CN111503176A - Clutch mechanism, driving force transmission mechanism, and robot - Google Patents
Clutch mechanism, driving force transmission mechanism, and robot Download PDFInfo
- Publication number
- CN111503176A CN111503176A CN202010030218.7A CN202010030218A CN111503176A CN 111503176 A CN111503176 A CN 111503176A CN 202010030218 A CN202010030218 A CN 202010030218A CN 111503176 A CN111503176 A CN 111503176A
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- Prior art keywords
- clutch member
- clutch
- opposing surface
- axial direction
- groove
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 51
- 230000002093 peripheral effect Effects 0.000 claims description 11
- 239000002184 metal Substances 0.000 claims description 6
- 230000000149 penetrating effect Effects 0.000 claims 1
- 230000007423 decrease Effects 0.000 description 2
- 238000000465 moulding Methods 0.000 description 2
- 239000000843 powder Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 239000011347 resin Substances 0.000 description 1
- 229920005989 resin Polymers 0.000 description 1
- 238000005245 sintering Methods 0.000 description 1
Images
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D43/00—Automatic clutches
- F16D43/02—Automatic clutches actuated entirely mechanically
- F16D43/20—Automatic clutches actuated entirely mechanically controlled by torque, e.g. overload-release clutches, slip-clutches with means by which torque varies the clutching pressure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H35/00—Gearings or mechanisms with other special functional features
- F16H35/10—Arrangements or devices for absorbing overload or preventing damage by overload
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H35/00—Gearings or mechanisms with other special functional features
- F16H35/10—Arrangements or devices for absorbing overload or preventing damage by overload
- F16H2035/103—Arrangements or devices for absorbing overload or preventing damage by overload with drive interruption by structural failure of overload preventing means, e.g. using shear pins
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Operated Clutches (AREA)
- Manipulator (AREA)
- Gear Transmission (AREA)
Abstract
Provided are a clutch mechanism, a driving force transmission mechanism and a robot, wherein the allowable load of a protrusion of a clutch component can be increased. The clutch mechanism (4) has a first clutch member (11) and a second clutch member (12) which are coaxially arranged in a state of being capable of relative movement in the axial direction (X). The first clutch member (11) is provided with a projection (16) extending in the radial direction on a first opposing surface (15) opposing the second clutch member (12), and the second clutch member (12) is provided with a groove (26) extending in the radial direction on a second opposing surface (25) opposing the first clutch member (11). The first opposing surface (15) and the second opposing surface (25) are tapered surfaces that are inclined in the same direction in the axial direction (X) from the radially inner side to the radially outer side. The protrusion (16) extends along the first opposing surface (15) so that the height dimension (H1) in the axial direction (X) is constant. The groove (26) extends along the second opposing surface (25) so that the depth dimension (H2) in the axial direction (X) is constant.
Description
Technical Field
The invention relates to a clutch mechanism, a driving force transmission mechanism and a robot.
Background
Patent document 1 describes a clutch mechanism disposed in the middle of a driving force transmission mechanism. The clutch mechanism of this document includes: an input disc supported on an outer peripheral portion of the output shaft so as to be rotatable and movable in an axial direction; an output disc fixed to an outer peripheral portion of the output shaft; and a biasing member that presses the input tray toward the output tray. Each of the output-disk-side surface of the input disk and the input-disk-side surface of the output disk is provided with a tooth portion that is overlapped with the other surface and can be fitted and detached in the axial direction. The teeth are formed by alternately arranging recesses and projections that are continuous in the radial direction in the circumferential direction. The concave portion and the convex portion extend in the radial outer direction while maintaining the same height. The surface of the input disk on the output disk side and the surface of the output disk on the input disk side are surfaces perpendicular to the axis. Thus, the concave portion and the convex portion extend in the direction perpendicular to the axis, respectively.
Patent document 1: international publication No. 2017/002464
When the torque transmitted through the clutch mechanism increases, a load applied to a projection provided on the input disc or the output disc increases. Therefore, in the clutch mechanism, it is required to increase the allowable load applied to the projection.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide a clutch mechanism capable of increasing an allowable load of a projection provided on a clutch member.
The clutch mechanism of the present invention is characterized by comprising a first clutch member and a second clutch member which are coaxially arranged in a state of being relatively movable in a predetermined axial direction, wherein the first clutch member comprises a projection extending in a radial direction on a first opposing surface opposing the second clutch member, the second clutch member comprises a groove extending in the radial direction on a second opposing surface opposing the first clutch member, the first opposing surface and the second opposing surface are tapered surfaces inclined in the same direction as the axial direction from a radially inner side toward a radially outer side, the projection extends along the first opposing surface so that a height in the axial direction is constant, the groove extends along the second opposing surface so that a depth in the axial direction is constant, and the projection and the groove are engaged with each other, rotation about the axis is transmitted between the first clutch member and the second clutch member, and the transmission of rotation is released by releasing engagement between the protrusion and the groove.
In the present invention, the first opposing surface of the first clutch member and the second opposing surface of the second clutch member are tapered surfaces inclined in the same direction. The protrusion is inclined along the first opposing surface, and the groove is inclined along the second opposing surface. Therefore, the engagement distance of the protrusion and the groove can be increased as compared with a case where the protrusion and the groove extend in the direction perpendicular to the axial direction. This can disperse the load applied to the projection, and therefore the allowable load of the projection provided on the first clutch member increases.
Drawings
Fig. 1 is a sectional view of a driving force transmission mechanism that transmits driving force via a clutch mechanism.
Fig. 2 is a perspective view of the first clutch member.
FIG. 3 is a cross-sectional view of the first clutch member.
Fig. 4 is a perspective view of the second clutch member.
FIG. 5 is a cross-sectional view of the second clutch member.
Fig. 6 is a cross-sectional view of the driving force transmission mechanism in which transmission of the driving force by the clutch mechanism is released.
Fig. 7 is an explanatory diagram of a robot including a driving force transmission mechanism.
Description of the reference symbols
The drive force transmission mechanism includes a drive force transmission mechanism 1, a drive source 2, a transmission gear 3, a transmission gear tooth portion 3a, a clutch mechanism 4, an output shaft 5, an output member 6, a large diameter portion 7, an annular surface 7a, an end surface 7b, a small diameter portion 8, a screw hole 9, a bolt 10, a first clutch member 11, a center hole 11a, a second clutch member 12, a center hole 12, a coil spring 13, a first facing surface 15, a projection 16, a groove 17, a clutch portion 21, a cylinder portion 22, a projection 22a, a tooth portion 23, a second facing surface 25, a groove portion 26, a projection 27, a robot 50, an arm portion 51, a workpiece holding portion 51, a support portion 52, a support portion L, an axis H1, a height dimension 2, a depth dimension of the groove portion S1, a virtual surface S2, an X axis direction 1, a first X2, and a second 2.
Detailed Description
Hereinafter, an embodiment to which the clutch mechanism and the driving force transmission mechanism of the present invention are applied will be described with reference to the drawings.
Fig. 1 is a sectional view of a driving force transmission mechanism that transmits driving force via a clutch mechanism. Fig. 2 is a perspective view of the first clutch member. FIG. 3 is a cross-sectional view of the first clutch member. Fig. 4 is a perspective view of the second clutch member. FIG. 5 is a cross-sectional view of the second clutch member.
As shown in fig. 1, the driving force transmission mechanism 1 includes: a transmission gear 3 to which a driving force from the driving source 2 is transmitted; a clutch mechanism 4; and an output shaft 5 to which the driving force of the transmission gear 3 is transmitted via the clutch mechanism 4. The output member 6 is fixed to the output shaft 5.
The transmission gear 3 is a spur gear, and has a tooth portion 3a on an outer peripheral surface, the output shaft 5 has a large diameter portion 7 and a small diameter portion 8, the small diameter portion 8 is coaxial with the large diameter portion 7, and the outer diameter dimension is smaller than the large diameter portion 7, the large diameter portion 7 has an annular surface 7a facing the small diameter portion 8 side, a screw hole 9 for connecting the output member 6 is provided on an end surface 7b of the large diameter portion 7 opposite to the small diameter portion 8, the output member 6 is fixed to the output shaft 5 by a bolt 10 screwed into the screw hole 9, in the following description, a direction along an axis L of the output shaft 5 is taken as an axis direction X, one of the axis directions X is taken as a first direction X1, the other is taken as a second direction X2., the first direction X1 is on a side where the small diameter portion 8 of the output shaft 5 is located, and the second direction X2 is taken.
The clutch mechanism 4 has a first clutch member 11 and a second clutch member 12 arranged coaxially. The first clutch member 11 is located in the first direction X1 of the second clutch member 12. The first clutch member 11 and the second clutch member 12 are made of metal. In this example, the first clutch member 11 and the second clutch member 12 are formed by pressing metal powder into a mold and sintering the metal powder. Alternatively, the first clutch member 11 and the second clutch member 12 are molded by pouring a mixture of resin and metal into a mold and performing heat treatment. The clutch mechanism 4 is provided with a coil spring 13. The coil spring 13 is an urging member that urges the second clutch member 12 toward the first clutch member 11.
As shown in fig. 2, the first clutch member 11 is an annular member surrounding the axis L, and the first clutch member 11 has a circular outline when viewed in the axial direction X. as shown in fig. 1, the small diameter portion 8 of the output shaft 5 passes through the center hole 11a of the first clutch member 11, and the first clutch member 11 is fixed to the end portion of the small diameter portion 8 in the first direction X1.
The first clutch member 11 includes a first facing surface 15 facing the second clutch member 12, as shown in fig. 3, the first facing surface 15 is a tapered surface inclined in the same direction as the axial direction X from the radially inner side toward the radially outer side, in this example, the first facing surface 15 is inclined in the first direction X1 away from the second clutch member 12 from the radially inner side toward the radially outer side, the inclination angle θ 1 of the first facing surface 15 is 2 °, that is, the first facing surface 15 is inclined by 2 ° in the radial direction with respect to a virtual surface S1 perpendicular to the axial line L.
The first clutch member 11 includes the projections 16 extending in the radial direction on the first opposing surface 15, the projections 16 are provided at equal intervals in the circumferential direction around the axis L, and the projections 16 extend in the radial direction, and therefore, the grooves 17 are formed between the projections 16 and the projections 16 on the first opposing surface 15, and the projections 16 and the grooves 17 are alternately provided in the circumferential direction.
Each protrusion 16 extends along the first opposing surface 15 so that the height dimension H1 in the axial direction X is constant. Therefore, the tip (one end in the second direction X2) of each projection 16 is inclined from the radially inner side toward the radially outer side in the first direction X1. The tip of each projection 16 is a curved surface whose circumferential center protrudes in the second direction X2 beyond the circumferential ends. The bottom of each groove 17 is a curved surface in which the circumferential center is recessed in the first direction X1 from the circumferential ends. The circumferential width of each projection 16 widens from the radially inner side toward the radially outer side.
As shown in fig. 4, the second clutch member 12 is an annular member surrounding the axis L, as shown in fig. 1, the small diameter portion 8 of the output shaft 5 passes through the center hole 12a of the second clutch member 12, and the second clutch member 12 is supported by the output shaft 5 (small diameter portion 8) in a state of being rotatable about the axis L and movable in the axis direction X.
The second clutch member 12 includes: a circular clutch portion 21 whose contour as viewed in the axial direction X overlaps with the contour of the first clutch member 11; a cylindrical portion 22 surrounding the clutch portion 21 from the outer circumferential side; and a tooth portion 23 provided on the outer peripheral surface of the cylindrical portion 22.
As shown in fig. 5, the surface of the clutch portion 21 on the first clutch member 11 side, that is, the second opposing surface 25 opposing the first clutch member 11 in the second clutch member 12 is a tapered surface inclined from the radially inner side toward the radially outer side, and the second opposing surface 25 and the first opposing surface 15 are inclined in the same direction as the axial direction X, and therefore, the second opposing surface 25 is inclined from the radially inner side toward the radially outer side toward the first direction X1 approaching the first clutch member 11, and the inclination angle θ 2 of the second opposing surface 25 is the same as the inclination angle θ 1 of the first opposing surface 15, that is, the second opposing surface 25 is inclined by 2 ° in the radial direction with respect to a virtual surface S2 perpendicular to the axial line L.
The second clutch member 12 includes the groove portions 26 extending in the radial direction on the second opposing surface 25, the groove portions 26 are provided at equal intervals in the circumferential direction around the axis L, and the plurality of groove portions 26 extend in the radial direction, and therefore, the protrusions 27 are formed between the groove portions 26 and the groove portions 26 on the second opposing surface 25, the groove portions 26 and the protrusions 27 are alternately provided in the circumferential direction, and the pitch at which the groove portions 26 are formed in the circumferential direction is the same as the pitch at which the protrusions 16 are formed in the circumferential direction on the first opposing surface 15 of the first clutch member 11.
Each groove 26 extends along the second opposing surface 25 so that the depth H2 in the axial direction X is constant. Therefore, the bottom (one end in the second direction X2) of each groove portion 26 is inclined in the first direction X1 from the radially inner side toward the radially outer side. The bottom of each groove 26 is a curved surface in which the circumferential center is recessed in the second direction X2 from the circumferential ends. The tip of each projection 27 is a curved surface whose circumferential center protrudes in the first direction X1 beyond the circumferential ends. The circumferential width of each groove 26 increases from the radially inner side to the radially outer side.
The cylindrical portion 22 includes a protruding portion 22a protruding toward the first clutch member 11 side from the second opposing surface 25. As shown in fig. 1, the first clutch member 11 is inserted inside the protruding portion 22 a. The tooth portion 23 extends from one end in the first direction X1 to one end in the second direction X2 of the outer peripheral surface of the cylindrical portion 22. The tooth portion 23 meshes with the transfer gear 3.
The coil spring 13 surrounds the small diameter portion 8 of the output shaft 5 and is disposed on the outer peripheral side of the small diameter portion 8. The coil spring 13 is disposed in a compressed state between the annular surface 7a of the large diameter portion 7 of the output shaft 5 and the second clutch member 12. Therefore, the coil spring 13 biases the second clutch member 12 in the first direction X1 toward the first clutch member 11.
In the state where the second clutch member 12 is biased toward the first clutch member 11 by the coil spring 13, the protrusion 16 of the first clutch member 11 engages with the groove 26 of the second clutch member 12, and the clutch mechanism 4 transmits rotation about the axis L between the first clutch member 11 and the second clutch member 12 by engagement of the protrusion 16 with the groove 26.
(operation of Driving force transmitting mechanism)
As shown in fig. 1, in the initial state, in the driving force transmission mechanism 1, the protrusion 16 of the first clutch member 11 is engaged with the groove 26 of the second clutch member 12, and in this state, when the driving force from the driving source 2 is transmitted to the transmission gear 3, the transmission gear 3 rotates, whereby the second clutch member 12 engaged with the transmission gear 3 rotates, and further, the rotation of the second clutch member 12 is transmitted to the first clutch member 11, and when the first clutch member 11 rotates, the output shaft 5 rotates integrally with the first clutch member 11, and therefore, the output member 6 connected to the output shaft 5 rotates around the axis L, that is, the driving force from the driving source 2 is transmitted to the output member 6 via the driving force transmission mechanism 1.
Here, although the transmission gear 3 rotates according to the driving of the driving source 2, when the revolution of the output member 6 is prevented by an external force or the like, a load is applied to the clutch mechanism 4.
When the load applied to the clutch mechanism 4 exceeds a predetermined torque, the first clutch member 11 and the second clutch member 12 start to rotate relative to each other. As a result, as shown in fig. 6, the second clutch member 12 moves in the second direction X2 against the biasing force of the coil spring 13, and the engagement between the protrusion 16 of the first clutch member 11 and the groove 26 of the second clutch member 12 is released. Thereby, the transmission of the rotation between the first clutch member 11 and the second clutch member 12 is released, and therefore, the transmission of the driving force via the driving force transmission mechanism 1 is interrupted. Even when the second clutch member 12 is moved in the second direction X2 and the engagement between the protrusion 16 of the first clutch member 11 and the groove 26 of the second clutch member 12 is released, the engagement between the tooth 23 of the second clutch member 12 and the transmission gear 3 is not disengaged.
When the load applied to the clutch mechanism 4 decreases, the second clutch member 12 moves in the first direction X1 by the biasing force of the coil spring 13. Thereby, the protrusion 16 of the first clutch member 11 engages with the groove 26 of the second clutch member 12, and the state shown in fig. 1 is achieved. When the protrusion 16 of the first clutch member 11 engages with the groove 26 of the second clutch member 12, the driving force from the driving source 2 is transmitted to the output member 6 again via the driving force transmission mechanism 1.
(Effect)
In the present invention, the first opposing surface 15 of the first clutch member 11 and the second opposing surface 25 of the second clutch member 12 are tapered surfaces inclined in the same direction. The protrusion 16 of the first clutch member 11 is inclined along the first opposing surface 15, and the groove 26 of the second clutch member 12 is inclined along the second opposing surface 25. Therefore, the engagement distance of the protrusion 16 with the groove 26 can be increased as compared with the case where the protrusion 16 and the groove 26 extend in the direction perpendicular to the axial direction X. This can disperse the load applied to the projection 16, and therefore the allowable load of the projection 16 provided in the first clutch member 11 increases.
Further, since the engagement distance at which the protrusion 16 and the groove 26 are engaged can be increased, the height of the protrusion 16 and the depth of the groove 26 can be reduced when torque is transmitted between the first clutch member 11 and the second clutch member 12, as compared with a case where the protrusion 16 and the groove 26 extend in the direction perpendicular to the axial direction X. That is, even if the height of the projection 16 and the depth of the groove 26 are shortened to such an extent that the engagement distance between the projection 16 and the groove 26 becomes long, the same torque can be transmitted.
Further, since the protrusion 16 is inclined, when the first clutch member 11 and the second clutch member 12 are engaged with each other from the axial direction X, the protrusion 16 is easily inserted into the groove 26. Therefore, the assembly of the clutch mechanism 4 is easy.
Further, since the first opposing surface 15 and the second opposing surface 25 are tapered surfaces inclined in the same direction, when the first clutch member 11 and the second clutch member 12 are engaged, the first clutch member 11 and the second clutch member 12 can be easily positioned coaxially.
Further, the circumferential widths of the protrusion 16 and the groove 26 are wider from the radially inner side toward the radially outer side. Therefore, damage to the outer peripheral side portion of the projection 16 can be prevented or suppressed during transmission of rotation and during cancellation of transmission of rotation.
Further, the first clutch member 11 and the second clutch member 12 are made of metal, and therefore, the strength of the first clutch member 11 and the second clutch member 12 is easily secured, and here, the first facing surface 15 and the projection 16 are inclined in the first clutch member 11, and therefore, the first clutch member 11 is easily detached from the mold at the time of molding, as compared with a case where the first facing surface 15 and the projection 16 extend in the direction perpendicular to the axis L, and therefore, the first clutch member 11 is easily manufactured, and further, in the second clutch member 12, the second facing surface 25 and the groove portion 26 are inclined, and therefore, the second clutch member 12 is easily detached from the mold at the time of molding, as compared with a case where the second facing surface 25 and the groove portion 26 extend in the direction perpendicular to the axis L.
Further, the outer peripheral side of the clutch portion 21 of the second clutch member 12 close to the projecting portion 22a is thick by the inclination of the second opposing surface 25. Therefore, when an external force is applied to the cylindrical portion 22 via the tooth portions 23, the projecting portion 22a can be prevented or suppressed from deforming so as to fall toward the inner peripheral side.
Further, the first clutch member 11 is inserted into the projecting portion 22a of the second clutch member 12. Therefore, even when the tooth portions 23 are provided on the outer peripheral surface of the second clutch member 12 and the dimension of the tooth portions 23 in the axial direction X is secured, the clutch mechanism 4 can be suppressed from becoming large in the axial direction X.
The inclination angle θ 1 of the first opposing surface 15 and the inclination angle θ 2 of the second opposing surface 25 are preferably 5 ° or less. Thus, the first clutch member 11 and the second clutch member 12 can be prevented from becoming excessively thick in the axial direction X.
Further, the first opposing surface 15 and the second opposing surface 25 may be inclined in the second direction from the radially inner side toward the radially outer side. In this case, each of the projections 16 provided on the first opposing surface 15 extends along the first opposing surface 15 so that the height dimension H1 in the axial direction X is constant. The respective grooves 26 provided in the second opposing surface 25 extend along the second opposing surface 25 so that the depth dimension H2 in the axial direction X is constant. In such a case, the engagement distance of the protrusion 16 with the groove 26 can be increased. This can disperse the load applied to the projection 16, and therefore the allowable load of the projection 16 provided in the first clutch member 11 increases.
(application of Driving force Transmission mechanism to robot)
Fig. 7 is an explanatory view of a robot on which the driving force transmission mechanism 1 is mounted, fig. 7 shows a cross section of the robot 50 of the present invention, the robot 50 is an industrial robot, the robot 50 includes the driving force transmission mechanism 1, the driving source 2, an arm portion 51 connected to the output shaft 5 of the driving force transmission mechanism 1, and a support portion 52 for rotatably supporting the arm portion 51, the support portion 52 includes the driving source 2 and the driving force transmission mechanism 1, in this example, the support portion 52 includes the driving source 2, the transmission gear 3, the clutch mechanism 4, and the output shaft 5, the support portion 52 supports the output shaft 5 rotatably about an axis line L, the arm portion 51 is fixed to the output shaft 5 by a bolt 10, the arm portion 51 is the output member 6, and in this example, a workpiece placing portion 51a for carrying the workpiece W is provided at a front end of the arm portion 51.
According to the robot 50 of the present invention, when the drive source 2 is driven, the drive force from the drive source 2 is transmitted to the arm 51 via the drive force transmission mechanism 1, and thereby the arm 51 turns around the axis L, and the workpiece W is conveyed.
Here, although the transmission gear 3 rotates according to the driving of the driving source 2, when the swing of the arm portion 51 is prevented by an external force or the like, a load is applied to the clutch mechanism 4. When the load exceeds the predetermined torque, the second clutch member 12 is separated from the first clutch member 11 in the second direction X2, and the engagement between the protrusion 16 of the first clutch member 11 and the groove 26 of the second clutch member 12 is released. Thereby, the transmission of the rotation between the first clutch member 11 and the second clutch member 12 is released, and therefore, the transmission of the driving force via the driving force transmission mechanism 1 is interrupted.
When the load applied to the clutch mechanism 4 decreases, the second clutch member 12 moves in the first direction X1 by the biasing force of the coil spring 13. Thus, when the protrusion 16 of the first clutch member 11 engages with the groove 26 of the second clutch member 12, the driving force from the driving source 2 is transmitted to the arm 51 via the driving force transmission mechanism 1 again. Thereby, the arm 51 is turned back, and the conveyance of the workpiece W is restarted.
Claims (9)
1. A clutch mechanism having a first clutch member and a second clutch member coaxially arranged in a state of being relatively movable in a predetermined axial direction,
the first clutch member includes a projection extending in a radial direction on a first facing surface facing the second clutch member,
the second clutch member includes a groove portion extending in the radial direction on a second opposing surface opposing the first clutch member,
the first opposing surface and the second opposing surface are tapered surfaces inclined in the same direction as the axial direction from a radially inner side toward a radially outer side,
the protrusion extends along the first opposing surface so that a height in the axial direction is constant,
the groove portion extends along the second opposing surface in such a manner that the depth in the axial direction is constant,
rotation about the axis is transmitted between the first clutch member and the second clutch member by engagement of the protrusion with the groove, and the transmission of rotation is released by releasing engagement of the protrusion with the groove.
2. The clutch mechanism of claim 1,
the circumferential widths of the protrusion and the groove are increased from the radially inner side to the radially outer side.
3. The clutch mechanism of claim 1,
the inclination angle of the first opposite surface and the inclination angle of the second opposite surface are less than 5 degrees.
4. The clutch mechanism of claim 2,
the inclination angle of the first opposite surface and the inclination angle of the second opposite surface are less than 5 degrees.
5. A clutch mechanism according to any one of claims 1 to 4,
the first clutch member and the second clutch member are made of metal.
6. A clutch mechanism according to any one of claims 1 to 4,
the clutch mechanism includes a biasing member that biases one of the first clutch member and the second clutch member toward the other.
7. Clutch mechanism according to claim 6,
the first clutch member has a circular outline shape when viewed from the axial direction,
the first opposing surface is inclined in a direction away from the second clutch member from a radially inner side toward a radially outer side,
the second clutch member includes:
a clutch portion having a contour when viewed in the axial direction and overlapping with a contour of the first clutch member;
a cylindrical portion surrounding the clutch portion from an outer circumferential side; and
a tooth portion provided on an outer peripheral surface of the cylindrical portion,
a surface of the clutch portion on the first clutch member side is the second opposing surface,
the second opposing surface is inclined from a radially inner side toward a radially outer side in a direction approaching the first clutch member,
the cylindrical portion has a protruding portion protruding toward the first clutch member side from the second opposing surface,
the first clutch member is inserted inside the protruding portion.
8. A driving force transmission mechanism is characterized in that,
the driving force transmission mechanism includes:
the clutch mechanism of claim 7;
an output shaft extending in the axial direction; and
a transmission gear to which a driving force from the driving source is transmitted,
the first clutch member is fixed coaxially with the output shaft,
the second clutch member is annular in shape,
the output shaft supports the second clutch member so as to be rotatable about an axis and movable in the axis direction while penetrating through a center hole of the second clutch member,
the urging member urges the second clutch member toward the first clutch member,
the tooth portion of the second clutch member is engaged with the transmission gear.
9. A robot is characterized in that a robot body is provided with a plurality of robots,
the robot includes:
the drive power transmitting mechanism according to claim 8;
the drive source;
an arm portion connected to the output shaft; and
and a support portion that includes the drive source and the transmission gear and supports the arm portion so as to be rotatable.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2019-013827 | 2019-01-30 | ||
| JP2019013827A JP7197388B2 (en) | 2019-01-30 | 2019-01-30 | Clutch mechanism, driving force transmission mechanism, and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111503176A true CN111503176A (en) | 2020-08-07 |
Family
ID=71871002
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010030218.7A Pending CN111503176A (en) | 2019-01-30 | 2020-01-13 | Clutch mechanism, driving force transmission mechanism, and robot |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP7197388B2 (en) |
| CN (1) | CN111503176A (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022264408A1 (en) | 2021-06-18 | 2022-12-22 | 株式会社ユニバンス | Torque transmitting element |
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| CN106050978A (en) * | 2015-04-08 | 2016-10-26 | 丰田自动车株式会社 | Selectable one-way clutch |
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| WO2018012362A1 (en) * | 2016-07-14 | 2018-01-18 | 日本電産サンキョー株式会社 | Drive force transmission mechanism and opening/closing member drive device |
| JP2018179048A (en) * | 2017-04-05 | 2018-11-15 | アダマンド並木精密宝石株式会社 | Clutch device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPS4736187Y1 (en) * | 1970-09-04 | 1972-11-01 | ||
| DE3502666C1 (en) * | 1985-01-26 | 1986-05-22 | Ringspann Albrecht Maurer Kg, 6380 Bad Homburg | Overload clutch |
| JP2009014074A (en) * | 2007-07-03 | 2009-01-22 | Sumitomo Denko Shoketsu Gokin Kk | Meshing clutch |
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2019
- 2019-01-30 JP JP2019013827A patent/JP7197388B2/en active Active
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2020
- 2020-01-13 CN CN202010030218.7A patent/CN111503176A/en active Pending
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| JPH0653827U (en) * | 1992-07-21 | 1994-07-22 | 力雄 荒井 | Clutch device |
| DE10012233A1 (en) * | 2000-03-14 | 2001-09-20 | Schaeffler Waelzlager Ohg | Automotive pulley drive wheel with friction slip clutch and helical spring on a hub |
| CN102403831A (en) * | 2010-09-06 | 2012-04-04 | 日本电产三协株式会社 | Motor actuator |
| CN106050978A (en) * | 2015-04-08 | 2016-10-26 | 丰田自动车株式会社 | Selectable one-way clutch |
| CN107022876A (en) * | 2016-02-01 | 2017-08-08 | 浙江三星机电股份有限公司 | A kind of brake wheel of speed-reducing clutch for washing machine and processing method |
| WO2018012362A1 (en) * | 2016-07-14 | 2018-01-18 | 日本電産サンキョー株式会社 | Drive force transmission mechanism and opening/closing member drive device |
| JP2018179048A (en) * | 2017-04-05 | 2018-11-15 | アダマンド並木精密宝石株式会社 | Clutch device |
Also Published As
| Publication number | Publication date |
|---|---|
| JP7197388B2 (en) | 2022-12-27 |
| JP2020122509A (en) | 2020-08-13 |
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