that is not flexible.

Further, in the above embodiment 8, the origin (reference point) of the rotation position can be determined by giving non-uniformity of the weight distribution to the rotating plate 18A, attaching a spring, or the like, but other embodiments. Also in the form, for example, a counter weight is attached to the motor housing 2A or the housing 2A', 2A "to give non-uniformity of important distribution in the rotation direction around the motor rotation shaft 2B, or a spring is attached to rotate. The origin (reference point) of the position may be determined.

Further, in each of the above embodiments, as the member (flexible shaft, flexible sleeve, etc.) connecting the motor 2 or the like and the driven portion 3 or the like, one that can be attached to or detached from both ends or one end can be adopted.

The present invention allows for various embodiments and modifications without departing from its broad spirit and scope. The above embodiments explain the present invention and do not limit the scope of the present invention. The scope of the invention is indicated by the claims, not the embodiments. Various modifications made within the claims and equivalents are considered to be within the scope of the invention.

This application is based on Japanese Patent Application No. 2017-060700 filed on March 27, 2017 and Japanese Patent Application No. 2017-134001 filed on July 7, 2017. The specification, claims, and the entire drawing of Japanese Patent Application No. 2017-060700 and Japanese Patent Application No. 2017-134001 shall be incorporated into this specification as a reference.

1A, 1B, 1C, 1D, 1E, 1F ... Power transmission device, 1G ... Oral processing device, 2 ... Motor, 2', 2 "... Drive unit, 2A ... Motor housing (first housing), 2A ', 2A' ... Housing, 2B ... Motor rotation shaft (first rotation shaft), 2B', 2B "... Input shaft, 2C ... Cylindrical member, 3,3', 3" ... Driven part, 3A ... Covered Drive unit housing (second housing), 3A', 3A "... housing, 3B ... Driven rotation shaft (second rotation shaft), 3B', 3B" ... output shaft, 4, 4', 4 "... Transmission unit (flexible shaft), 4A ... Flexible shaft, 4A'... First flexible shaft, 4A" ... Inner flexible shaft, 4B ... Flexible sleeve, 4B'... Second flexible shaft, 4B "... Outer flexible shaft , 5, 5', 5 "... Rotation deviation prevention part, 5A, 5A', 5A" ... Pedestal (holding part), 5B, 5B', 5B "... Bearing, 5C, 5C', 5C" ... Synchronous part (flexible) Sleeve), 14 ... Transmission unit, 14A, 14B ... Transmission mechanism, 14A1, 14A2, 14A3 ... Spur gear, 14C ... Bearing, 15 ... Rotation deviation prevention unit, 15A ... Pedestal, 15B ... Bearing, 15C, 15D ... Synchronization unit ( Flexible sleeve, gear mechanism), 15D1, 15D2, 15D3 ... spur gear, 15E ... bearing, 16 ... transmission unit, 16A ... transmission mechanism (first transmission mechanism), 16B ... transmission mechanism, 16C, 16D ... pulley, 16E ... Belt, 16F ... Bearing,
17 ... Synchronous deviation prevention unit, 17A ... Pedestal, 17B ... Bearing, 17C, 17D ... Synchronous unit, 17D1, 17D2, 17D3 ... Pulley, 17D4 ... Belt, 17D5, 17D6 ... Idler, 18 ... Rotational deviation prevention unit, 18A ... Rotation Plate, 18B ... Rotating shaft, 18C ... Holding part, 18D ... Synchronous part, 18E ... Counterweight, 21,22 ... Spur gear, 31 ... Reversing shaft, 32 ... Spur gear, 33 ... Spur gear, 34 ... Differential gear, 35 ... master gear, 37, 38 ... side gear, 39, 40 ... intermediate gear, 41 ... spur gear, 61, 62, 63, 64, 71, 72, 73, 74 ... bevel gear, 75 ... tube shaft, 81 ... r-direction motion conversion unit, 82 ... z-direction motion conversion unit, 83 ... θ-direction motion conversion unit, 90 ... machining head, 91 ... arm, 100, 200, 300, 400 ... power transmission device, 110 ... intermediate shaft structure, 111 ... 1st flexible shaft (1st intermediate shaft), 112 ... 2nd flexible shaft (2nd intermediate shaft), 113a, 113b ... Covering member, 120, 120', 120'' ... Power distribution mechanism, 121 ... 1st Spur gear, 122 ... 2nd spur gear, 130, 130', 130 "... power synthesis mechanism, 131 ... reversing shaft (reversing shaft for power synthesis, reversing shaft for power distribution), 132 ... 3rd spur gear (power synthesis) Reversing mechanism for power distribution, reversing mechanism for power distribution) 133 ... 4th spur gear (reversing mechanism for power synthesis, reversing mechanism for power distribution), 134 ... Differential gear (differential gear for power synthesis, differential gear for power distribution) ), 135 ... master gear, 136 ... frame body, 137 ... first side gear, 138 ... second side gear, 139 ... first intermediate gear, 140 ... second intermediate gear, 141 ... fifth spur gear, 150 ... intermediate Shaft structure, 151 ... Inner flexible shaft (first intermediate shaft), 152 ... Outer flexible shaft (second intermediate shaft), 160 ... Power distribution mechanism, 161 ... First bevel gear, 162 ... Second bevel gear, 163 ... 3rd bevel gear, 163a ... rotary shaft, 164 ... 4th bevel gear, 164a ... rotary shaft, 170 ... power synthesis mechanism, 171 ... 5th bevel gear, 172 ... 6th bevel gear, 173 ... 7th bevel gear, 173a ... Rotating shaft, 174 ... 8th bevel gear, 174a ... Rotating shaft, 175 ... Tube shaft (reversing shaft for power synthesis), 180 ... Universal shaft (1st intermediate shaft, 2nd intermediate shaft), 181 ... Shaft body, 182 ... Universal joint, 500 ... Displacement mechanism, 501 ... Arm, 500r ... R direction motion conversion unit (rotated drive body, displacement mechanism), 500z ... z direction motion conversion unit (rotated drive) Moving body, displacement mechanism), 500θ ... θ direction motion conversion unit (rotated drive body, displacement mechanism), 600 ... power source group, 600r ... r direction motor (power source), 600z ... z direction motor (power source) , 600θ ... θ direction motor (power source), 700 ... power transmission device group, 700r ... r direction power transmission device (power transmission device), 700z ... z direction power transmission device (power transmission device), 700θ ... θ Directional power transmission device (power transmission device), 800 ... control device, 900 ... intraoral processing device, MT ... motor (power source), RA ... rotated drive body, FS ... flexible shaft, τ ... torsional displacement, S- IN ... Input shaft, S-OUT ... Output shaft, H-IN ... Input shaft side housing, H-OUT ... Output shaft side housing, BE1 to BE22 ... Bearing, WH ... Machining head, CT ... Tool, AX1 ... Rotating shaft, AX2 ... Swing axis.

Claims (9)

An input shaft that is connected to a power source and rotated by the power source,
An output shaft that is connected to the rotated drive body and transmits rotation to the rotated drive body,
A first intermediate shaft and a second intermediate shaft for transmitting the rotation of the input shaft in parallel to the output shaft,
A power distribution mechanism that transmits torque from the input shaft to the first intermediate shaft and the second intermediate shaft so that the first intermediate shaft and the second intermediate shaft rotate in opposite directions.
A power synthesis mechanism that receives torque from each of the first intermediate shaft and the second intermediate shaft that are rotated in opposite directions by the power distribution mechanism, aligns the directions of the received torque, and transmits the torque to the output shaft. When,
Equipped with
The power synthesis mechanism
An inversion shaft for power synthesis connected to one of the first intermediate shaft and the second intermediate shaft,
A power synthesis reversing mechanism that connects the power synthesis reversing shaft to the one intermediate shaft, reverses the rotation of the one intermediate shaft, and transmits the power synthesis reversing shaft to the power synthesis reversing shaft.
While absorbing the difference between the rotation angle of the other intermediate shaft of the first intermediate shaft and the second intermediate shaft and the rotation angle of the power synthesis inversion shaft, the other intermediate shaft and the power synthesis inversion shaft are absorbed. The differential gear for power synthesis that transmits each torque of the above to the output shaft, and
Have,
The differential gear for power synthesis
A power synthesis master gear that transmits rotation to the output shaft,
A power synthesis frame that rotates integrally with the power synthesis master gear,
The first side gear for power synthesis and the second side gear for power synthesis housed in the frame for power synthesis,
The power attached to the power synthesis frame so as to be rotatable with respect to the power synthesis frame in a state of being meshed with both the power synthesis first side gear and the power synthesis second side gear. Intermediate gears for synthesis and
Have,
The first side gear for power synthesis is rotated by the reversing shaft for power synthesis,
The second side gear for power synthesis is rotated by the other intermediate shaft, and the second side gear is rotated.
One of the first intermediate shaft and the second intermediate shaft has a hollow tubular shape.
The other intermediate shaft of the first intermediate shaft and the second intermediate shaft is inserted through the one intermediate shaft forming the hollow tubular shape.
Power transmission device. An input shaft that is connected to a power source and rotated by the power source,
An output shaft that is connected to the rotated drive body and transmits rotation to the rotated drive body,
A first intermediate shaft and a second intermediate shaft for transmitting the rotation of the input shaft in parallel to the output shaft,
A power distribution mechanism that transmits torque from the input shaft to the first intermediate shaft and the second intermediate shaft so that the first intermediate shaft and the second intermediate shaft rotate in opposite directions.
A power synthesis mechanism that receives torque from each of the first intermediate shaft and the second intermediate shaft that are rotated in opposite directions by the power distribution mechanism, aligns the directions of the received torque, and transmits the torque to the output shaft. When,
Equipped with
The power distribution mechanism
A power distribution inversion shaft connected to one of the first intermediate shaft and the second intermediate shaft,
A power distribution reversing mechanism that connects the power distribution reversing shaft to the one intermediate shaft, reverses the rotation of the power distribution reversing shaft, and transmits the rotation to the one intermediate shaft.
While absorbing the difference between the rotation angle of the other intermediate shaft of the first intermediate shaft and the second intermediate shaft and the rotation angle of the power distribution reversing shaft, the torque of the input shaft is applied to the other intermediate shaft. And the differential gear for power distribution that distributes to the reversing shaft for power distribution,
Have,
The power distribution differential gear
The power distribution master gear rotated by the input shaft and
A power distribution frame that rotates integrally with the power distribution master gear,
The power distribution first side gear and the power distribution second side gear housed in the power distribution frame,
The power attached to the power distribution frame so as to be rotatable with respect to the power distribution frame in a state of being meshed with both the power distribution first side gear and the power distribution second side gear. Intermediate gear for distribution and
Have,
The first side gear for power distribution transmits rotation to the reversing shaft for power distribution.
The second side gear for power distribution transmits rotation to the other intermediate shaft, and the rotation is transmitted to the other intermediate shaft.
One of the first intermediate shaft and the second intermediate shaft has a hollow tubular shape.
The other intermediate shaft of the first intermediate shaft and the second intermediate shaft is inserted through the one intermediate shaft forming the hollow tubular shape.
Power transmission device. The power synthesis mechanism
An inversion shaft for power synthesis connected to the first intermediate shaft,
A power synthesis reversing mechanism that connects the power synthesis reversing shaft to the first intermediate shaft, reverses the rotation of the first intermediate shaft, and transmits the power synthesis reversing shaft to the power synthesis reversing shaft.
While absorbing the difference between the rotation angle of the second intermediate shaft and the rotation angle of the power synthesis reversing shaft, the torques of the second intermediate shaft and the power synthesis reversing shaft are transmitted to the output shaft. Differential gears for power synthesis and
Have,
The differential gear for power synthesis
A power synthesis master gear that transmits rotation to the output shaft,
A power synthesis frame that rotates integrally with the power synthesis master gear,
The first side gear for power synthesis and the second side gear for power synthesis housed in the frame for power synthesis,
The power attached to the power synthesis frame so as to be rotatable with respect to the power synthesis frame in a state of being meshed with both the power synthesis first side gear and the power synthesis second side gear. Intermediate gears for synthesis and
Have,
The first side gear for power synthesis is rotated by the reversing shaft for power synthesis,
The second side gear for power synthesis is rotated by the second intermediate shaft.
The power transmission device according to claim 2. (delete) An input shaft that is connected to a power source and rotated by the power source,
An output shaft that is connected to the rotated drive body and transmits rotation to the rotated drive body,
A first intermediate shaft and a second intermediate shaft for transmitting the rotation of the input shaft in parallel to the output shaft,
A power distribution mechanism that transmits torque from the input shaft to the first intermediate shaft and the second intermediate shaft so that the first intermediate shaft and the second intermediate shaft rotate in opposite directions.
A power synthesis mechanism that receives torque from each of the first intermediate shaft and the second intermediate shaft that are rotated in opposite directions by the power distribution mechanism, aligns the directions of the received torque, and transmits the torque to the output shaft. When,
Equipped with
When at least one of the power distribution mechanism and the power synthesis mechanism causes a difference in the rotation angle between the first intermediate shaft and the second intermediate shaft with respect to itself, the difference is absorbed.
One of the first intermediate shaft and the second intermediate shaft has a hollow tubular shape.
The other intermediate shaft of the first intermediate shaft and the second intermediate shaft is inserted through the one intermediate shaft forming the hollow tubular shape.
Power transmission device. An input shaft side housing that supports the input shaft and houses the power distribution mechanism,
An output shaft side housing that is connected to the input shaft side housing by the first intermediate shaft and the second intermediate shaft, supports the output shaft, and houses the power synthesis mechanism.
Further prepare,
The power transmission device according to any one of claims 1, 2, 3, and 5. The first intermediate shaft and the second intermediate shaft are configured by a flexible shaft capable of transmitting rotation in a bent state.
The power transmission device according to any one of claims 1, 2, 3, 5, and 6. The power transmission device according to any one of claims 1, 2, 3, 5, 6 and 7.
With the power source installed outside the oral cavity and rotating the input shaft of the power transmission device,
The teeth and bones are fixed to the jaw while holding a machineable head, and the rotation transmitted by the output shaft of the power transmission device is converted into a motion with displacement of the machine head in the oral cavity. Displacement mechanism as a driven body to be rotated and
An intraoral processing device equipped with. The power source installed outside the oral cavity and
A displacement mechanism that is fixed to the jaw while holding a processing head that can process teeth and bones,
A power transmission device that connects the displacement mechanism and the power source,
Equipped with
The power transmission device
An input shaft connected to the power source and rotated by the power source,
An output shaft that is connected to the displacement mechanism and transmits rotation to the displacement mechanism,
A first intermediate shaft and a second intermediate shaft for transmitting the rotation of the input shaft in parallel to the output shaft,
A power distribution mechanism that transmits torque from the input shaft to the first intermediate shaft and the second intermediate shaft so that the first intermediate shaft and the second intermediate shaft rotate in opposite directions.
A power synthesis mechanism that receives torque from each of the first intermediate shaft and the second intermediate shaft that are rotated in opposite directions by the power distribution mechanism, aligns the directions of the received torque, and transmits the torque to the output shaft. When,
Have,
When at least one of the power distribution mechanism and the power synthesis mechanism causes a difference in the rotation angle between the first intermediate shaft and the second intermediate shaft with respect to itself, the difference is absorbed.
The displacement mechanism converts the rotation transmitted by the output shaft of the power transmission device into a motion with displacement of the processing head in the oral cavity.
Oral processing equipment.

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