WO2015198814A1

WO2015198814A1 - Rotary drive unit

Info

Publication number: WO2015198814A1
Application number: PCT/JP2015/066031
Authority: WO
Inventors: 修野原
Original assignee: ナブテスコ株式会社
Priority date: 2014-06-27
Filing date: 2015-06-03
Publication date: 2015-12-30
Also published as: JP6345506B2; JP2016011679A

Abstract

In a configuration, a rotary drive unit (1) is provided with: an annular track (2) having a plurality of first teeth which are annularly arranged on one of a base side structure (100) and a rotational side structure (101); and a swingable part which is mounted on the other of the base side structure (100) and the rotational side structure (101) and has a plurality of second teeth, the swingable part moving relative to the annular track (2) along the circumferential direction of the annular track (2) while repeating engagement with the plurality of first teeth caused by the plurality of second teeth being brought into close proximity to the plurality of first teeth and disengagement from the plurality of first teeth caused by the plurality of second teeth being spaced apart from the plurality of first teeth.

Description

Rotation drive unit

The present invention relates to a rotation drive unit that is used for a rotation-side structure that can rotate with respect to a base-side structure, and that rotates the rotation-side structure with respect to the base-side structure.

Conventionally, there has been known a rotational drive unit that rotationally drives a rotating side structure that is a rotating side structure relative to a base side structure. For example, JP2013-083247A has a yaw driving device fixed to a nacelle (rotation side structure) and a ring gear fixed to a tower (base side structure), and a rotation in which a pinion of the yaw driving device meshes with the ring gear. A drive unit is disclosed. In this rotation drive unit, when the yaw drive device is driven, the pinion revolves while rotating in a state of meshing with the ring gear, so that the rotation side structure rotates with respect to the base side structure.

By the way, in the rotary drive unit as described above, since the number of teeth simultaneously contacting the pinion and the ring gear is small, high stress is generated in the drive transmission region between the two. If it becomes so, not only the body life of a rotary drive unit will become short but the drive transmission capability of the said unit will become low. On the other hand, in order to extend the life of the aircraft or increase the drive transmission capability, it is necessary to increase the size of the rotary drive unit.

The present invention is for solving the above-described problems, and an object thereof is to provide a small rotary drive unit having high durability and high drive transmission capability.

(1) In order to solve the above-described problem, a rotational drive unit according to an aspect of the present invention is used for a rotation-side structure that is rotatable with respect to a base-side structure, and the rotation with respect to the base-side structure is performed. A rotary drive unit for rotating a side structure, and an annular track portion having a plurality of first teeth arranged in an annular manner in one of the base side structure and the rotation side structure And having a plurality of second teeth and being attached to the other structure of the base side structure and the rotation side structure, the plurality of second teeth being the plurality of first teeth. Meshing with the plurality of first teeth by approaching, and disengagement with the plurality of first teeth by separating the plurality of second teeth from the plurality of first teeth, Along the circumferential direction of the annular track while repeating And it includes a swinging portion which moves relative to the annular track portion.

In this configuration, when the annular track portion is provided in the base-side structure and the swinging portion is attached to the rotation-side structure (that is, the base-side structure is one structure and the rotation-side structure ) Is the other structure), the rotary drive unit operates as follows. Specifically, while the plurality of second tooth portions in the swinging portion repeats meshing and disengagement with the plurality of first tooth portions in the annular track portion provided in the base side structure, the annular track portion It moves along the circumferential direction. Thereby, the rotation side structure to which the rocking part is attached rotates with respect to the base side structure.

On the other hand, when the annular track portion is provided in the rotation side structure and the swinging portion is attached to the base side structure (that is, the rotation side structure is one structure and the base side structure is the other). The rotary drive unit operates as follows. Specifically, the plurality of second tooth portions in the swinging portion are repeatedly engaged and released from the plurality of first tooth portions in the annular track portion, whereby the rotary side structure provided with the annular track portion. Rotates with respect to the base-side structure.

In any of the structures described above, the rotation-side structure rotates with respect to the base-side structure while the plurality of first teeth and the plurality of second teeth are repeatedly engaged and disengaged. To do. That is, in this configuration, the number of meshing teeth with respect to each other between the swing unit and the annular track portion can be increased when the rotating side structure rotates. Thereby, since the stress which acts on the contact part of a 1st tooth part and a 2nd tooth part can be reduced, the risk that a rotary drive unit will be reduced can be reduced and body strength can be raised. Further, according to this configuration, since the number of meshing teeth can be increased as described above, it is not necessary to increase the size of the device in order to extend the service life of the device.

Therefore, according to this configuration, a small rotary drive unit having high durability and high drive transmission capability can be provided.

(2) Preferably, the swinging part revolves around the central axis of the annular track part. Thereby, a rotation side structure can be appropriately rotated with respect to a base side structure.

(3) Preferably, the meshing rate between the first tooth portion and the second tooth portion is 3 or more. Thereby, since the stress which acts on the contact part of a 1st tooth part and a 2nd tooth part can be reduced reliably, durability of a rotary drive unit and drive transmission capability can be improved.

(4) Preferably, the first tooth portion is provided at a radially outer portion of the annular track portion so that the tooth width direction thereof is parallel to the central axis of the annular track portion. Thereby, the rotation-side structure can be rotated while repeating the engagement and release of the second tooth portion with respect to the first tooth portion provided in the radially outer portion of the annular track portion.

(5) Preferably, the first tooth portion is provided in a radially inner portion of the annular track portion so that a tooth width direction thereof is parallel to the central axis of the annular track portion. As a result, the rotation-side structure can be rotated while repeating the engagement and release of the second tooth portion with respect to the first tooth portion provided in the radially inner portion of the annular track portion.

(6) Preferably, the first tooth portion is provided in a portion on the upper side in the vertical direction of the annular track portion so that the tooth width direction is perpendicular to the central axis of the annular track portion. Thereby, the rotation-side structure can be rotated while repeating the engagement and the disengagement of the second tooth portion with respect to the first tooth portion provided in the upper portion of the annular track portion in the vertical direction.

(7) Preferably, the first tooth portion is provided at a lower portion of the annular track portion in the vertical direction so that the tooth width direction is perpendicular to the central axis of the annular track portion. Thereby, the rotation-side structure can be rotated while repeating the engagement and release of engagement of the second tooth portion with respect to the first tooth portion provided at the lower portion in the vertical direction of the annular track portion.

(8) Preferably, the rotational drive unit further includes three oscillating units each having the oscillating portion and spaced apart from each other in the circumferential direction of the annular track portion. Thus, by providing the three rocking units, the rotating side structure can be stably supported with respect to the base side structure.

According to the present invention, a small rotary drive unit having high durability and high drive transmission capability can be provided.

It is a figure which shows typically the rotational drive unit which concerns on embodiment of this invention, Comprising: It is sectional drawing which shows a rotational drive unit with the base side structure to which the said rotational drive unit is attached, and a rotational side structure. It is sectional drawing in the II-II line of FIG. It is a perspective view which shows the structure of a drive unit typically. It is a figure which shows typically the rotational drive unit which concerns on a modification, Comprising: It is a figure shown corresponding to FIG. FIG. 5 is a cross-sectional view taken along line V-V in FIG. 4, corresponding to FIG. 2. It is a figure which shows typically the rotational drive unit which concerns on a modification, Comprising: It is a figure shown corresponding to FIG. FIG. 7 is an arrow view seen from the direction of arrow VII in FIG. 6, with some components (rotation-side structures and the like) omitted. It is a figure which shows typically the rotational drive unit which concerns on a modification, Comprising: It is a figure shown corresponding to FIG.

Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings. The rotation drive unit according to the embodiment of the present invention can be applied to, for example, a windmill, a construction machine, and the like. However, the present invention is not limited to this, and any device or apparatus that has a base-side structure and a structure that rotates with respect to the base-side structure (rotation-side structure) can be used. You can also.

FIG. 1 is a diagram schematically showing a rotary drive unit 1 according to an embodiment of the present invention, and the rotary drive unit 1 is mounted together with a base-side structure 100 and a rotary-side structure 101 to which the rotary drive unit is attached. It is sectional drawing shown. 2 is a cross-sectional view taken along the line II-II in FIG. In the present embodiment, the rotation-side structure 101 is placed on the upper side of the base-side structure 100 arranged on the lower side via a bearing 102. As a result, the rotation-side structure 101 is rotatable with respect to the base-side structure 100 about the central axis extending in the vertical direction. The vertical relationship between the base-side structure 100 and the rotation-side structure is not limited to this, and the base-side structure may be provided on the upper side and the rotation-side structure 101 may be provided on the lower side.

The bearing 102 includes an outer ring portion 102a, an inner ring portion 102b, and a plurality of rolling elements 102c. The outer ring portion 102 a is fixed to the rotation side structure 101. The inner ring portion 102 b is fixed to the upper end portion of the base side structure 100. The plurality of rolling elements 102c are constituted by, for example, a plurality of ball-shaped members, and are provided so as to be freely rollable between the inner peripheral side of the outer ring portion 102a and the outer peripheral side of the inner ring portion 102b. Thereby, the rotation-side structure 101 becomes rotatable with respect to the base-side structure 100, and the load of the rotation-side structure 101 on the base-side structure 100 is received by the bearing 102.

The base-side structure 100 has a structure body 100a and a ring gear 2. The ring gear 2 is configured by the inner ring portion 102b of the bearing 102 described above. In addition, in FIG. 1, illustration of the tooth part (1st tooth part 7) of the ring gear 2 is abbreviate | omitted.

Further, as shown in FIG. 2, a plurality of drive units 10 are provided inside the base side structure 100 and the rotation side structure 101. Each drive unit 10 rotates the rotation-side structure 101 with respect to the base-side structure 100 by performing a predetermined operation. The configuration of the drive unit 10 will be described later in detail.

[Configuration of rotary drive unit]
As shown in FIGS. 1 and 2, the rotary drive unit 1 includes a ring gear 2 and a plurality of (three in this embodiment) drive units 10.

[Ring gear configuration]
The ring gear 2 is provided as a track portion (annular track portion) through which the drive unit 10 moves. The ring gear 2 has a ring portion 3 and a plurality of first tooth portions 7.

As shown in FIGS. 1 and 2, the ring portion 3 is formed in an annular shape with a flat upper surface and lower surface. The inner circumferential wall 4 of the ring portion 3 includes a plurality of inner circumferential walls 4 along the direction in which the inner circumferential wall 4 is erected (vertical direction in FIG. 1, vertical direction in FIG. 2) and parallel to the central axis of the ring portion 3. The groove portion 5 is formed.

Each first tooth portion 7 is constituted by a pin member formed in a round bar shape. Each first tooth portion 7 is accommodated in each groove portion 5 such that the longitudinal direction (tooth width direction) coincides with the longitudinal direction of the groove portion 5. Accordingly, each first tooth portion 7 is arranged so as to be parallel to the center axis of the ring gear 2 and is rotatable while sliding with respect to each groove portion 5.

[Configuration of drive unit]
As shown in FIG. 2, the drive unit 10 is arranged inside the base-side structure 100 and the rotation-side structure 101 so that the distance between the drive units 10 is equal to each other when viewed in the vertical direction (in this embodiment, 120 degrees). A plurality (three in this embodiment) are arranged. Each drive unit 10 has the same structure.

FIG. 3 is a perspective view schematically showing the structure of the drive unit 10. As shown in FIG. 3, each drive unit 10 includes an electric motor 11 and a swing unit 20 having a plurality of (three in this embodiment) swing units 15. That is, the rotary drive unit 1 according to the present embodiment includes three swing units 20 and three electric motors 11.

The electric motor 11 has a main body 12 having a stator and a rotor (both not shown), and a rotating shaft 13 that rotates when the rotor rotates relative to the stator in the main body 12. The main body 12 is fixed to the rotation side structure 101. In FIG. 3, the size of the electric motor 11 with respect to the plurality of swinging portions 15 and the shape of the electric motor 11 are schematically shown.

As shown in FIG. 3, the rotating shaft 13 is integrally provided with a plurality of first eccentric portions 14. Each first eccentric portion 14 is formed in a disc shape having a predetermined thickness. And each 1st eccentric part 14 is rotating shaft 13 so that the center axis | shaft of each 1st eccentric part 14 is eccentric with the central axis of the rotating shaft 13, and the phase with respect to each other becomes equal intervals (120 degree space | interval). Are integrally provided.

Each oscillating portion 15 is formed in a substantially rectangular plate shape. Each oscillating portion 15 is formed in a oscillating portion main body 16a which is a portion formed in a rectangular plate shape, and a portion on one long side of the oscillating portion main body 16a. A plurality of (four in the present embodiment) second tooth portions 16b meshing with the tooth portions 7 are formed integrally. The interval (pitch) between the second tooth portions 16 b in the longitudinal direction of the swinging portion 15 is the same as the pitch of the plurality of first tooth portions 7. Further, the second tooth portion 16b is formed such that a tip side portion thereof is curved in a plan view. Moreover, the part between the adjacent 2nd tooth parts 16b is formed in the curved surface shape which the 1st tooth part 7 fits in planar view. The plurality of second tooth portions 16 b are provided as meshing portions 16 d that mesh with a part of the plurality of first tooth portions 7.

Each through-hole 15 is formed with two through holes (first through hole 17 and second through hole 18) penetrating in the thickness direction. The two through

holes

17 and 18 are larger than the outer shape of the first eccentric portion 14. The two through-

holes

17 and 18 are formed at an interval in the longitudinal direction of the swing part 15. Each first eccentric portion 14 is inserted into each first through hole 17. The first eccentric portion 14 is rotatable while sliding with respect to the inner peripheral surface of the first through hole 17. Each second through hole 18 is inserted with each second eccentric portion 19 described later in detail.

As with the first eccentric portion 14, three second eccentric portions 19 are formed and are formed integrally with each other. The 2nd eccentric part 19 is formed so that the intensity | strength similar to the 1st eccentric part 14 may be maintained. The three second eccentric portions 19 are provided integrally with each other so that the phases with respect to each other are equally spaced (120 ° intervals), as in the case of the first eccentric portion 14. Each second eccentric portion 19 is inserted into each second through hole 18 so as to rotate while being in sliding contact with the inner peripheral wall of each second through hole 18.

[Operation]
Next, the operation of the rotary drive unit 1 described above will be described with reference to FIG. In the rotation drive unit 1, when the rotation-side structure 101 is turned in one direction (arrow A direction) in the circumferential direction, the rotation shaft 13 of the electric motor 11 of each drive unit 10 is in one direction (arrow B direction). Rotate (forward). If it does so, the three 1st eccentric parts 14 provided integrally with the rotating shaft 13 will rotate, maintaining a 120 degree phase difference mutually. At this time, at least one of the three oscillating parts 15 oscillated by the respective first eccentric parts 14 (in the case of the state shown in FIG. 3, the oscillating part 15A), the plurality of second tooth parts 16b have the ring gear 2 Is engaged with the plurality of first teeth 7. Therefore, during forward rotation of the electric motor 11, the second tooth portion 16b of any one of the swing portions 15 (the swing portion 15A in the state of FIG. 3) in each drive unit 10 presses the first tooth portion 7. The process proceeds in the direction of arrow C in FIG. As a result, the drive unit 10 and the rotation-side structure 101 to which the drive unit 10 is fixed slightly advance in the direction of arrow A. In the present embodiment, as shown in FIG. 3, the plurality of second tooth portions 16 b in the swinging portion 15 (the swinging portion 15 </ b> A in the state shown in FIG. 3) is replaced with three first tooth portions in the ring gear 2. 7 is engaged. That is, in this embodiment, the meshing rate between the first tooth portion 7 and the second tooth portion 16b is 3.

As described above, when the swinging portion 15A advances in the arrow C direction, the swinging portion 15A is separated from the ring gear 2. That is, the meshing between the plurality of second tooth portions 16b in the swinging portion 15A and the plurality of first tooth portions 7 in the ring gear 2 is released. However, at this time, the second tooth portion 16b of the next swinging portion 15B is engaged with the ring gear 2. And it progresses to the arrow C direction like the case of the rocking | swiveling part 15A. Thereby, the drive unit 10 and the rotation side structure 101 advance a little in the arrow A direction. Then, when the swinging portion 15B is separated from the ring gear 2, the next swinging portion 15C is engaged with the ring gear 2, and by performing the same operation as described above, the drive unit 10 and the rotation side structure 101 further proceeds in the direction of arrow A. When the swinging portion 15C is separated from the ring gear 2, the swinging portion 15A is engaged with the ring gear 2 again.

Thus, in the drive unit 10, the three oscillating units 15 repeatedly perform the above-described operations in order. Thereby, the drive unit 10 moves along one direction (arrow A direction) of the circumferential direction of the ring gear 2. That is, the swinging portion 15 of each drive unit 10 revolves around the center axis of the ring gear 2. Therefore, the rotation-side structure 101 to which the drive unit 10 is fixed rotates with respect to the base-side structure 100 in which the ring gear 2 is formed.

As described above, when the second tooth portion 16b presses the first tooth portion 7, the first tooth portion 7 pressed by the second tooth portion 16b is a groove portion in which the first tooth portion 7 is accommodated. Rotate with respect to 5. Thereby, a frictional force reduces by the slip between the 2nd tooth part 16b and the 1st tooth part 7. FIG.

[effect]
As described above, in the rotary drive unit 1 according to the above-described embodiment, the rotating shaft 13 of the electric motor 11 rotates and the plurality of swinging portions 15 swing while maintaining a predetermined phase difference. If it does so, meshing | engagement and meshing release of the some 2nd tooth part 16b in each rocking | swiveling part 15 and the some 1st tooth part 7 in the ring gear 2 will be repeated. Thereby, in the rotational drive unit 1, the some rocking | swiveling part 15 moves along the circumferential direction of the ring gear 2 provided in the base side structure 100. FIG. As a result, the rotation-side structure 101 to which the plurality of swinging portions 15 are fixed rotates with respect to the base-side structure 100.

When the rotation-side structure 101 is rotating, in the drive unit 10, the plurality of second tooth portions 16 b in any one of the swinging portions 15 and the plurality of first tooth portions 7 at any timing. I'm engaged. That is, in the rotary drive unit 1 according to the present embodiment, the number of meshing teeth with respect to each other between the swing unit 20 and the ring gear 2 can be increased when the rotation-side structure 101 rotates. Thereby, since the stress which acts on the contact part of the 1st tooth part 7 and the 2nd tooth part 16b can be reduced, the risk that the rotational drive unit 1 will be reduced can be reduced, and the body strength can be increased. Further, according to this configuration, since the number of meshing teeth can be increased as described above, it is not necessary to increase the size of the device in order to extend the service life of the device or increase the drive transmission capability.

Therefore, according to the present embodiment, it is possible to provide a small rotary drive unit 1 having high durability and high drive transmission capability.

Further, in the rotary drive unit 1, since the first tooth portion 7 is rotatably held by the inner peripheral wall 4, the frictional force is reduced by the slip between the first tooth portion 7 and the second tooth portion 16 b. . Further, by adopting a configuration in which the first tooth portion 7 is rotatably held by the inner peripheral wall 4, for example, a large gear having a tooth portion formed integrally with a disk-like portion or an annular portion is manufactured. It is possible to omit a heat treatment step that is required when performing. Since heat treatment of large parts is expensive and equipment capable of heat treatment is limited, by omitting the heat treatment step, a step leading to an increase in the cost of the product can be omitted.

Further, in the rotary drive unit 1, each oscillating portion 15 revolves around the central axis of the ring gear 2, so that the rotation side structure 101 can be appropriately rotated with respect to the base side structure 100.

In the rotary drive unit 1, the meshing rate between the first tooth portion 7 and the second tooth portion 16b is 3 or more (3 in the present embodiment). Thereby, since the stress which acts on the contact part of the 1st tooth | gear part 7 and the 2nd tooth | gear part 16b can be reduced reliably, durability and the drive transmission capability of the rotary drive unit 1 can be improved.

In the rotary drive unit 1, the first tooth portion 7 is provided on the inner peripheral wall 4 of the ring gear 2 such that the tooth width direction (longitudinal direction) is parallel to the center axis of the ring gear 2. Thereby, the rotation-side structure 101 can be rotated while repeating the engagement and release of the second tooth portion 16b with respect to the first tooth portion 7 provided on the inner peripheral wall 4 of the ring gear 2.

In addition, since the rotation drive unit 1 includes the three swing units 20, the rotation-side structure 101 can be supported on the base-side structure 100 at three locations separately from the bearing 102. Thereby, the rotation-side structure 101 can be stably supported with respect to the base-side structure 100.

The embodiments of the present invention have been described above, but the present invention is not limited to the above-described embodiments, and various modifications can be made as long as they are described in the claims. For example, you may implement the following modifications.

(1) FIG. 4 is a diagram for explaining a rotary drive unit 1a according to a modification, and is a diagram corresponding to FIG. FIG. 5 is a cross-sectional view taken along the line V-V in FIG. 4, corresponding to FIG. In the above-described embodiment, the example in which the drive unit 10 moves along the inner peripheral side of the ring gear 2 serving as the annular track portion is described, but the present invention is not limited to this. Specifically, the drive unit 10 may be configured to move along the outer peripheral side of the annular track portion.

In this modification, as shown in FIGS. 4 and 5, a cylindrical shape that extends slightly upward from the base-side structure 100 at the upper end portion of the base-side structure 100 and on the inner peripheral side of the bearing 102. A cylindrical wall 23 is formed. In the outer peripheral wall 24 of the cylindrical wall 23, a plurality of groove portions 25 extending along the standing direction of the cylindrical wall 23 (the central axis direction of the outer peripheral wall 24) are formed as in the case of the above embodiment. As in the case of the above embodiment, each groove portion 25 has a first tooth portion 7 constituted by a pin member so that the longitudinal direction (tooth width direction) and the longitudinal direction of the groove portion 25 coincide with each other. 25 so that it can rotate while sliding with respect to 25. In the present modification, the ring gear 2a as an annular track portion on which the drive unit 10 moves is configured by the above-described cylindrical wall 23 and the plurality of first tooth portions 7.

And the drive unit 10 which concerns on this modification moves along the outer peripheral side of the ring gear 2a formed as mentioned above. Even with such a configuration, a small rotary drive unit having high durability can be provided as in the case of the above embodiment.

In the rotary drive unit 1a, the first tooth portion 7 is provided on the outer peripheral wall 24 of the ring gear 2a so that the tooth width direction (longitudinal direction) thereof is parallel to the central axis of the ring gear 2a. Thereby, the rotation-side structure 101 can be rotated while repeating the engagement and release of the second tooth portion 16b with respect to the first tooth portion 7 provided on the outer peripheral wall 24 of the ring gear 2a. Note that the configuration and operation of the drive unit 10 are the same as those in the above embodiment, and a description thereof will be omitted.

(2) In the above-described embodiment, the first tooth portion 7 of the annular track portion is provided so that the tooth width direction thereof is parallel to the central axis of the annular track portion, but the present invention is not limited thereto. Specifically, the first tooth portion 7 of the annular track portion may be provided such that the tooth width direction is perpendicular to the central axis of the annular track portion.

FIG. 6 is a diagram schematically showing a rotary drive unit 1b according to a modification, and is a diagram corresponding to FIG. FIG. 7 is an arrow view seen from the direction of arrow VII in FIG. 6 and is a diagram in which some components (rotation-side structures and the like) are omitted. The annular track portion 2b according to this modification has an annular wall portion 8 and a plurality of first tooth portions 7.

As shown in FIGS. 6 and 7, the annular wall portion 8 is an annular portion formed to extend slightly from the upper end portion of the base-side structure 100 toward the inside of the base-side structure 100. The upper wall surface 9 of the annular wall portion 8 is formed in a flat shape so as to extend in the horizontal direction, and is formed so as to face the lower surface of the rotation-side structure 101 as shown in FIG.

On the upper wall surface 9 of the annular wall portion 8, a plurality of groove portions 5 a formed radially along the in-plane direction of the upper wall surface 9 are formed. That is, the plurality of groove portions 5 a are arranged along the circumferential direction of the annular wall portion 8, with each longitudinal direction extending along the radial direction of the annular wall portion 8. The groove portions 5 a are formed at equal intervals along the circumferential direction of the annular wall portion 8. Although the cross-sectional shape of each groove 5a is not shown, it is formed in an arc shape.

Each first tooth portion 7 is constituted by a pin member formed in a substantially round bar shape. Each first tooth portion 7 is accommodated in each groove portion 5 such that the longitudinal direction (tooth width direction) coincides with the longitudinal direction of the groove portion 5. Accordingly, each first tooth portion 7 is arranged to be perpendicular to the central axis of the annular wall portion 8 and is rotatable while sliding with respect to each groove portion 5.

And the drive unit 10 which concerns on this modification moves along the some 1st tooth | gear part 7 arrange | positioned so that it may become a ring shape on the upper side wall surface 9. As shown in FIG. Even with such a configuration, a small rotary drive unit having high durability and high drive transmission capability can be provided as in the case of the above embodiment.

In the rotary drive unit 1b, the first tooth portion 7 is provided on the upper wall surface 9 so that the tooth width direction (longitudinal direction) is perpendicular to the central axis of the annular track portion 2b. Thereby, the rotation-side structure 101 can be rotated while repeating the engagement and release of the second tooth portion 16b with respect to the first tooth portion 7 provided in the upper portion of the annular track portion 2b.

In the modification shown in FIGS. 6 and 7, the rotation-side structure 101 disposed on the upper side of the base-side structure 100 has been described as an example of rotating with respect to the base-side structure 100. Not exclusively. Specifically, the rotation-side structure 101 disposed on the lower side of the base-side structure 100 may be rotated with respect to the base-side structure 100 as in the rotation drive unit 1c shown in FIG. Even with such a configuration, a small rotary drive unit having high durability and high drive transmission capability can be provided.

The present invention is used for a rotation-side structure that can rotate with respect to a base-side structure, and can be widely applied as a rotation drive unit for rotating the rotation-side structure with respect to the base-side structure. Is.

Claims

A rotation drive unit used for a rotation-side structure rotatable with respect to a base-side structure, for rotating the rotation-side structure with respect to the base-side structure;
An annular track portion having a plurality of first teeth arranged in an annular manner in one of the base side structure and the rotation side structure;
It is attached to the other structure of the base-side structure and the rotation-side structure and has a plurality of second teeth, and the plurality of second teeth is relative to the plurality of first teeth. Repeatedly meshing with the plurality of first teeth by approaching, and releasing meshing with the plurality of first teeth by separating the plurality of second teeth from the plurality of first teeth. While swinging relative to the annular track portion along the circumferential direction of the annular track portion,
A rotary drive unit comprising:
The rotary drive unit according to claim 1,
The rotary drive unit characterized in that the swinging part revolves around a central axis of the annular track part.
The rotary drive unit according to claim 1 or 2,
The rotation drive unit, wherein a meshing rate between the first tooth portion and the second tooth portion is 3 or more.
In the rotation drive unit according to any one of claims 1 to 3,
The rotary drive unit, wherein the first tooth portion is provided at a radially outer portion of the annular track portion so that a tooth width direction thereof is parallel to a central axis of the annular track portion.
In the rotation drive unit according to any one of claims 1 to 3,
The rotary drive unit, wherein the first tooth portion is provided at a radially inner portion of the annular track portion so that a tooth width direction thereof is parallel to a central axis of the annular track portion.
In the rotation drive unit according to any one of claims 1 to 3,
The rotary drive unit is characterized in that the first tooth portion is provided in the upper part of the annular track portion in the vertical direction so that the tooth width direction is perpendicular to the central axis of the annular track portion. .
In the rotation drive unit according to any one of claims 1 to 3,
The first tooth portion is provided at a lower portion in the vertical direction of the annular track portion so that the tooth width direction thereof is perpendicular to the central axis of the annular track portion. unit.
In the rotation drive unit according to any one of claims 1 to 7,
Each of the rotary drive units further includes three swing units each having the swing portion and arranged to be spaced apart from each other in the circumferential direction of the annular track portion.