CN100510468C - Driving device - Google Patents

Abstract

A transmission device that can increase the rotational torque without making the device radially larger has a pair of skewed bevel gears with different numbers of teeth; a device that supports one of the pair of skewed bevel gears to vibrate freely relative to the other Supporting mechanism; in order to make an oblique bevel gear perform vibrating motion, the pushing force giving mechanism is provided at more than 3 positions on the supporting body; the control mechanism that operates and supplies the pushing force giving mechanism fluid; only the oblique gear on the vibrating side A rotation transmission mechanism that transmits the rotational force of the bevel gear to the output member. The pushing force giving mechanism has an elastic film member installed on the support body; the fluid chambers at the support body forming more than three positions around the elastic film member are sealed; One side of the cross bevel gear is provided with a radial pressure receiving surface, so that the radial pressure receiving surface acts on a fluid pushing force in an angled direction relative to the connection and separation direction of the skew bevel gear and another skew bevel gear.

Description

transmission

technical field

The present invention generally relates to a transmission device that uses a pair of oblique bevel gears and can rotate at a low speed, and particularly relates to a transmission device that utilizes an elastic membrane member in an input portion.

Background technique

In the prior art, a pair of oblique bevel gears is used, and the fluid pressure such as air is used to step and rotate synchronously. There is a reducer inside, and the transmission device that can realize ultra-low speed rotation is well known (for example, refer to Patent Document 1: JP-A 2002-317858 Bulletin).

In addition, transmissions using an elastic membrane member and a cylindrical internal gear are also known (for example, refer to Patent Documents 2: JP-A-10-78010 and 3: JP-A-11-93612).

In addition, as shown in Figures 8 to 14, the transmission device invented by the present inventors uses an elastic film member in the input part, and uses a pair of oblique bevel gears with relative freedom of rotation and different numbers of teeth, and published these transmissions in the society. The basic structure of the device (for example, refer to Non-patented Document 1: The 4th Lubrication Design Department Lecture Collection). The prior art shown in FIGS. 8 to 14 will be described below. In Fig. 8 to Fig. 10, symbol 2 represents casing, is used for fixing the support portion 4a of the first oblique bevel gear 4 and each outer peripheral surface of the cylindrical support body 6, and the bearing portion of the first oblique bevel gear 4 can rotate freely. The shaft-shaped output member 8 is ground-supported.

The structure in which the supporting portion 4a of the above-mentioned first bevel gear 4 is fixed by the casing 2 constitutes an autorotation prevention machine structure. One side of the above-mentioned support body 6 is fixedly fitted with an elastic membrane member 10 made of silicone rubber, elastic material and other materials with the same effect on the division portion 6a partitioned by grooves, and the elastic membrane member 10 is used to seal the support body 6 at one end. Four fluid chambers 12 are formed at about 90-degree intervals in the circumferential direction. The elastic membrane member 10 is press-fitted into the locking groove 14 formed on the support body 6 , and the surroundings of the fluid chambers 12 are firmly sealed by the elastic membrane member 10 .

On the other end of the above-mentioned support body 6 is joined a cover body 15 which forms a fluid channel 16 in each fluid chamber 12 with the above-mentioned support body 6 . The fluid channel 16 is connected to a fluid pressure drive control mechanism (not shown) that sequentially supplies pressure fluid such as air pulses to each of the fluid chambers 12 . 18 denotes a second bevel gear with teeth 18b formed on its supporting portion 18a whose pressure receiving surface 18c faces the surface of the above-mentioned elastic film member 10 . A bevel gear 20 for transmitting rotational force is integrally formed inside the support portion 18a of the second oblique bevel gear 18, and the bevel gear 20 meshes with a bevel gear 24 fixedly mounted on the output member 8. The number of teeth is the same as that of the bevel gear 24 .

In addition, a hemispherical concave spherical bearing 22 is integrally formed at the center of the side surface opposite to the pressure receiving surface 18c of the support portion 18a of the second oblique bevel gear 18. The interaction of the balls 8a on the side is used to freely support the second bevel gear 18 in vibrating motion (nutating motion). The number of teeth 4b of the first oblique bevel gear 4 and the teeth 18b of the second oblique bevel gear 18 are different, and the teeth 18b of the second oblique bevel gear 18 are opposed to the teeth 4b of the first oblique bevel gear 4 , engage over a portion of the circumference. The collar portion of the output member 8 integrally formed is properly connected to the inner end surface of the support surface 4 a of the first bevel gear 4 by means of a thrust bearing 26 . The runout of the vertex of the surface forming the cone angle of each bevel gear 4, 18, the vertex of the surface forming the cone angle of each bevel gear 20, 24, and the spherical center of the spherical bearing 22, that is, the second skew bevel gear 18 The center of the rotary motion is consistent.

In the above configuration, the fluid pressure drive control mechanism is operated according to a preset program, and fluid pulses such as air pulses are sequentially supplied to each fluid chamber 12 . As shown in Figure 8, after the fluid chamber 12 is pressurized and expanded with fluid, the second oblique bevel gear 18 is pressurized in the axial direction, that is, in the direction in which the second bevel bevel gear 18 approaches the first bevel bevel gear 4. On the eccentric portion of the circular pressure receiving surface 18c of the bevel gear 18, the second bevel gear 18 is inclined with the sphere 8a as a fulcrum, and a part of its teeth 18b deeply meshes with the teeth 4b of the first bevel gear 4. Utilizing the four fluid chambers 12, the second oblique bevel gear 18 is pressurized sequentially and sequentially, and performs vibrating motion while continuously meshing with a part of its circumferential direction with respect to the first oblique bevel gear 4. 1. Because the oblique bevel gear 4 is fixed on the casing 2, it can prevent its rotation. Also, because the number of teeth 4b of the first oblique bevel gear 4 and the teeth 18b of the second oblique bevel gear 18 are different, the number of teeth of the second oblique bevel gear 18 is different. The bevel gear 18 rotates by means of its vibrating motion.

The rotation motion of the second helical bevel gear 18 is transmitted to the output member 8 by a rotational force transmission mechanism composed of bevel gears 20 and 24 having the same number of teeth, and the output member 8 is rotated. In the transmission shown in FIG. 11 , a friction reducing member 28 made of a thrust bearing or other equivalent material is interposed between the elastic film member 10 and the second bevel gear 18 . In FIG. 11 , the frictional force reducing member 28 is attached to a convex portion 30 protruding from the center of the support portion 18 a of the second bevel gear 18 . Other structures in FIG. 11 are the same as those of the transmission shown in FIG. 8 .

Next, a transmission device in which the pressing position of the skew bevel gear is used as the outer peripheral region of the pressure receiving surface will be described with reference to FIGS. 12 and 13 .

32 represents a piston in which each push rod 32a and guide shaft 32b are formed as a whole. It is arranged in the guide hole corresponding to it on the guide plate 34 of the casing 2 . The push rods 32 a of the respective pistons 32 are arranged at intervals of 90 degrees in the circumferential direction, and face the outer peripheral region of the pressure receiving surface 18 c of the second bevel gear 18 . Other structures are the same as those of the transmission shown in FIG. 8 .

In the above structure, after one fluid chamber 12 expands, the surface of the expanded fluid chamber 12 pushes the opposite piston 32, the piston 12 moves in the axial direction, and the pushing rod 32a pushes the second oblique bevel gear in the axial direction. The outer peripheral portion of the pressure receiving surface 18c of 18. By performing these movements sequentially, the vibrating motion (nutating motion) of the second bevel gear 18 is performed.

Fig. 14 shows a transmission using a universal joint as a rotational force transmission mechanism.

In Fig. 14, 58 represents the cross shaft of the universal joint, and the shaft portion 58a in one direction is rotatably engaged in the bearing portions 60, 62 of the support portion 18a formed on the second bevel gear 18, and forms a shape with the shaft portion 58a. The shaft portion 58 b in the perpendicular direction is rotatably fitted into bearing portions 64 , 66 formed on the collar portion of the output member 8 . Other structures are the same as those of the transmission shown in FIG. 8 .

Contents of the invention

As described in the aforementioned Patent Documents 2 and 3, an elastic film member is used in the input unit, and in a transmission using a cylindrical internal gear, the elastic film member presses the outer peripheral portion of the internal gear in a direction approaching the external gear. Therefore, in order to make this pushing force act on the internal gear, there arises a problem that it depends only on the pressurized area.

In addition, by using the existing pair of oblique bevel gears and using an elastic membrane member in the transmission device, the pressure receiving surface of the oblique bevel gear opposite to the elastic membrane member is provided in the thrust direction and made a flat surface. , in the thrust direction (direction parallel to the output member) fluid pressure is applied to the pressure receiving surface. Therefore, the fluid pressure does not act efficiently on the pressure receiving surface of the skew bevel gear, and no large force acts on the pressure receiving surface. In addition, in order to exert a large force on the pressure receiving surface, the only way to increase the diameter of the oblique bevel gear opposite to the elastic film member is to push the outer edge of the oblique bevel gear that deviates from the center, or to increase the diameter of the oblique bevel gear that is in contact with the oblique bevel gear. The area of the elastic membrane member that the bevel gears are in contact with is formed by pressing the oblique bevel gear with an area larger than that of the oblique bevel gear. In any of the above-mentioned methods, there arises a problem that the radial direction of the skew bevel gear and the elastic film member becomes large, and the size of the device becomes large. The present invention aims to solve the above problems.

In order to achieve the above object, the transmission device of the present invention has: a pair of oblique bevel gears that are relatively free to rotate and have different numbers of teeth; a support that supports one of the above pair of oblique bevel gears to perform vibrating motion freely relative to the other Mechanism; in order to make the above-mentioned one oblique bevel gear do vibrating motion, the supporting body is provided with a pushing force giving mechanism at more than 3 positions; an anti-rotation mechanism to prevent any one of the above-mentioned pair of oblique bevel gears from rotating; it is rotated freely Supported output member; only the rotational force of the oblique bevel gear on the side without the above-mentioned anti-rotation mechanism is transmitted to the rotation transmission mechanism of the above-mentioned output member, and the apex of the surface constituting the cone angle of each of the above-mentioned oblique bevel gears is connected to the above-mentioned vibration The center of the rotary motion is consistent, and the above-mentioned pushing force imparting mechanism has: an elastic membrane member installed on the above-mentioned support body; at least a part of the elastic membrane member is used to seal the surrounding fluid chambers formed on the above-mentioned support body at three or more positions; Fluid is sent to the channel of each fluid chamber; the fluid pressure drive control mechanism for sequentially supplying the fluid of each fluid chamber, in the transmission device of the above-mentioned structure, a radial The pressure-receiving surface acts on the radial pressure-receiving surface with the above-mentioned fluid pushing force in an angular direction in the direction in which the skew bevel gear engages and separates from the other skew bevel gear.

In addition, in addition to the above-mentioned radial pressure-receiving surface, the present invention is provided with a thrust pressure-receiving surface on the side of the oblique bevel gear opposite to the above-mentioned elastic membrane member. The pushing force in the direction approximately parallel to the connecting and separating direction of the skewed bevel gear, the above-mentioned fluid pushing force is opposite to the skewed bevel gear opposite to the above-mentioned elastic film member, in the crimping direction to another skewed bevel gear, and relative to this direction The direction of the angle acts.

In addition, the present invention has a configuration in which, among the pair of bevel gears, the bias bevel gear on the pressed side is rotated by the pressing force imparting mechanism.

In addition, the present invention interposes a frictional force reducing member between the above-mentioned elastic film member and a pressure receiving surface in proper contact therewith.

The transmission device provided by the present invention can effectively utilize the principle of leverage to push the oblique bevel gear with fluid pressure. In addition, the pressure receiving area can be increased, so a large output rotational moment can be obtained without enlarging the device in the radial direction.

Description of drawings

Fig. 1 is a sectional view showing a first embodiment of the present invention.

Fig. 2 is a CC sectional view of Fig. 1 .

Fig. 3 is a sectional view showing a second embodiment of the present invention.

Fig. 4 is a sectional view along line D-D of Fig. 3 .

Fig. 5 is a sectional view showing a third embodiment of the present invention.

Fig. 6 is a sectional view along E-E of Fig. 5 .

Fig. 7 is an exploded perspective view of a conventional rotational force transmission mechanism.

Fig. 8 is a sectional view of the prior art.

Fig. 9 is a sectional view along line A-A of Fig. 8 .

Fig. 10 is an exploded perspective view showing a conventional fluid chamber.

Fig. 11 is a sectional view of the prior art.

Fig. 12 is a sectional view of the prior art.

Fig. 13 is a sectional view along line BB of Fig. 12 .

Fig. 14 is a sectional view of the prior art.

In the picture:

2—casing, 4—first oblique bevel gear, 6—support body, 8—output member, 10—elastic film member, 12—fluid chamber, 14—locking groove, 15—cover body, 16—fluid channel , 18—second oblique bevel gear, 20—bevel gear, 22—spherical bearing, 24—bevel gear, 26—thrust bearing, 28—friction reduction member, 30—convex portion, 32—piston, 34—guide plate , 36—shaft hole, 38—pressure shaft, 40—wheel, 42—baffle, 44—inner diameter surface, 46—pressure surface, 48—tubular body, 50—rotating body, 52—indented part, 54—bottom surface , 56—partition plate, 58—cross shaft, 60—bearing portion, 62—bearing portion.

Detailed ways

Embodiments of the present invention will be described in detail below with reference to the drawings.

1 and 2 show a first embodiment of the present invention. Reference numeral 2 denotes a casing for fixing the support portion 4a of the first oblique bevel gear 4 and the outer peripheral surfaces of the cylindrical support body 6, and the shaft-shaped output member 8 is rotatably supported by the bearing portion of the first oblique bevel gear 4. . The structure in which the support portion 4a of the first bevel gear 4 is fixed by the casing 2 constitutes an anti-rotation mechanism.

A shaft hole 36 is formed in the center of the cylindrical support body 6 . On above-mentioned supporting body 6, the elastic film material 10 that is made of silicone rubber, elastic material and other materials with the same effect is fixedly installed, as shown in Figure 2, on the peripheral surface of the shaft hole 36 of supporting body 6, use elastic film The member 10 seals its peripheral surface to form four fluid chambers 12 spaced about 90 degrees in the circumferential direction. A pressure receiving shaft 38 protrudes from the center of the back of the support portion 18 a of the second bevel gear 18 in the axial direction, and a wheel 40 is rotatably supported thereon.

A gentle conical surface is formed on the outer peripheral surface of the above-mentioned wheel 40, and the outer peripheral surface constitutes a radial pressure receiving surface. Fluid pushing force in angular direction. The outer peripheral surface of the above-mentioned wheel 40 is loosely fitted in the shaft hole 36 of the above-mentioned support body 6 . 42 denotes a partition supported by the casing 2, a hole is formed in the central part, and the side faces of the elastic film member 10 are abutted against. The elastic membrane member 10 is press-fitted into the locking groove 14 formed on the support body 6 , and the surroundings of the fluid chambers 12 are firmly sealed by the elastic membrane member 10 .

In addition, the present invention is not limited to the elastic membrane member 10 constituting the sealing structure, and the fluid chamber 12 may be partially formed by a member constituting the elastic membrane member 10, and the part of the member other than the elastic membrane is sealed. The other end of the above-mentioned support body 6 is connected to the cover body 15, and a fluid channel 16 is formed on the cover body 15 and the above-mentioned support body 6 to communicate with each of the above-mentioned fluid chambers 12, and openings are respectively provided in the corresponding fluid chambers 12. The fluid channel 16 is connected to a fluid pressure drive control mechanism (not shown) that sequentially supplies pressure fluid such as air pulses to each of the fluid chambers 12 .

Teeth 18 b are formed on the supporting portion 18 a of the second bevel gear 18 . A bevel gear 20 for transmitting rotational force is integrally formed inside the support portion 18a of the second oblique bevel gear 18. The bevel gear 20 meshes with a bevel gear 24 fixedly mounted on the output member 8. The number of teeth of the bevel gear 20 is The number of teeth is the same as that of the bevel gear 24 .

In addition, a hemispherical concave spherical bearing 22 is integrally formed at the center of the side surface opposite to the pressure receiving surface 18c of the support portion 18a of the second oblique bevel gear 18. The interaction of the balls 8a on the side is used to freely support the second bevel gear 18 in vibrating motion (nutating motion). The spherical bearing 22 is fitted with a hemispherical ball 8a formed on the rear side of the output member 8, and the ball 8a and the spherical bearing 22 form a support mechanism that freely supports the second bevel gear 18 for vibrating motion.

The number of teeth 4b of the first oblique bevel gear 4 and the teeth 18b of the second oblique bevel gear 18 are different, and the teeth 18b of the second oblique bevel gear 18 are opposed to the teeth 4b of the first oblique bevel gear 4 , engage over a portion of the circumference. When the above-mentioned fluid chamber 12 is in a neutral state without expansion, the teeth 4b, 18b of the first and second oblique bevel gears 4, 18 are relatively arranged at positions where the teeth 4b, 18b do not engage. In the neutral state, there may also be a Engage little by little.

The collar portion of the output member 8 integrally formed is properly connected to the inner end surface of the support surface 4 a of the first bevel gear 4 by means of a thrust bearing 26 . In the first embodiment shown in Figure 1, the vertex of the surface constituting the cone angle of each bevel gear 4, 18, the vertex of the surface constituting the cone angle of each bevel gear 20, 24, and the spherical shape of the above-mentioned spherical bearing 22 The center, that is, the center of the vibrating motion of the second bevel gear 18 coincides.

In the above configuration, the fluid pressure drive control mechanism is operated according to a preset program, and fluid pulses such as air pulses are sequentially supplied to each fluid chamber 12 .

After the pressure fluid such as air pulse is supplied to each fluid chamber 12 sequentially, it expands in the direction at right angles to the axial direction in the shaft hole 36, and utilizes the principle of leverage to efficiently push the radial receiving area formed by the outer peripheral surface of the wheel 40. Pressed noodles. In this way, a pressing force acts on the second bevel gear 18 in a direction perpendicular to the axial direction. With this pressing force, the second bevel gear 18 tilts with the sphere 8a as a fulcrum, and a part of its teeth 18b are deep. Teeth 4b of the first helical bevel gear 4 are engaged.

Utilizing the four fluid chambers 12, the second oblique bevel gear 18 is sequentially and sequentially pressurized, and while continuously meshing with the first oblique bevel gear 4 on a part of its circumferential direction, it performs vibrating motion, the first The oblique bevel gear 4 can prevent its rotation because it is fixed on the casing 2. Also, because the number of teeth 4b of the first oblique bevel gear 4 and the teeth 18b of the second oblique bevel gear 18 are different, the second oblique bevel gear The bevel gear 18 rotates by its vibrating motion.

The rotation motion of the second helical bevel gear 18 is transmitted to the output member 8 by a rotational force transmission mechanism composed of bevel gears 20 and 24 having the same number of teeth, and the output member 8 is rotated. In the present embodiment, in the structure of the pair of oblique bevel gears 4 and 18, the second oblique bevel gear 18 on the fluid pressing side is rotated. On the other hand, the pressing side by the pressing force imparting mechanism may be set as the non-rotating side. In this case, the other first helical bevel gear 4 side is freely rotatable with respect to the casing 2 . In order to prevent the second bevel gear 18 from rotating, it is necessary to provide an anti-rotation mechanism on the second bevel gear 18 .

This anti-rotation mechanism is formed by providing an anti-rotation protrusion on the outer periphery of the skew bevel gear, and fitting the protrusion into an anti-rotation groove formed in the casing. Therefore, the above-mentioned structure of protrusions and grooves is formed in the outer peripheral direction of the skew bevel gear, leading to an increase in size of the structure. Among the pair of skew bevel gears, the structure that rotates the gear pressed by the pressing force imparting mechanism among the pair of skew bevel gears can prevent the above-mentioned increase in size, and the overall size can be reduced. However, the present invention is not limited to such a configuration, and any one of the pair of skew bevel gears 4 and 18 may be used as the fixed side.

In the above-mentioned first embodiment, the wheel 40 is rotatably supported on the pressure receiving shaft 38 of the second bevel gear 18, and the outer peripheral surface of the wheel 40 constitutes the radial pressure receiving surface. Contacting the surface of one of the fluid chambers 12 that is inflated, the above-mentioned wheel 40 does not move and rotate between itself and the surface of one of the inflated fluid chambers 12, and no friction occurs therebetween. However, when the wheel 40 is pushed by the expansion of one expansion of the fluid chamber 12, the contact between the surface of the elastic film member 10 and the wheel deviates to some extent, so that a gap occurs between the surface of the elastic film member 10 and the second bevel gear 18. friction. Therefore, the elastic membrane member 10 is worn and consumed, and its durability is deteriorated, and at the same time, the transmission efficiency of the rotational torque between the bevel gear 18 and the output member 8 is reduced.

At this time, grease or oil is interposed between the elastic film member 10 and the radial pressure-receiving surface on the side of the bevel gear 18, or a resin made of a material with a low friction coefficient is applied to the surface of the radial pressure-receiving surface, such as DLC resin, the resin of the solid lubricating material containing PTFE resin, or the surface treatment of nickel-based electroless plating, or the surface of the elastic film member 10 is implemented with a resin made of a material with a low friction coefficient, such as fluorine-based rubber resin, etc. The above-mentioned problems caused by friction loss can be improved. This countermeasure is effective in Examples described later.

3 and 4 show the second embodiment of the present invention. The cover body 15 fixed on the machine cover 2 fixes the support body 6. The support body 6 utilizes the elastic film member 10 to straddle the outer peripheral surface and the end surface of the support body 6. Four fluid chambers 12 are formed. Each fluid chamber 12 communicates with a channel 16 for supplying pressurized fluid. After one of the pressurized fluids in the supply fluid chamber 12 is expanded, the pressurizing force acts on the inner diameter surface 44 of the concave portion formed in the support portion of the second bevel gear 18 and the thrust pressure receiving surface 46 perpendicular to the axial direction. .

Thus, the second oblique bevel gear 18 receives a thrust in the direction perpendicular to the axial direction from the surface of the expanded fluid chamber 12 using the principle of leverage, and at the same time receives an axial thrust on the thrust pressure receiving surface 46. pressure. The inner diameter surface 44 of the recessed portion formed in the support portion of the second bevel gear 18 is pressed by the acting fluid in a direction having an angle with respect to the direction of connection between the bevel gear 18 and the other bevel gear 4 And constitute the radial pressure surface. Other structures are the same as those of the first embodiment shown in FIG. 1 .

5 and 6 show the third embodiment of the present invention, the center of the second oblique bevel gear 18 is integrally fixed with a tubular body 48, and the tubular body 48 protruding axially from the back of the second oblique bevel gear 18 The shaft portion 50a of the rotating body 50 is inserted into the shaft part 50a so as to be rotatable. The center of one side of the tubular body 48 forms the spherical bearing 22 . A bowl-shaped concave portion 52 is formed on the side of the support body 6 fixed to the casing 2, and the elastic film member 10 is formed at a 90-degree angle in the circumferential direction across the inner surface of the cylindrical portion of the concave portion 52 and the curved bottom portion 54. Four fluid chambers 12 spaced apart.

Each fluid chamber 12 is provided with an opening communicating with a channel 16 for supplying pressure fluid. 56 represents a partition supported by the casing 2 . The outer peripheral surface 50b of the rotating body 50 is pressurized by a fluid in a direction having an angle with respect to the connecting and separating direction of the skew bevel gear 18 and the other skew bevel gear 4, and constitutes a radial pressure receiving surface. Other configurations of this embodiment are the same as those of the first embodiment shown in FIG. 1 .

In the above structure, the pressure fluid is used to drive the control mechanism. After one of the fluid chambers 12 expands, the pressure force acts on the bowl of the rotating body 50 with high efficiency in the direction in which the bevel gear 18 is inclined by using the principle of leverage. Simultaneously acting on the radial pressure receiving surface constituted by the shape outer peripheral surface 50b, and acting on the thrust pressure receiving surface constituted by the bottom surface portion 50c, the second bevel gear 18 is simultaneously subjected to a direction perpendicular to the axial direction (inclined direction) and approaching Pressing forces in two axial directions of the above-mentioned first skew bevel gear 4 . The second oblique bevel gear 18 is pressed against the first oblique bevel gear 4 to prevent the spherical bearing 22 of the second oblique bevel gear 18 from detaching from the ball 8a of the output member 8. Engagement works. In this embodiment, one of a pair of oblique bevel gears facing each other using the pressure of the fluid chamber is subjected to pressure from both sides in the oblique direction and the axial direction, so that one second oblique bevel gear 18 is opposed to the other second oblique bevel gear 18 reliably. 1 Nutating motion of oblique bevel gear 4.

In the above-mentioned embodiment, any kind of rotating force transmission mechanism that utilizes the bevel gears 20, 24 that mesh with each other to transmit the rotation of the second helical bevel gear 18 to the output member 8 is not limited to this structure, as long as it allows the first 2 Oblique bevel gears 18 nutating, various rotational force transmission mechanisms can be used. In addition, the number of fluid chambers is not limited to four, as long as there are three or more fluid chambers.

Fig. 7 shows another embodiment of the rotational force transmission mechanism.

In Fig. 7, 58 represents the cross shaft of the universal joint, and the shaft portion 58a in one direction is rotatably installed in the bearing portions 60, 62 formed on the support portion 18a of the second bevel gear 18, and is formed with the shaft portion 58a. The shaft portion 58 b in the perpendicular direction is rotatably attached to bearing portions 64 , 66 formed on the collar portion of the output member 8 . The rotational force transmission mechanism using the universal joint shown in FIG. 7 can be used in the first to third embodiments described above. In this embodiment using this universal joint, the difference between the vertex of the surface constituting the cone angle of each bevel gear 4, 18 and the vibrating motion of the second bevel gear 18 with the universal joint as a fulcrum The center is consistent.

In the above-mentioned embodiments, any kind of structure in which the radial pressure-receiving surface receives fluid pushing force in a direction approximately 90 degrees to the axial direction, but the present invention is not limited to an angle of approximately 90 degrees, as long as it is radial The pressure-receiving surface can be formed by using the lever principle to receive a pushing force in an angled direction relative to the axial direction through the skewed bevel gear, and it is not necessary to specify approximately 90 degrees. For example, when the above-mentioned angle is set to 45 degrees, using the principle of leverage, the pushing force of the fluid in the direction of approximately 45 degrees acts as a component force pushing the oblique bevel gear 18 in a direction approximately 90 degrees from the axial direction, and in Even in this case, the resultant force of the component force pushing the skew bevel gear 4 in a direction substantially parallel to the axial direction of the skew bevel gear 18 allows the pressure of the fluid to efficiently act on the skew bevel gear 18 .

Claims (5)

1. transmission device has: relatively rotate freely and a pair of angular bevel gears that the number of teeth is different; Relative another that supports in the above-mentioned a pair of angular bevel gears is done the supporting mechanism of whirling motion freely; Give mechanism for making an above-mentioned angular bevel gears do the whirling motion in the pushing force that support is provided with 3 above positions; Prevent the free-wheeling system that prevents of any one rotation in the above-mentioned a pair of angular bevel gears; Be rotated the output link that supports freely; Only will not having the above-mentioned rotatory force of the angular bevel gears of free-wheeling system one side that prevents sends the rotation conveyer of above-mentioned output link to; The summit of the face of the cone angle of above-mentioned each angular bevel gears of formation is consistent with the center of above-mentioned whirling motion; Above-mentioned pushing force gives mechanism to be had: the elastic membrane member that is installed in above-mentioned support, this elastic membrane member is at least as the fluid chamber in 3 above positions of above-mentioned support formation around the part sealing, fluid is delivered to the passage and the fluid pressure actuated control mechanism that is used for supplying with successively this each fluid chamber's fluid of this each fluid chamber, it is characterized in that: be provided with radially compression face in the angular bevel gears side relative, radially on angled direction on the direction, acting on above-mentioned fluid pushing force at relative this angular bevel gears and connecing of another angular bevel gears on the compression face at this with above-mentioned elastic membrane member.

2. transmission device according to claim 1, it is characterized in that, except that being provided with above-mentioned radially compression face, be provided with the thrust compression face in the angular bevel gears side relative with above-mentioned elastic membrane member, this thrust compression face is subjected to the pushing force on direction almost parallel direction of connecing with relative another angular bevel gears of this angular bevel gears, the pushing force of above-mentioned fluid faces toward and the relative angular bevel gears of above-mentioned elastic membrane member, to another angular bevel gears crimping direction, and acting on the angled direction of relative this direction.

3. transmission device according to claim 1 and 2 is characterized in that, has in above-mentioned a pair of angular bevel gears, gives the structure that mechanism makes the angular bevel gears rotation that is urged side with above-mentioned pushing force.

4. transmission device according to claim 1 and 2 is characterized in that, above-mentioned elastic membrane member and with its compression face that appropriately contacts between get involved frictional force and alleviate member.

5. transmission device according to claim 3 is characterized in that, above-mentioned elastic membrane member and with its compression face that appropriately contacts between get involved frictional force and alleviate member.

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