JP7197388B2 - Clutch mechanism, driving force transmission mechanism, and robot - Google Patents

Clutch mechanism, driving force transmission mechanism, and robot Download PDF

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Publication number
JP7197388B2
JP7197388B2 JP2019013827A JP2019013827A JP7197388B2 JP 7197388 B2 JP7197388 B2 JP 7197388B2 JP 2019013827 A JP2019013827 A JP 2019013827A JP 2019013827 A JP2019013827 A JP 2019013827A JP 7197388 B2 JP7197388 B2 JP 7197388B2
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clutch member
driving force
clutch
transmission mechanism
force transmission
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JP2020122509A (en
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清康 斎藤
ティエン ファヤー
啓之 小菅
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Nidec Copal Corp
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Nidec Copal Corp
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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
    • 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
    • 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
    • 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
    • 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)
  • Gear Transmission (AREA)
  • Manipulator (AREA)

Description

本発明は、クラッチ機構、駆動力伝達機構、およびロボットに関する。 The present invention relates to a clutch mechanism, a driving force transmission mechanism, and a robot.

駆動力伝達機構の途中に配置されるクラッチ機構は、特許文献１に記載されている。同文献のクラッチ機構は、出力軸の外周部に回転自在且つ軸方向移動可能に支持された入力ディスクと、出力軸の外周部に固定された出力ディスクと、入力ディスクを出力ディスクに押し付ける付勢部材とを備える。入力ディスクの出力ディスク側の面と、出力ディスクの入力ディスク側の面との各面には、他方の面に対し重なり合うとともに軸方向へ嵌脱可能な歯部が設けられている。歯部は、径方向へ連続する凹部と凸部を周方向へ交互に配設してなる。凹部と凸部の各々は、同じ高さに維持されたまま径外方向に延びる。入力ディスクの出力ディスク側の面と、出力ディスクの入力ディスク側の面との各面は、軸線と垂直な面である。従って、凹部と凸部の各々は、軸線と直交する方向に延びる。 A clutch mechanism arranged in the middle of a driving force transmission mechanism is described in Japanese Patent Application Laid-Open No. 2002-200012. The clutch mechanism of the document includes an input disk rotatably and axially movably supported on the outer circumference of the output shaft, an output disk fixed to the outer circumference of the output shaft, and a biasing force that presses the input disk against the output disk. and a member. 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 overlaps with the other surface and is removable in the axial direction. The tooth portion is formed by alternately arranging concave portions and convex portions that are continuous in the radial direction in the circumferential direction. Each of the concave portion and the convex portion extend radially outward 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. Therefore, each of the concave portion and the convex portion extends in a direction perpendicular to the axis.

国際公開第２０１７／００２４６４号WO2017/002464

クラッチ機構を介して伝達するトルクが大きくなると、入力ディスクや出力ディスクに設けた突部にかかる負荷が大きくなる。従って、クラッチ機構には、突部にかかる許容荷重を大きくすることが要求されている。 As the torque transmitted through the clutch mechanism increases, the load applied to the protrusions provided on the input disc and the output disc increases. Therefore, the clutch mechanism is required to increase the allowable load applied to the protrusion.

以上の問題点に鑑みて、本発明の課題は、クラッチ部材に設けた突部の許容荷重を大きくすることができるクラッチ機構を提供することにある。 In view of the above problems, an object of the present invention is to provide a clutch mechanism capable of increasing the allowable load of the projections provided on the clutch member.

本発明の駆動力伝達機構は、出力軸と、出力軸に同軸に固定された円環状の第１クラッチ部材と、出力軸と同軸に配置され第１クラッチ部材を外周側から囲む円筒状の第２クラッチ部材と、第２クラッチ部材から第1クラッチ部材に向けて付勢する付勢部材とを有する。第1クラッチ部材は、第２クラッチ部材と対向する第1対向面に径方向に延びる突部を有し、第１対向面は、径方向内側から径方向外側に向かって第２クラッチ部材から離間する方向に傾斜している。第２クラッチ部材は、第１クラッチ部材と対向する第２対向面に径方向に延びる溝部を有し、第２対向面は、径方向内側から径方向外側に向かって第１クラッチ部材に接近する方向に傾斜している。第1クラッチ部材の突部と第2クラッチ部の溝部は係合により第２クラッチ部材から第１のクラッチ部材へ回転が伝達される。第2クラッチ部材は、出力軸の周りに回転しかつ軸方向に移動可能に支持され、円筒の外周面には歯部を有し、この歯部により駆動源の駆動力が伝達される。The driving force transmission mechanism of the present invention includes an output shaft, an annular first clutch member coaxially fixed to the output shaft, and a cylindrical first clutch member disposed coaxially with the output shaft and surrounding the first clutch member from the outer peripheral side. and a biasing member biasing the second clutch member toward the first clutch member. The first clutch member has a radially extending projection on a first opposing surface facing the second clutch member, and the first opposing surface is separated from the second clutch member from the radially inner side to the radially outer side. inclined in the direction of The second clutch member has a groove extending radially in a second facing surface facing the first clutch member, and the second facing surface approaches the first clutch member from the radially inner side to the radially outer side. sloping in the direction Rotation is transmitted from the second clutch member to the first clutch member by engagement between the protrusion of the first clutch member and the groove of the second clutch portion. The second clutch member is rotatably supported around the output shaft and axially movably supported, and has teeth on the outer peripheral surface of the cylinder, through which the driving force of the drive source is transmitted.

本発明では、第１クラッチ部材の第１対向面と第２クラッチ部材の第２対向面とが互いに同一方向に傾斜するテーパー面である。また、突部が第１対向面に沿って傾斜し、溝部が第２対向面に沿って傾斜する。従って、突部と溝部とが軸線方向と直交する方向に延びる場合と比較して、突部と溝部とが係合する噛み合わせ距離を長くできる。これにより、突部にかかる負荷を分散させることができるので、第１クラッチ部材に設けた突部の許容荷重が大きくなる。 In the present invention, the first facing surface of the first clutch member and the second facing surface of the second clutch member are tapered surfaces that are inclined in the same direction. Moreover, the protrusions are inclined along the first facing surface, and the grooves are inclined along the second facing surface. Therefore, compared with the case where the protrusion and the groove extend in the direction perpendicular to the axial direction, the engagement distance between the protrusion and the groove can be increased. As a result, the load applied to the protrusion can be dispersed, so that the allowable load of the protrusion provided on the first clutch member is increased.

図１は、クラッチ機構を介して駆動力を伝達する駆動力伝達機構の断面図である。FIG. 1 is a cross-sectional view of a driving force transmission mechanism that transmits driving force via a clutch mechanism. 図２は、第１クラッチ部材の斜視図である。FIG. 2 is a perspective view of a first clutch member; FIG. 図３は、第１クラッチ部材の断面図である。FIG. 3 is a cross-sectional view of the first clutch member. 図４は、第２クラッチ部材の斜視図である。FIG. 4 is a perspective view of a second clutch member; 図５は、第２クラッチ部材の断面図である。FIG. 5 is a cross-sectional view of the second clutch member. 図６は、クラッチ機構による駆動力の伝達が解除された駆動力伝達機構の断面図である。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. 図７は、駆動力伝達機構を備えるロボットの説明図である。FIG. 7 is an explanatory diagram of a robot provided with a driving force transmission mechanism.

以下に、図面を参照して、本発明を適用したクラッチ機構および駆動力伝達機構の実施形態を説明する。 Embodiments of a clutch mechanism and a driving force transmission mechanism to which the present invention is applied will be described below with reference to the drawings.

図１は、クラッチ機構を介して駆動力を伝達する駆動力伝達機構の断面図である。図２は、第１クラッチ部材の斜視図である。図３は、第１クラッチ部材の断面図である。図４は、第２クラッチ部材の斜視図である。図５は、第２クラッチ部材の断面図である。 FIG. 1 is a cross-sectional view of a driving force transmission mechanism that transmits driving force via a clutch mechanism. FIG. 2 is a perspective view of a first clutch member; FIG. FIG. 3 is a cross-sectional view of the first clutch member. FIG. 4 is a perspective view of a second clutch member; FIG. 5 is a cross-sectional view of the second clutch member.

図１に示すように、駆動力伝達機構１は、駆動源２からの駆動力が伝達される伝達歯車３と、クラッチ機構４と、伝達歯車３の駆動力がクラッチ機構４を介して伝達される出力軸５と、を備える。出力軸５には出力部材６が固定されている。 As shown in FIG. 1, the driving force transmission mechanism 1 includes a transmission gear 3 to which driving force from a driving source 2 is transmitted, a clutch mechanism 4, and a clutch mechanism 4 to which the driving force of the transmission gear 3 is transmitted. and an output shaft 5. An output member 6 is fixed to the output shaft 5 .

伝達歯車３は、平歯車であり、外周面に歯部３ａを備える。出力軸５は、大径部７と、大径部７と同軸で大径部７よりも外径寸法の小さい小径部８と、を備える。大径部７は、小径部８の側を向く環状面７ａを備える。大径部７における小径部８とは反対側の端面７ｂには、出力部材６を接続するためのねじ穴９が設けられている。出力部材６は、ねじ穴９に捩じ込まれるボルト１０によって出力軸５に固定される。以下の説明では、出力軸５の軸線Ｌに沿った方向を軸線方向Ｘとする。また、軸線方向Ｘの一方を第１方向Ｘ１、他方を第２方向Ｘ２とする。第１方向Ｘ１は、出力軸５において小径部８が位置する側であり、第２方向Ｘ２は、大径部７が位置する側である。 The transmission gear 3 is a spur gear and has teeth 3a on its outer peripheral surface. The output shaft 5 includes a large-diameter portion 7 and a small-diameter portion 8 coaxial with the large-diameter portion 7 and having an outer diameter smaller than that of the large-diameter portion 7 . The large diameter portion 7 has an annular surface 7a facing the small diameter portion 8 side. A threaded hole 9 for connecting the output member 6 is provided in an end surface 7 b of the large diameter portion 7 opposite to the small diameter portion 8 . The output member 6 is fixed to the output shaft 5 with a bolt 10 screwed into the screw hole 9 . In the following description, the direction along the axis L of the output shaft 5 is defined as the axial direction X. As shown in FIG. One of the axial directions X is defined as a first direction X1, and the other is defined as a second direction X2. The first direction X1 is the side of the output shaft 5 where the small diameter portion 8 is located, and the second direction X2 is the side where the large diameter portion 7 is located.

クラッチ機構４は、同軸に配置された第１クラッチ部材１１および第２クラッチ部材１２を有する。第１クラッチ部材１１は、第２クラッチ部材１２の第１方向Ｘ１に位置する。第１クラッチ部材１１および第２クラッチ部材１２は金属製である。本例において、第１クラッチ部材１１および第２クラッチ部材１２は、金属粉末を金型に押し込んで焼結成形する。或いは、第１クラッチ部材１１および第２クラッチ部材１２は、樹脂と金属の混合物を金型に流し込んで熱処理して成形する。また、クラッチ機構４は、コイルバネ１３を備える。コイルバネ１３は、第２クラッチ部材１２を第１クラッチ部材１１に向けて付勢する付勢部材である。 The clutch mechanism 4 has a first clutch member 11 and a second clutch member 12 coaxially arranged. The first clutch member 11 is positioned 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 sintered by pressing metal powder into a mold. Alternatively, the first clutch member 11 and the second clutch member 12 are formed by pouring a mixture of resin and metal into a mold and heat-treating the mixture. The clutch mechanism 4 also includes a coil spring 13 . The coil spring 13 is a biasing member that biases the second clutch member 12 toward the first clutch member 11 .

図２に示すように、第１クラッチ部材１１は、軸線Ｌを囲む円環状の部材である。第１クラッチ部材１１は、軸線方向Ｘから見た場合の輪郭形状が円形である。図１に示すように、第１クラッチ部材１１の中心穴１１ａには、出力軸５の小径部８が貫通する。第１クラッチ部材１１は、小径部８の第１方向Ｘ１の端部分に固定されている。 As shown in FIG. 2, the first clutch member 11 is an annular member surrounding the axis L. As shown in FIG. The first clutch member 11 has a circular contour when viewed from the axial direction X. As shown in FIG. As shown in FIG. 1 , the small diameter portion 8 of the output shaft 5 passes through the center hole 11 a of the first clutch member 11 . The first clutch member 11 is fixed to an end portion of the small diameter portion 8 in the first direction X1.

第１クラッチ部材１１は、第２クラッチ部材１２と対向する第１対向面１５を備える。図３に示すように、第１対向面１５は、径方向内側から径方向外側に向かって軸線方向Ｘの同一方向に傾斜するテーパー面である。本例では、第１対向面１５は、径方向内側から径方向外側に向かって第２クラッチ部材１２から離間する第１方向Ｘ１に傾斜する。第１
対向面１５の傾斜角度θ１は、２°である。すなわち、第１対向面１５は、半径方向において、軸線Ｌと垂直な仮想面Ｓ１に対して２°傾斜する。 The first clutch member 11 has a first facing surface 15 facing the second clutch member 12 . As shown in FIG. 3, the first opposing surface 15 is a tapered surface that is inclined in the same axial direction X from the radially inner side toward the radially outer side. In this example, the first opposing 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. first
The inclination angle θ1 of the facing surface 15 is 2°. That is, the first opposing surface 15 is inclined by 2° with respect to the imaginary plane S1 perpendicular to the axis L in the radial direction.

また、第１クラッチ部材１１は、第１対向面１５に径方向に延びる突部１６を備える。突部１６は、軸線Ｌ回りの周方向に等間隔で複数本設けられている。複数本の突部１６は放射状に延びる。従って、第１対向面１５における突部１６と突部１６との間は、溝部１７となっている。突部１６と溝部１７とは周方向で交互に設けられる。 The first clutch member 11 also includes a radially extending projection 16 on the first opposing surface 15 . A plurality of protrusions 16 are provided at regular intervals in the circumferential direction around the axis L. As shown in FIG. The multiple protrusions 16 extend radially. Therefore, a groove portion 17 is formed between the protrusions 16 on the first opposing surface 15 . The protrusions 16 and the grooves 17 are provided alternately in the circumferential direction.

各突部１６は、軸線方向Ｘの高さ寸法Ｈ１が一定で、第１対向面１５に沿って延びる。従って、各突部１６の先端（第２方向Ｘ２の端）は、径方向内側から径方向外側に向かって第１方向Ｘ１に傾斜する。各突部１６の先端は、周方向の中央が周方向の両端よりも第２方向Ｘ２に突出する曲面である。各溝部１７の底は、周方向の中央が周方向の両端よりも第１方向Ｘ１に窪む曲面である。各突部１６は、径方向内側から径方向外側に向かって周方向の幅が広くなる。 Each protrusion 16 has a constant height dimension H<b>1 in the axial direction X and extends along the first opposing surface 15 . Therefore, the tip (the end in the second direction X2) of each protrusion 16 is inclined in the first direction X1 from the radially inner side toward the radially outer side. The tip of each protrusion 16 is a curved surface in which the center in the circumferential direction protrudes in the second direction X2 from both ends in the circumferential direction. The bottom of each groove portion 17 is a curved surface in which the center in the circumferential direction is recessed in the first direction X1 from both ends in the circumferential direction. Each protrusion 16 has a circumferential width that increases from the radially inner side toward the radially outer side.

図４に示すように、第２クラッチ部材１２は、軸線Ｌを囲む円環状の部材である。図１に示すように、第２クラッチ部材１２の中心穴１２ａには、出力軸５の小径部８が貫通する。第２クラッチ部材１２は、軸線Ｌ回りに回転可能、かつ、軸線方向Ｘに移動可能な状態で、出力軸５（小径部８）に支持される。これにより、第１クラッチ部材１１と第２クラッチ部材１２とは、軸線方向Ｘに相対移動可能な状態で同軸に配置されている。 As shown in FIG. 4, the second clutch member 12 is an annular member surrounding the axis L. As shown in FIG. As shown in FIG. 1 , the small diameter portion 8 of the output shaft 5 passes through the center hole 12 a of the second clutch member 12 . The second clutch member 12 is supported by the output shaft 5 (the small diameter portion 8) in a state of being rotatable about the axis L and movable in the axial direction X. As shown in FIG. As a result, the first clutch member 11 and the second clutch member 12 are coaxially arranged so as to be relatively movable in the axial direction X. As shown in FIG.

第２クラッチ部材１２は、軸線方向Ｘから見た場合の輪郭が第１クラッチ部材１１の輪郭と重なる円形のクラッチ部２１と、クラッチ部２１を外周側から囲む円筒部２２と、円筒部２２の外周面に設けられた歯部２３と、を備える。 The second clutch member 12 includes a circular clutch portion 21 whose contour when viewed from the axial direction X overlaps the contour of the first clutch member 11, a cylindrical portion 22 surrounding the clutch portion 21 from the outer peripheral side, and the cylindrical portion 22. and a tooth portion 23 provided on the outer peripheral surface.

図５に示すように、クラッチ部２１における第１クラッチ部材１１の側の面、すなわち、第２クラッチ部材１２において、第１クラッチ部材１１と対向する第２対向面２５は、径方向内側から径方向外側に向かって傾斜するテーパー面である。第２対向面２５と第１対向面１５とは、軸線方向Ｘの同一方向に傾斜する。従って、第２対向面２５は、径方向内側から径方向外側に向かって第１クラッチ部材１１に接近する第１方向Ｘ１に傾斜する。第２対向面２５の傾斜角度θ２は、第１対向面１５の傾斜角度θ１と同一である。すなわち、第２対向面２５は、半径方向において、軸線Ｌと垂直な仮想面Ｓ２に対して２°傾斜する。 As shown in FIG. 5, the surface of the clutch portion 21 on the side of the first clutch member 11, that is, the second opposing surface 25 of the second clutch member 12, which faces the first clutch member 11, extends radially from the inner side in the radial direction. It is a tapered surface that slopes outward in the direction. The second opposing surface 25 and the first opposing surface 15 are inclined in the same axial direction X. As shown in FIG. Therefore, the second opposing surface 25 is inclined in the first direction X1 in which it approaches the first clutch member 11 from the radially inner side to the radially outer side. The inclination angle θ2 of the second opposing surface 25 is the same as the inclination angle θ1 of the first opposing surface 15 . That is, the second opposing surface 25 is inclined by 2° with respect to the imaginary plane S2 perpendicular to the axis L in the radial direction.

また、第２クラッチ部材１２は、第２対向面２５に径方向に延びる溝部２６を備える。溝部２６は、軸線Ｌ回りの周方向に等間隔で複数本設けられている。複数本の溝部２６は放射状に延びる。従って、第２対向面２５における溝部２６と溝部２６との間は、突部２７となっている。溝部２６と突部２７とは、周方向で交互に設けられる。周方向において溝部２６が形成されたピッチは、第１クラッチ部材１１の第１対向面１５において、周方向で突部１６が形成されたピッチと同一である。 The second clutch member 12 also includes a groove portion 26 extending radially in the second opposing surface 25 . A plurality of grooves 26 are provided at equal intervals in the circumferential direction around the axis L. As shown in FIG. A plurality of grooves 26 extend radially. Therefore, a protrusion 27 is formed between the grooves 26 on the second opposing surface 25 . The grooves 26 and the protrusions 27 are provided alternately in the circumferential direction. The pitch at which the grooves 26 are formed in the circumferential direction is the same as the pitch at which the protrusions 16 are formed in the first opposing surface 15 of the first clutch member 11 in the circumferential direction.

各溝部２６は、軸線方向Ｘの深さ寸法Ｈ２が一定で、第２対向面２５に沿って延びる。従って、各溝部２６の底（第２方向Ｘ２の端）は、径方向内側から径方向外側に向かって第１方向Ｘ１に傾斜する。各溝部２６の底は、周方向の中央が周方向の両端よりも第２方向Ｘ２に窪む曲面である。各突部２７の先端は、周方向の中央が周方向の両端よりも第１方向Ｘ１に突出する曲面である。各溝部２６は、径方向内側から径方向外側に向かって周方向の幅が広くなる。 Each groove 26 has a constant depth dimension H<b>2 in the axial direction X and extends along the second opposing surface 25 . Therefore, the bottom (the end in the second direction X2) of each groove portion 26 is inclined in the first direction X1 from the radially inner side to the radially outer side. The bottom of each groove portion 26 is a curved surface whose center in the circumferential direction is recessed in the second direction X2 from both ends in the circumferential direction. The tip of each protrusion 27 is a curved surface in which the center in the circumferential direction protrudes in the first direction X1 from both ends in the circumferential direction. Each groove 26 widens in the circumferential direction from the radially inner side toward the radially outer side.

円筒部２２は、第２対向面２５よりも第１クラッチ部材１１の側に突出する突出部分２２ａを備える。図１に示すように、突出部分２２ａの内側には、第１クラッチ部材１１が
挿入される。歯部２３は、円筒部２２の外周面の第１方向Ｘ１の端から第２方向Ｘ２の端まで延びる。歯部２３は、伝達歯車３と噛み合う。 The cylindrical portion 22 has a protruding portion 22 a that protrudes toward the first clutch member 11 from the second opposing surface 25 . As shown in FIG. 1, the first clutch member 11 is inserted inside the projecting portion 22a. The tooth portion 23 extends from the end of the outer peripheral surface of the cylindrical portion 22 in the first direction X1 to the end in the second direction X2. The tooth portion 23 meshes with the transmission gear 3 .

コイルバネ１３は、出力軸５の小径部８を囲んで当該小径部８の外周側に配置される。また、コイルバネ１３は、出力軸５の大径部７の環状面７ａと第２クラッチ部材１２との間に、圧縮された状態で、配置される。従って、コイルバネ１３は、第２クラッチ部材１２を、第１クラッチ部材１１に向かう第１方向Ｘ１に付勢する。 The coil spring 13 surrounds the small diameter portion 8 of the output shaft 5 and is arranged on the outer peripheral side of the small diameter portion 8 . Also, the coil spring 13 is arranged 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 urges the second clutch member 12 in the first direction X1 toward the first clutch member 11 .

コイルバネ１３によって第２クラッチ部材１２が第１クラッチ部材１１に付勢された状態では、第１クラッチ部材１１の突部１６と第２クラッチ部材１２の溝部２６とが係合する。クラッチ機構４は、突部１６と溝部２６との係合により第１クラッチ部材１１と第２クラッチ部材１２との間で軸線Ｌ回りの回転を伝達する。 When the second clutch member 12 is biased toward the first clutch member 11 by the coil spring 13, the projection 16 of the first clutch member 11 and the groove 26 of the second clutch member 12 are engaged. The clutch mechanism 4 transmits rotation about the axis L between the first clutch member 11 and the second clutch member 12 by engaging the protrusions 16 and the grooves 26 .

（駆動力伝達機構の動作）
図１に示すように、駆動力伝達機構１は、初期状態では、第１クラッチ部材１１の突部１６と第２クラッチ部材１２の溝部２６とが係合している。この状態で、駆動源２からの駆動力が伝達歯車３に伝達されると、伝達歯車３が回転する。これにより、伝達歯車３と噛み合う第２クラッチ部材１２が回転する。また、第２クラッチ部材１２の回転は、第１クラッチ部材１１に伝達される。第１クラッチ部材１１が回転すると、第１クラッチ部材１１と一体に出力軸５が回転する。従って、出力軸５に接続された出力部材６は、軸線Ｌ回りに旋回する。すなわち、駆動源２からの駆動力は、駆動力伝達機構１を介して、出力部材６に伝達される。 (Operation of driving force transmission mechanism)
As shown in FIG. 1, in the initial state of the driving force transmission mechanism 1, the protrusion 16 of the first clutch member 11 and the groove 26 of the second clutch member 12 are engaged. In this state, when the driving force from the drive source 2 is transmitted to the transmission gear 3, the transmission gear 3 rotates. As a result, the second clutch member 12 meshing with the transmission gear 3 rotates. Also, the rotation of the second clutch member 12 is transmitted to the first clutch member 11 . When the first clutch member 11 rotates, the output shaft 5 rotates together with the first clutch member 11 . Therefore, the output member 6 connected to the output shaft 5 turns around the axis L. As shown in FIG. That is, the driving force from the driving source 2 is transmitted to the output member 6 via the driving force transmission mechanism 1 .

ここで、駆動源２の駆動によって伝達歯車３が回転しているにも関わらず、外力などによって出力部材６の旋回が阻止された場合には、クラッチ機構４に負荷がかかる。 Here, when the rotation of the output member 6 is blocked by an external force or the like even though the transmission gear 3 is rotated by the drive source 2 , a load is applied to the clutch mechanism 4 .

クラッチ機構４にかかる負荷が所定のトルクを超える場合には、第１クラッチ部材１１と第２クラッチ部材１２とが相対回転を開始する。この結果、図６に示すように、第２クラッチ部材１２がコイルバネ１３の付勢力に抗して第２方向Ｘ２に移動して、第１クラッチ部材１１の突部１６と第２クラッチ部材１２の溝部２６との係合が解除される。これにより、第１クラッチ部材１１と第２クラッチ部材１２との間の回転の伝達が解除されるので、駆動力伝達機構１を介した駆動力の伝達が遮断される。なお、第２クラッチ部材１２が第２方向Ｘ２に移動して第１クラッチ部材１１の突部１６と第２クラッチ部材１２の溝部２６との係合が解除された状態でも、第２クラッチ部材１２の歯部２３と伝達歯車３との噛み合わせが外れることはない。 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 relative rotation. 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 projection 16 of the first clutch member 11 and the second clutch member 12 The engagement with the groove portion 26 is released. As a result, the transmission of rotation between the first clutch member 11 and the second clutch member 12 is released, so that the transmission of driving force via the driving force transmission mechanism 1 is interrupted. Note that even when the second clutch member 12 moves 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 second clutch member 12 The tooth portion 23 and the transmission gear 3 are never disengaged.

その後、クラッチ機構４にかかる負荷が低減すると、第２クラッチ部材１２がコイルバネ１３の付勢力により第１方向Ｘ１に移動する。これにより、第１クラッチ部材１１の突部１６と第２クラッチ部材１２の溝部２６とが係合して図１に示す状態となる。第１クラッチ部材１１の突部１６と第２クラッチ部材１２の溝部２６とが係合すると、駆動源２からの駆動力は、再び、駆動力伝達機構１を介して、出力部材６に伝達される。 After that, when the load applied to the clutch mechanism 4 is reduced, the second clutch member 12 is moved in the first direction X1 by the biasing force of the coil spring 13 . As a result, the projection 16 of the first clutch member 11 and the groove 26 of the second clutch member 12 are brought into engagement with each other as shown in FIG. When the protrusion 16 of the first clutch member 11 and the groove 26 of the second clutch member 12 are engaged with each other, the driving force from the driving source 2 is again transmitted to the output member 6 via the driving force transmission mechanism 1. be.

（作用効果）
本発明では、第１クラッチ部材１１の第１対向面１５と第２クラッチ部材１２の第２対向面２５とが互いに同一方向に傾斜するテーパー面である。また、第１クラッチ部材１１の突部１６が第１対向面１５に沿って傾斜し、第２クラッチ部材１２の溝部２６が第２対向面２５に沿って傾斜する。従って、突部１６と溝部２６とが軸線方向Ｘと直交する方向に延びる場合と比較して、突部１６と溝部２６とが係合する噛み合わせ距離を長くできる。これにより、突部１６にかかる負荷を分散させることができるので、第１クラッチ部材１１に設けた突部１６の許容荷重が大きくなる。 (Effect)
In the present invention, the first facing surface 15 of the first clutch member 11 and the second facing surface 25 of the second clutch member 12 are tapered surfaces that are inclined in the same direction. Also, the projection 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, compared to the case where the protrusion 16 and the groove 26 extend in the direction perpendicular to the axial direction X, the engagement distance between the protrusion 16 and the groove 26 can be increased. As a result, the load applied to the projecting portion 16 can be dispersed, so that the allowable load of the projecting portion 16 provided on the first clutch member 11 is increased.

また、突部１６と溝部２６とが係合する噛み合わせ距離を長くできるので、第１クラッチ部材１１と第２クラッチ部材１２との間でトルクを伝達する際に、突部１６と溝部２６とが軸線方向Ｘと直交する方向に延びる場合と比較して、突部１６の高さおよび溝部２６の深さを短くできる。すなわち、突部１６と溝部２６とが係合する噛み合わせ距離を長くなった分、突部１６の高さおよび溝部２６の深さを短くしても、同一のトルクを伝達できる。 In addition, since the engagement distance between the protrusion 16 and the groove 26 can be lengthened, when torque is transmitted between the first clutch member 11 and the second clutch member 12, the protrusion 16 and the groove 26 can be engaged. extends in the direction orthogonal to the axial direction X, the height of the protrusion 16 and the depth of the groove 26 can be shortened. That is, the same torque can be transmitted even if the height of the protrusion 16 and the depth of the groove 26 are shortened by the length of the engagement distance between the protrusion 16 and the groove 26 .

また、突部１６が傾斜しているので、軸線方向Ｘから第１クラッチ部材１１と第２クラッチ部材１２とを噛み合わせる際に、突部１６を溝部２６に挿入しやすい。従って、クラッチ機構４の組み立てが容易である。 Further, since the protrusion 16 is inclined, it is easy to insert the protrusion 16 into the groove 26 when engaging the first clutch member 11 and the second clutch member 12 from the axial direction X. As shown in FIG. Therefore, assembly of the clutch mechanism 4 is easy.

さらに、第１対向面１５および第２対向面２５が互いに同一方向に傾斜するテーパー面なので、第１クラッチ部材１１と第２クラッチ部材１２とを噛み合わせたときに、第１クラッチ部材１１と第２クラッチ部材１２とを同軸に位置させることが容易である。 Furthermore, since the first opposing surface 15 and the second opposing surface 25 are tapered surfaces that are inclined in the same direction, when the first clutch member 11 and the second clutch member 12 are engaged with each other, the first clutch member 11 and the second clutch member 11 can be engaged with each other. It is easy to position the two clutch members 12 coaxially.

また、突部１６および溝部２６は、径方向内側から径方向外側に向かって周方向の幅が広くなる。従って、回転の伝達時、および、回転の伝達解除時に、突部１６の外周側部分の損傷を防止或いは抑制できる。 In addition, the width of the protrusion 16 and the groove 26 in the circumferential direction increases from the radially inner side to the radially outer side. Therefore, it is possible to prevent or suppress damage to the outer peripheral portion of the protrusion 16 when transmitting the rotation and when releasing the transmission of the rotation.

さらに、第１クラッチ部材１１および第２クラッチ部材１２は、金属製である。従って、第１クラッチ部材１１および第２クラッチ部材１２の強度を確保することが容易である。ここで、第１クラッチ部材１１では第１対向面１５および突部１６が傾斜している。従って、第１対向面１５および突部１６が軸線Ｌと直交する方向に延びる場合と比較して、成形時に金型から第１クラッチ部材１１を離脱させることが容易である。よって、第１クラッチ部材１１の製造が容易となる。また、第２クラッチ部材１２では、第２対向面２５および溝部２６が傾斜している。従って、第２対向面２５および溝部２６が軸線Ｌと直交する方向に延びる場合と比較して、成形時に、金型から第２クラッチ部材１２を離脱させることが容易である。 Furthermore, the first clutch member 11 and the second clutch member 12 are made of metal. Therefore, it is easy to secure the strength of the first clutch member 11 and the second clutch member 12 . Here, in the first clutch member 11, the first facing surface 15 and the protrusion 16 are inclined. Therefore, it is easier to separate the first clutch member 11 from the mold during molding, compared to the case where the first facing surface 15 and the protrusion 16 extend in the direction perpendicular to the axis L. Therefore, manufacturing of the first clutch member 11 is facilitated. Further, in the second clutch member 12, the second facing surface 25 and the groove portion 26 are inclined. Therefore, it is easier to separate the second clutch member 12 from the mold during molding, compared to the case where the second facing surface 25 and the groove portion 26 extend in the direction perpendicular to the axis L.

また、第２対向面２５が傾斜することにより、第２クラッチ部材１２のクラッチ部２１は突出部分２２ａに近い外周側が厚肉となる。従って、歯部２３を介して円筒部２２に外力が加わったときに、突出部分２２ａが内周側に倒れるように変形することを防止或いは抑制できる。 In addition, since the second opposing surface 25 is inclined, the thickness of the outer peripheral side of the clutch portion 21 of the second clutch member 12 near the projecting portion 22a is increased. Therefore, when an external force is applied to the cylindrical portion 22 via the tooth portion 23, it is possible to prevent or suppress deformation of the projecting portion 22a so as to fall inward.

さらに、第１クラッチ部材１１は、第２クラッチ部材１２の突出部分２２ａに挿入されている。従って、第２クラッチ部材１２の外周面に歯部２３を設け、歯部２３の軸線方向Ｘの寸法を確保した場合でも、クラッチ機構４が軸線方向Ｘで大きくなることを抑制できる。 Further, the first clutch member 11 is inserted into the projecting portion 22a of the second clutch member 12. As shown in FIG. Therefore, even when the tooth portion 23 is provided on the outer peripheral surface of the second clutch member 12 and the dimension of the tooth portion 23 in the axial direction X is ensured, it is possible to prevent the clutch mechanism 4 from becoming large in the axial direction X.

なお、第１対向面１５の傾斜角度θ１および第２対向面２５の傾斜角度θ２は、５°以下とすることが望ましい。このようにすれば、第１クラッチ部材１１および第２クラッチ部材１２が軸線方向Ｘで過度に厚くなることを抑制できる。 It is desirable that the inclination angle θ1 of the first opposing surface 15 and the inclination angle θ2 of the second opposing surface 25 be 5° or less. By doing so, it is possible to prevent the first clutch member 11 and the second clutch member 12 from becoming excessively thick in the axial direction X.

また、第１対向面１５および第２対向面２５は、径方向内側から径方向外側に向かって第２方向に傾斜してもよい。この場合、第１対向面１５に設けた各突部１６は、軸線方向Ｘの高さ寸法Ｈ１が一定で、第１対向面１５に沿って延びる。また、第２対向面２５に設けた各溝部２６は、軸線方向Ｘの深さ寸法Ｈ２が一定で、第２対向面２５に沿って延びる。このようにした場合でも、突部１６と溝部２６とが係合する噛み合わせ距離を長くできる。これにより、突部１６にかかる負荷を分散させることができるので、第１クラッチ部
材１１に設けた突部１６の許容荷重が大きくなる。 Also, the first opposing surface 15 and the second opposing surface 25 may be inclined in the second direction from the radially inner side to the radially outer side. In this case, each protrusion 16 provided on the first opposing surface 15 has a constant height dimension H1 in the axial direction X and extends along the first opposing surface 15 . Each groove 26 provided in the second facing surface 25 has a constant depth dimension H2 in the axial direction X and extends along the second facing surface 25 . Even in this case, the engagement distance between the projection 16 and the groove 26 can be increased. As a result, the load applied to the projecting portion 16 can be dispersed, so that the allowable load of the projecting portion 16 provided on the first clutch member 11 is increased.

（駆動力伝達機構のロボットへの適用）
図７は、駆動力伝達機構１を搭載するロボットの説明図である。図７では、ロボットの断面を示す。本発明のロボット５０は、産業用のロボットである。ロボット５０は、上記の駆動力伝達機構１と、駆動源２と、駆動力伝達機構１の出力軸５に接続されたアーム部５１と、アーム部５１を旋回可能に支持する支持部５２と、を備える。支持部５２は、駆動源２および駆動力伝達機構１を備える。本例では、支持部５２は、駆動源２、伝達歯車３、クラッチ機構４、および出力軸５を備える。また、支持部５２は、出力軸５を軸線Ｌ回りに回転可能に支持する。アーム部５１は、出力軸５にボルト１０で固定されている。アーム部５１は出力部材６である。本例では、アーム部５１の先端に、ワークＷを搬送するためのワーク載置部５１ａが設けられている。 (Application of driving force transmission mechanism to robot)
FIG. 7 is an explanatory diagram of a robot on which the driving force transmission mechanism 1 is mounted. FIG. 7 shows a cross-section of the robot. The robot 50 of the present invention 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, a support portion 52 that rotatably supports the arm portion 51, Prepare. 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 drive source 2 , the transmission gear 3 , the clutch mechanism 4 and the output shaft 5 . Further, the support portion 52 supports the output shaft 5 so as to be rotatable around the axis L. As shown in FIG. The arm portion 51 is fixed to the output shaft 5 with bolts 10 . The arm portion 51 is the output member 6 . In this example, a work placement portion 51a for transporting the work W is provided at the tip of the arm portion 51 .

本発明のロボット５０によれば、駆動源２が駆動されると、駆動源２からの駆動力は、駆動力伝達機構１を介して、アーム部５１に伝達される。これにより、アーム部５１は軸線Ｌ回りに旋回して、ワークＷを搬送する。 According to the robot 50 of the present invention, when the driving source 2 is driven, the driving force from the driving source 2 is transmitted to the arm portion 51 via the driving force transmission mechanism 1 . As a result, the arm portion 51 rotates around the axis L to convey the work W. As shown in FIG.

ここで、駆動源２の駆動によって伝達歯車３が回転しているにも関わらず、外力などによってアーム部５１の旋回が阻止された場合には、クラッチ機構４に負荷がかかる。この負荷が所定のトルクを超える場合には、第２クラッチ部材１２が第１クラッチ部材１１から第２方向Ｘ２に離間して、第１クラッチ部材１１の突部１６と第２クラッチ部材１２の溝部２６との係合が解除される。これにより、第１クラッチ部材１１と第２クラッチ部材１２との間の回転の伝達が解除されるので、駆動力伝達機構１を介した駆動力の伝達が遮断される。 Here, when the rotation of the arm portion 51 is blocked by an external force or the like even though the transmission gear 3 is rotated by the drive source 2 , a load is applied to the clutch mechanism 4 . When this load exceeds a predetermined torque, the second clutch member 12 is separated from the first clutch member 11 in the second direction X2, and the protrusion 16 of the first clutch member 11 and the groove of the second clutch member 12 are separated from each other. 26 is disengaged. As a result, the transmission of rotation between the first clutch member 11 and the second clutch member 12 is released, so that the transmission of driving force via the driving force transmission mechanism 1 is interrupted.

その後、クラッチ機構４にかかる負荷が低減すると、第２クラッチ部材１２がコイルバネ１３の付勢力により第１方向Ｘ１に移動する。これにより、第１クラッチ部材１１の突部１６と第２クラッチ部材１２の溝部２６とが係合すると、駆動源２からの駆動力は、再び、駆動力伝達機構１を介して、アーム部５１に伝達される。これにより、アーム部５１は旋回して、ワークＷの搬送を再開する。 After that, when the load applied to the clutch mechanism 4 is reduced, the second clutch member 12 is moved in the first direction X1 by the biasing force of the coil spring 13 . As a result, when the protrusion 16 of the first clutch member 11 and the groove 26 of the second clutch member 12 are engaged with each other, the driving force from the driving source 2 is again transmitted through the driving force transmission mechanism 1 to the arm portion 51. is transmitted to As a result, the arm portion 51 rotates and the transfer of the workpiece W is resumed.

１…駆動力伝達機構、２…駆動源、３…伝達歯車、３ａ…伝達歯車の歯部、４…クラッチ機構、５…出力軸、６…出力部材、７…大径部、７ａ…環状面、７ｂ…端面、８…小径部、９…ねじ穴、１０…ボルト、１１…第１クラッチ部材、１１ａ…中心穴、１２…第２クラッチ部材、１２ａ…中心穴、１３…コイルバネ（付勢部材）、１５…第１対向面、１６…突部、１７…溝部、２１…クラッチ部、２２…円筒部、２２ａ…突出部分、２３…歯部、２５…第２対向面、２６…溝部、２７…突部、５０…ロボット、５１…アーム部、５１ａ…ワーク把持部、５２…支持部、Ｌ…軸線、Ｈ１…突部の高さ寸法、Ｈ２…溝部の深さ寸法、Ｓ１…仮想面、Ｓ２…仮想面、Ｘ…軸線方向、Ｘ１…第１方向、Ｘ２…第２方向
DESCRIPTION OF SYMBOLS 1... Driving force transmission mechanism 2... Drive source 3... Transmission gear 3a... Tooth part of transmission gear 4... Clutch mechanism 5... Output shaft 6... Output member 7... Large diameter part 7a... Annular surface , 7b end face 8 small diameter portion 9 screw hole 10 bolt 11 first clutch member 11a center hole 12 second clutch member 12a center hole 13 coil spring (biasing member ), 15... First opposing surface 16... Protruding part 17... Groove part 21... Clutch part 22... Cylindrical part 22a... Projecting part 23... Tooth part 25... Second opposing surface 26... Groove part 27 Projection 50 Robot 51 Arm 51a Work gripping portion 52 Supporting portion L Axis line H1 Height dimension of projection H2 Depth dimension of groove S1 Virtual plane S2... virtual plane, X... axial direction, X1... first direction, X2... second direction

Claims (5)

出力軸と、前記出力軸に同軸に固定された円環状の第１クラッチ部材と、前記出力軸と同軸に配置され前記第１クラッチ部材を外周側から囲む円筒状の第２クラッチ部材と、前記第２クラッチ部材から前記第1クラッチ部材に向けて付勢する付勢部材とを有する駆動力伝達機構であって、an output shaft; an annular first clutch member coaxially fixed to the output shaft; a cylindrical second clutch member disposed coaxially with the output shaft and surrounding the first clutch member from the outer peripheral side; a driving force transmission mechanism having a biasing member that biases the second clutch member toward the first clutch member,
前記第1クラッチ部材は、前記第２クラッチ部材と対向する第1対向面に径方向に延びる突部を有し、前記第１対向面は、径方向内側から径方向外側に向かって前記第２クラッチ部材から離間する方向に傾斜し、The first clutch member has a radially extending protrusion on a first opposing surface facing the second clutch member, and the first opposing surface extends radially outward from the second clutch member. inclined in a direction away from the clutch member,
前記第２クラッチ部材は、前記第１クラッチ部材と対向する第２対向面に前記径方向に延びる溝部を有し、前記第２対向面は、径方向内側から径方向外側に向かって前記第１クラッチ部材に接近する方向に傾斜し、The second clutch member has a groove portion extending in the radial direction in a second opposing surface facing the first clutch member, and the second opposing surface extends from the radially inner side toward the radially outer side to form the first clutch member. inclined in a direction approaching the clutch member;
前記第1クラッチ部材の前記突部と前記第2クラッチ部の前記溝部は係合により前記第２クラッチ部材から前記第１のクラッチ部材へ回転が伝達される、Rotation is transmitted from the second clutch member to the first clutch member by engagement between the protrusion of the first clutch member and the groove of the second clutch portion,
前記第2クラッチ部材は、前記出力軸の周りに回転しかつ軸方向に移動可能に支持され、円筒の外周面には歯部を有し、この歯部により駆動源の駆動力が伝達される、駆動力伝達機構。The second clutch member is supported so as to be rotatable around the output shaft and movable in the axial direction, and has teeth on the outer peripheral surface of the cylinder, through which the driving force of the drive source is transmitted. , driving force transmission mechanism. 前記突部および前記溝部は、径方向内側から径方向外側に向かって周方向の幅が広くなることを特徴とする請求項１に記載の駆動力伝達機構。 2. The driving force transmission mechanism according to claim 1, wherein the protrusion and the groove increase in circumferential width from the radially inner side to the radially outer side. 前記第１対向面の傾斜角度および前記第２対向面の傾斜角度は、５°以下であることを特徴とする請求項１または２に記載の駆動力伝達機構。 3. The driving force transmission mechanism according to claim 1, wherein the inclination angle of the first opposing surface and the inclination angle of the second opposing surface are 5[deg.] or less. 前記第１クラッチ部材および第２クラッチ部材は、金属製であることを特徴とする請求項１から３のうちのいずれか一項に記載の駆動力伝達機構。 4. The driving force transmission mechanism according to claim 1, wherein the first clutch member and the second clutch member are made of metal. 請求項４に記載の駆動力伝達機構と、a driving force transmission mechanism according to claim 4;
前記駆動源と、the drive source;
前記出力軸に接続されたアーム部と、an arm portion connected to the output shaft;
前記駆動源および伝達歯車を備え、前記アーム部を旋回可能に支持する支持部と、a support section that includes the drive source and the transmission gear and supports the arm section so as to be able to turn;
を備えることを特徴とするロボット。A robot characterized by comprising:
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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
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
JP2009014074A (en) * 2007-07-03 2009-01-22 Sumitomo Denko Shoketsu Gokin Kk Meshing clutch
CN102403831B (en) * 2010-09-06 2015-04-01 日本电产三协株式会社 Motor actuator
JP6319160B2 (en) * 2015-04-08 2018-05-09 トヨタ自動車株式会社 Selectable one-way clutch
CN107022876B (en) * 2016-02-01 2020-06-09 浙江三星机电股份有限公司 Brake wheel of washing machine speed reduction clutch and processing method
JP2018009655A (en) * 2016-07-14 2018-01-18 日本電産サンキョー株式会社 Driving force transmission mechanism and opening/closing member driving device
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