JP7148952B2 - Power transmission device and intraoral processing device - Google Patents

Description

TECHNICAL FIELD The present invention relates to a power transmission device and an intraoral processing device including the same.

As disclosed in Patent Document 1, a power transmission device comprising a worm and a worm wheel that mesh with each other and a leaf spring that presses the worm against the worm wheel in order to reduce backlash between the worm and the worm wheel. Are known.

JP-A-9-291982

Since the power transmission device requires a leaf spring in addition to the worm and the worm wheel, it is particularly suitable for applications that require a small size, such as an intraoral processing device for processing the oral cavity. do not have. Therefore, a power transmission device that can be realized in a small size while reducing the backlash is desired.

In addition, when a gear is pressed against a mating gear as in the above power transmission device, the gear is given a degree of freedom in positioning, so the gear may be displaced relative to the mating gear by the torque acting on itself. be. This relative displacement causes an error in the relative rotation angle between both gears. Therefore, a power transmission device is desired in which relative displacement due to torque is less likely to occur in gears.

SUMMARY OF THE INVENTION An object of the present invention is to provide a power transmission device that can be realized in a small size while reducing backlash, and in which relative displacement of gears due to torque is less likely to occur, and an intraoral processing apparatus comprising the same. is to provide

In order to achieve the above object, a power transmission device according to the present invention includes:
a gear meshing with a mating gear;
a flexible rotating shaft made of a material having flexibility and supporting the gear;
a shaft coupling that connects an end of the flexible rotating shaft with an end of a flexible shaft that transmits torque to the flexible rotating shaft;
holding members for holding the flexible rotary shafts in the state of being flexed so that the gears are pressed against the mating gears by a restoring force against the deflection of the flexible rotary shafts , each of the flexible rotary shafts and having a first bearing member and a second bearing member spaced apart from each other in a direction along the flexible rotation axis, wherein the first bearing member is coupled to the second bearing member a holding member arranged at a position closer to the shaft coupling than
a base member to which the first bearing member and the second bearing member are fixed;
with
The first bearing member is a first holding portion of the flexible rotary shaft held by the first bearing member, which is perpendicular to the length direction of the flexible rotary shaft in the first holding portion. preventing relative displacement with respect to said mating gear in an in-plane direction parallel to the plane, and of said first retaining portion with respect to said mating gear in the longitudinal direction of said flexible axis of rotation in said first retaining portion; It prevents relative displacement,
The second bearing member is a second holding portion held by the second bearing member on the flexible rotary shaft, the length direction of the flexible rotary shaft on the first holding portion and the gear are aligned with the mating gear. prevents relative displacement with respect to the mating gear in the direction intersecting the second virtual plane parallel to the direction pressed against
The base is arranged such that the shaft coupling and the first bearing member are spaced apart from each other in a direction along the flexible rotation shaft, and the shaft coupling is rotatable together with the flexible shaft and the flexible rotation shaft. By being fixed to the member, the portion of the flexible rotary shaft between the coupling and the first bearing member is kept parallel to the first retaining portion .

In the power transmission device according to the present invention,
The second bearing member may allow relative displacement of the second retaining portion with respect to the mating gear in a direction in which the gear is pressed against the mating gear.

Further, in the power transmission device according to the present invention,
The second bearing member may also prevent relative displacement of the second retaining portion with respect to the mating gear in the direction in which the gear is pressed against the mating gear and in the direction in which the gear is away from the mating gear.

Further, in the power transmission device according to the present invention,
The gear may be arranged between the first bearing member and the second bearing member.

The intraoral processing device according to the present invention includes:
a processing head capable of processing teeth and bones;
A first power transmission device configured by the power transmission device according to the present invention described above; a first displacement mechanism that displaces the machining head in a first direction inside the oral cavity by rotation of the first worm wheel accompanying rotation of the first worm;
A second power transmission device configured by the power transmission device according to the present invention described above; a second displacement mechanism that displaces the machining head in a second direction orthogonal to the first direction inside the oral cavity by rotation of the second worm wheel accompanying rotation of the second worm;
Prepare.

In the intraoral processing device according to the present invention,
further comprising a common rotating shaft that serves both to support the first worm wheel and to support the second worm wheel;
the holding member constituting the second power transmission device is attached to the first worm wheel,
The first direction is the θ direction in which the first worm wheel rotates,
The second direction may be a z-direction parallel to the common rotation axis.

Further, in the intraoral processing device according to the present invention,
a first motor and a second motor respectively installed outside the oral cavity;
A first flexible shaft as the flexible shaft connected to the flexible rotating shaft that constitutes the first power transmission device , wherein the rotation of the first motor is controlled by the flexible shaft that constitutes the first power transmission device. a first flexible shaft that transmits to the rotating shaft;
A second flexible shaft as the flexible shaft connected to the flexible rotating shaft that constitutes the second power transmission device , wherein the rotation of the second motor is controlled by the flexible shaft that constitutes the second power transmission device. a second flexible shaft that transmits to the rotating shaft;
may be further provided.

According to the power transmission device of the present invention, the backlash between the gear and the mating gear is reduced by pressing the gear against the mating gear.

The pressing of the gear against the mating gear is realized by the restoring force against the deflection of the flexible rotating shaft. That is, the flexible rotating shaft serves both to support the gear and to press the gear against the mating gear. Therefore, a pressing means such as a leaf spring for pressing the gear against the mating gear, which was conventionally required, is not required. Therefore, the power transmission device of the present invention can be realized in a small size.

Also, the first bearing member prevents relative displacement of the first holding portion of the flexible rotating shaft in the in-plane direction parallel to the first imaginary plane, and the second bearing member prevents the second holding portion of the flexible rotating shaft. Since the relative displacement of the portion in the direction intersecting the second imaginary plane is prevented, relative displacement due to torque is less likely to occur in the gear.

2 is a plan view of the power transmission device according to Embodiment 1. FIG. FIG. 2 is a cross-sectional view of a first bearing member according to Embodiment 1; The top view of the power transmission device which concerns on Embodiment 2. FIG. FIG. 11 is a partial cross-sectional side view of a power transmission device according to Embodiment 3; FIG. 11 is a partial cross-sectional side view of a power transmission device according to Embodiment 4; FIG. 11 is a partial cross-sectional side view of a power transmission device according to Embodiment 5; FIG. 11 is a partial cross-sectional side view of a power transmission device according to Embodiment 6; The conceptual diagram which shows the whole structure of the intraoral processing apparatus which concerns on Embodiment 7. FIG. FIG. 11 is a perspective view showing the appearance of a machining head and a displacement mechanism according to Embodiment 7; FIG. 11 is a conceptual diagram showing the configuration of a displacement mechanism according to Embodiment 7; FIG. 11 is an exploded perspective view showing the main parts of a displacement mechanism according to Embodiment 7;

Embodiments 1 to 7 of the present invention will be described below with reference to the drawings. In the drawings, the same reference numerals are given to the same or corresponding parts.

[Embodiment 1]
As shown in FIG. 1, a power transmission device 70A according to the present embodiment includes a worm 10A as a gear, a worm wheel 30A as a mating gear that meshes with the gear, a flexible rotary shaft 20 that supports the worm 10A, a worm A mating rotating shaft 40 that is a rigid body that supports the wheel 30A is provided. The mating rotating shaft 40 is held by the base member BM.

One end of the flexible rotary shaft 20 is inserted into the shaft coupling SC. The flexible rotary shaft 20 is connected to the input shaft IS at the shaft coupling SC, and rotates when torque is transmitted from the input shaft IS. Rotation of the flexible rotary shaft 20 is transmitted to the mating rotary shaft 40 through the worm 10A and the worm wheel 30A.

In this embodiment, the shaft coupling SC is fixed to the base member BM by a fixing member (not shown) so as to be rotatable together with the input shaft IS and the flexible rotary shaft 20 . However, the shaft coupling SC does not necessarily have to be fixed to the base member BM.

For the following explanation, the β axis parallel to the tangential direction of the pitch circle PC at the virtual point VP1 located on the pitch circle PC of the worm wheel 30A and the middle portion in the length direction of the worm 10A and the mating rotating shaft 40 Define a right-handed αβγ Cartesian coordinate system with parallel γ-axes. The direction from the virtual point VP1 toward the mating rotation shaft 40 is the positive direction of the α-axis.

In the power transmission device 70A according to the present embodiment, the flexible rotating shaft 20 is made of a flexible material, specifically a nickel-titanium alloy, and the flexible rotating shaft 20 is flexible. The most characteristic feature is that it has a holding member 50 for holding it in a state.

Specifically, the flexible rotary shaft 20 is bent in a state of being warped away from the worm wheel 30A toward the end opposite to the end inserted into the shaft coupling SC. there is In FIG. 1, an imaginary straight line VL parallel to the β axis is added to clearly show the bending of the flexible rotation shaft 20. As shown in FIG.

Since the flexible rotary shaft 20 is held in a bent state in this manner, the restoring force of the flexible rotary shaft 20 against the bending of the flexible rotary shaft 20 presses the worm 10A against the worm wheel 30A. Therefore, the worm 10A and the worm wheel 30A mesh with each other in a state in which the addendum circle of one is brought closer to the dedendum circle of the other.

Each of the worm 10A and the worm wheel 30A has teeth that have thicker portions as they approach their root circles. Therefore, the addendum circle of one of the worm 10A and the worm wheel 30A is brought closer to the root circle of the other, thereby reducing the backlash between the worm 10A and the worm wheel 30A.

The configuration of the holding member 50 that bends the flexible rotary shaft 20 will be specifically described. The holding member 50 is composed of a first bearing member 51 and a second bearing member 52 which are spaced apart from each other in the direction along the flexible rotation shaft 20 . Each of the first bearing member 51 and the second bearing member 52 rotatably holds the flexible rotating shaft 20 .

The first bearing member 51 is arranged closer to the power source (not shown) for rotating the flexible rotary shaft 20 than the second bearing member 52, that is, closer to the shaft coupling SC. The second bearing member 52 is arranged at the end of the flexible rotary shaft 20 opposite to the end inserted into the shaft coupling SC.

A worm 10A is arranged between the first bearing member 51 and the second bearing member 52 . The length of the portion of the flexible rotating shaft 20 between the worm 10A and the second bearing member 52 is shorter than the length of the portion of the flexible rotating shaft 20 between the first bearing member 51 and the worm 10A. .

The first bearing member 51 is configured by a rolling bearing fixed to the base member BM. The first bearing member 51 limits relative displacement of the first holding portion 21 held by the first bearing member 51 on the flexible rotary shaft 20 with respect to the worm wheel 30A. In the following description, "relative displacement" refers to relative displacement with respect to the worm wheel 30A.

Specifically, the first bearing member 51 allows relative displacement of the first holding portion 21 in an in-plane direction parallel to a first imaginary plane perpendicular to the length direction of the flexible rotating shaft 20 in the first holding portion 21 . is preventing The first bearing member 51 also prevents relative displacement of the first holding portion 21 in the longitudinal direction of the flexible rotary shaft 20 in the first holding portion 21 . In this embodiment, the length direction of the flexible rotation shaft 20 in the first holding portion 21 is parallel to the β direction, and the first imaginary plane refers to the αγ plane.

As described above, in this embodiment, the shaft joint SC is fixed to the base member BM, and the portion of the flexible rotary shaft 20 between the shaft joint SC and the first bearing member 51 is also the first Like the holding portion 21, it is kept parallel to the β direction.

The second bearing member 52 limits relative displacement of the second holding portion 22 held by the second bearing member 52 on the flexible rotary shaft 20 .

Specifically, the second bearing member 52 intersects a second imaginary plane parallel to the length direction of the flexible rotating shaft 20 in the first holding portion 21 and the direction in which the worm 10A is pressed against the worm wheel 30A. It prevents relative displacement of the second holding part 22 in the transverse direction. In this embodiment, the second virtual plane refers to the αβ plane, and the intersecting direction refers to the direction intersecting the αβ plane.

If the second bearing member 52 were omitted, there would be a concern that the worm 10A would be relatively displaced in the direction intersecting the αβ plane due to the torque acting on itself, specifically the reaction force received from the worm wheel 30A. . This relative displacement causes an error in the relative rotation angle between the worm 10A and the worm wheel 30A. Therefore, by providing the second bearing member 52, the relative displacement due to the torque of the worm 10A can be made difficult to occur.

However, the second bearing member 52 allows relative displacement of the second holding portion 22 in the direction in which the worm 10A is pressed against the worm wheel 30A. The configuration of the second bearing member 52 will be specifically described below.

As shown in FIG. 2, the second bearing member 52 is a rolling bearing 52a that rotatably holds the second holding portion 22 of the flexible rotary shaft 20, and is fixed to the base member BM in a state in which the rolling bearing 52a is accommodated. and a guide member 52b.

The guide member 52b is formed with an elongated hole 52c in which the rolling bearing 52a is accommodated. The dimension of the long hole 52c in the γ direction is equal to the dimension of the rolling bearing 52a in the γ direction. Therefore, relative displacement of the second holding portion 22 in the cross direction crossing the αβ plane is prevented.

Also, the dimension of the long hole 52c in the α direction is longer than the dimension of the rolling bearing 52a in the α direction. The rolling bearing 52a can freely slide along the inner surface of the elongated hole 52c in the α direction. That is, the guide member 52b guides the movement of the rolling bearing 52a in the α direction.

Also, the rolling bearing 52a can freely slide in the β direction along the inner surface of the long hole 52c. That is, the guide member 52b also guides the movement of the rolling bearing 52a in the β direction. As described above, since the rolling bearing 52a is slidable in the α direction and the β direction with respect to the guide member 52b, the worm 10A shown in FIG. 1 of the second holding portion 22 is pressed against the worm wheel 30A. Orientation, relative displacement is allowed.

As described above, according to the power transmission device 70A of the present embodiment, the backlash between the worm 10A and the worm wheel 30A is reduced by pressing the worm 10A against the worm wheel 30A.

The pressing of the worm 10A against the worm wheel 30A is realized by the restoring force against the bending of the flexible rotating shaft 20. As shown in FIG. That is, the flexible rotating shaft 20 serves both to support the worm 10A and to press the worm 10A against the worm wheel 30A. This eliminates the need for pressing means such as leaf springs, which were conventionally required. Therefore, the power transmission device 70A according to this embodiment can be realized in a small size.

In addition, the first bearing member 51 prevents relative displacement of the first holding portion 21 on the flexible rotary shaft 20 in the in-plane direction parallel to the αγ plane, and the second bearing member 52 prevents the flexible rotary shaft 20 from Since the second holding portion 22 is prevented from being displaced relative to each other in the direction intersecting the αβ plane, it is difficult for the worm 10A to undergo relative displacement due to torque.

Further, the second bearing member 52 allows the relative displacement of the second holding portion 22 in the direction in which the worm 10A is pressed against the worm wheel 30A. Therefore, even if the teeth of the worm 10A or the worm wheel 30A wear, there is no need to adjust the position of the worm 10A. That is, even if the teeth of the worm 10A or the worm wheel 30A are worn, the restoring force against the bending of the flexible rotary shaft 20 causes the worm 10A to displace toward the worm wheel 30A, thereby naturally suppressing backlash.

Also, the joint SC is fixed to the base member BM, and the portion of the flexible rotary shaft 20 between the joint SC and the first bearing member 51 is kept parallel to the first holding portion 21 . In other words, the shaft coupling SC rotatably holds the portion of the flexible rotary shaft 20 farther from the worm 10A than the first holding portion 21, so that the flexible rotary shaft 20 itself and the first bearing member 51 are connected. The part in between serves as a third bearing that keeps it parallel to the first holding part 21 .

Therefore, even if the portion of the input shaft IS other than the portion inserted into the shaft coupling SC and the base member BM can be displaced relative to each other, the flexible rotary shaft 20 can move the worm 10A to the worm wheel 30A. It is difficult to change the pressing force.

FIG. 2 shows that the rolling bearing 52a can also be displaced in the negative direction of the α-axis. The position of the guide member 52b may be adjusted so that the worm 10A is prevented from being displaced away from the worm wheel 30A. As a result, even when a large torque acts on the flexible rotating shaft 20, the worm 10A is less likely to move away from the worm wheel 30A.

In this embodiment, in FIG. 2, the rolling bearing 52a is slidable not only in the α direction but also in the β direction with respect to the guide member 52b. , and the second holding portion 22 of the flexible rotary shaft 20 may be slidable in the longitudinal direction of the second holding portion 22 with respect to the rolling bearing 52a.

Also, the second holding portion 22 does not necessarily have to be relatively displaceable independently in the α direction and the β direction. That is, in FIG. 1, the second bearing member 52 is such that the end of the flexible rotary shaft 20 opposite to the end inserted into the shaft coupling SC is αβ with the first holding portion 21 as the center. Relative displacement of the second holding portion 22 may be allowed only in the direction along the trajectory drawn within the plane.

[Embodiment 2]
In Embodiment 1, the second bearing member 52 allows the relative displacement of the second holding portion 22 in the α-axis direction. may also be configured to prevent A specific example thereof will be described below.

As shown in FIG. 3, in the power transmission device 70B according to the present embodiment, the second bearing member 53 that constitutes the holding member 50, like the first bearing member 51, is driven by a rolling bearing fixed to the base member BM. It is configured.

In other words, the second bearing member 53 not only causes the relative displacement of the second holding portion 22 in the direction crossing the αβ plane, but also the direction in which the worm 10A is pressed against the worm wheel 30A and the direction in which the worm 10A moves away from the worm wheel 30A. , the relative displacement of the second holding portion 22 is also prevented.

Therefore, according to the present embodiment, even when a large torque acts on the flexible rotary shaft 20, the worm 10A is less likely to move away from the worm wheel 30A. Other configurations and effects are the same as in the case of the first embodiment.

[Embodiment 3]
In addition to the holding member 50, limiting means for limiting the relative displacement of the flexible rotating shaft 20 in the direction that intersects the above-described second virtual plane, that is, the αβ plane, is further provided in addition to the configuration of the second embodiment. may A specific example thereof will be described below.

As shown in FIG. 4, the power transmission device 70C according to this embodiment further includes a guide member 60 as the limiting means.

The guide member 60 is composed of a first guide member 60a arranged between the first bearing member 51 and the worm 10A, and a second guide member 60b arranged between the second bearing member 53 and the worm 10A. It is

The distance along the flexible rotation axis 20 between the first guide member 60a and the worm 10A is shorter than the distance along the flexible rotation axis 20 between the first guide member 60a and the first bearing member 51. The distance along the flexible rotation axis 20 between the second guide member 60b and the worm 10A is shorter than the distance along the flexible rotation axis 20 between the second guide member 60b and the second bearing member 53.

Each of the first guide member 60a and the second guide member 60b restricts the relative displacement of the flexible rotary shaft 20 in the direction intersecting the αβ plane, while allowing flexible rotation in the direction in which the worm 10A is pressed against the worm wheel 30A. A relative displacement of the shaft 20 is allowed.

Therefore, according to the present embodiment, the effect of suppressing the relative displacement of the worm 10A in the direction intersecting the αβ plane is further enhanced.

[Embodiment 4]
In the first embodiment, the worm gear is the worm 10A and the mating gear is the worm wheel 30A. However, the backlash between the two can be reduced by bringing the addendum circle of one side closer to the dedendum circle of the other side. The combination of the gear and the mating gear that are in a relationship is not limited to this. A specific example in which the combination of the gear and the mating gear is other than the worm 10A and the worm wheel 30A will be described below.

As shown in FIG. 5, the power transmission device 70D according to this embodiment includes a spur gear 10B as a gear and a mating spur gear 30B as a mating gear that meshes with the gear.

In this embodiment, the β-axis of the right-handed αβγ orthogonal coordinate system is parallel to the mating rotation shaft 40 that supports the mating spur gear 30B. The positive direction of the α-axis is the direction from the virtual point VP2 located in the β-direction intermediate portion of the portion of the mating spur gear 30B that meshes with the spur gear 10B toward the mating rotation shaft 40 .

The length direction of the flexible rotating shaft 20 in the first holding portion 21 is parallel to the β direction, and the first bearing member 51 is aligned in the in-plane direction parallel to the αγ plane orthogonal to the β direction and the first holding portion 21 is the same as the first embodiment in that relative displacement of the first holding portion 21 with respect to the length direction of the flexible rotating shaft 20 is prevented.

In addition, the second bearing member 52 intersects the β direction, which is the length direction of the flexible rotation shaft 20 in the first holding portion 21, and the αβ plane parallel to the direction in which the spur gear 10B is pressed against the mating spur gear 30B. While preventing relative displacement of the second holding portion 22 in the crossing direction, allowing relative displacement of the second holding portion 22 in the direction in which the spur gear 10B is pressed against the mating spur gear 30B, this embodiment is also similar to the Same as 1.

In this embodiment, the restoring force against the bending of the flexible rotary shaft 20 presses the spur gear 10B against the mating spur gear 30B, thereby reducing the backlash between the spur gears 10B and 30B.

The length of the portion of the flexible rotary shaft 20 between the spur gear 10B and the second bearing member 52 is the length of the portion of the flexible rotary shaft 20 between the first bearing member 51 and the spur gear 10B. Other configurations and effects such as being shorter than the length are the same as in the case of the first embodiment.

[Embodiment 5]
In Embodiment 4, the second bearing member 52 allows the relative displacement of the second holding portion 22 within the αβ plane. 22 may also be configured to prevent relative displacement within the αβ plane. A specific example will be described below.

As shown in FIG. 6, in the power transmission device 70E according to the present embodiment, the second bearing member 53, like the first bearing member 51, is configured by a rolling bearing fixed to the base member BM. In other words, the second bearing member 53 not only allows the relative displacement of the second holding portion 22 in the direction intersecting the αβ plane, but also the direction in which the spur gear 10B is pressed against the mating spur gear 30B and the direction in which the spur gear 10B is pressed against the mating spur gear. It also prevents relative displacement of the second retaining portion 22 away from 30B.

Therefore, even when a large torque acts on the flexible rotary shaft 20, the spur gear 10B is less likely to move away from the mating spur gear 30B. Other configurations and effects are the same as in the case of the first embodiment.

[Embodiment 6]
Relative displacement of the flexible rotating shaft 20 in the direction intersecting the above-described second imaginary plane, that is, the αβ plane, in addition to the first bearing member 51 and the second bearing member 53, is may be further provided with limiting means for limiting the A specific example thereof will be described below.

As shown in FIG. 7, the power transmission device 70F according to this embodiment further includes a guide member 61 as the limiting means. The guide member 61 includes a first guide member 61a that limits the relative displacement of the portion between the first bearing member 51 of the flexible rotary shaft 20 and the spur gear 10B, and a second bearing member 53 of the flexible rotary shaft 20. and a second guide member 61b that limits the relative displacement of the portion between the spur gear 10B.

The first guide member 61a limits the relative displacement of the portion of the flexible rotary shaft 20 closer to the spur gear 10B than the midpoint between the first bearing member 51 and the spur gear 10B. The second guide member 61b limits the relative displacement of the portion of the flexible rotary shaft 20 closer to the spur gear 10B than the midpoint between the second bearing member 53 and the spur gear 10B.

Each of the first guide member 61a and the second guide member 61b restricts the relative displacement of the flexible rotary shaft 20 in the direction intersecting the αβ plane, while allowing the spur gear 10B to be pressed against the mating spur gear 30B. A relative displacement of the flexible rotation shaft 20 is allowed. Therefore, according to the present embodiment, the effect of suppressing the relative displacement of the spur gear 10B in the direction intersecting the αβ plane is further enhanced.

[Embodiment 7]
Since the power transmission device 70A according to the first embodiment can be realized in a small size, it is particularly suitable for applications where size is restricted, specifically, application to an intraoral processing device for processing the intraoral cavity. A specific example thereof will be described below.

As shown in FIG. 8, an intraoral processing apparatus 600 according to this embodiment includes a processing head 100 capable of processing teeth and bones, and a displacement mechanism 200 fixed to the patient's jaw while holding the processing head 100. , a power source 300 installed outside the patient's oral cavity, a flexible motion transmission member 400 connecting the displacement mechanism 200 and the power source 300, and a power source 300 placed outside the patient's oral cavity and a control device 500 for controlling.

The machining head 100 includes a tool CT and a drive source (not shown) that rotates the tool CT. At least the tip of the tool CT is made of a material harder than the tooth, and is rotated to cut the tooth at the tip. In addition, in this specification, the concept of cutting includes not only cutting with a cutting edge but also grinding with abrasive grains. The machining head 100 is held by the displacement mechanism 200 in a posture in which the tip of the tool CT is directed toward the tooth to be treated (hereinafter referred to as "target tooth") TH.

The displacement mechanism 200 displaces the machining head 100 so that the tip of the tool CT is scanned along a path specified in advance, and is fixed to the jaw via the seat plate IT. The seat plate IT is fitted to a group of teeth other than the target tooth TH and the gums. A gap between the seat plate IT and a group of teeth other than the target tooth TH is filled with a stabilizer IM. An impression material for reproducing the shape of the dentition is used as the stabilizer IM.

The seat plate IT is formed by hollowing out a portion of an impression tray used when taking a mold of the dentition, facing the target tooth TH. The seat plate IT has a flat portion ITa, and the displacement mechanism 200 is detachably fixed to the flat portion ITa. The flat portion ITa is composed of the handle portion of the impression tray that constitutes the seat plate IT.

The seat plate IT is fixed to either the upper jaw or the lower jaw depending on the position of the target tooth TH. FIG. 8 illustrates a state in which the target tooth TH is the lower right first molar and the seat plate IT is fixed to the model of the lower jaw. The seat plate IT can also be fixed.

How the displacement mechanism 200 displaces the machining head 100 will be described with reference to FIG. The displacement mechanism 200 moves the machining head in each of the radial direction (hereinafter referred to as the r direction), the circumferential direction (hereinafter referred to as the θ direction), and the height direction (hereinafter referred to as the z direction) in a cylindrical coordinate system. 100 can be displaced.

The z-direction is a direction parallel to the rotation axis AX1 of the tool CT. The θ direction is the direction in which the rotation axis AX1 is rotated around the rotation axis AX2 extending parallel to the rotation axis AX1 away from the rotation axis AX1. The r direction is the direction in which the rotation axis AX1 and the turning axis AX2 face each other.

The rotation axis AX1 is fixed with respect to the machining head 100 . The turning axis AX2 is fixed with respect to the displacement mechanism 200. As shown in FIG. The rotation axis AX1 is displaceable in the θ direction and the r direction with respect to the turning axis AX2. Also, the reference point O of the cylindrical coordinate system is fixed with respect to the displacement mechanism 200 . The displacement mechanism 200 is fixed to the seat plate IT in a state in which the reference point O is aligned with the actual intraoral processing start point.

A motion transmission member 400 is connected to the displacement mechanism 200 to transmit the motion for displacing the machining head 100 to the displacement mechanism 200 . The motion transmission member 400 is composed of three flexible shafts, specifically, a θ-direction flexible shaft 400θ, a z-direction flexible shaft 400z, and an r-direction flexible shaft 400r.

Returning to FIG. 8, the description is continued. The power source 300 includes a θ-direction motor 300θ as a first motor that rotates a θ-direction flexible shaft 400θ as a first flexible shaft, and a second motor that rotates a z-direction flexible shaft 400z as a second flexible shaft. and a motor 300z for the z direction as The power source 300 also has an r-direction motor 300r that rotates the r-direction flexible shaft 400r.

Since the motion transmission member 400 is composed of a flexible shaft, the displacement mechanism 200 and the power source 300 can be relatively displaced. That is, the motion transmission member 400 transmits rotational motion from the power source 300 to the displacement mechanism 200 while allowing relative displacement between the displacement mechanism 200 and the power source 300 .

The control device 500 controls each of the r-direction motor 300r, the θ-direction motor 300θ, and the z-direction motor 300z so that the tip of the tool CT is displaced along a predetermined path in the oral cavity.

Next, the function and configuration of the displacement mechanism 200 will be described with reference to FIGS. 10 and 11. FIG.

As shown in FIG. 10, the displacement mechanism 200 includes a .theta.-direction motion conversion section 200.theta. and a z-direction motion converting portion 200z as a second displacement mechanism that converts the rotational motion of the flexible shaft 400z into the linear motion of the processing head 100 in the z-direction. Further, the displacement mechanism 200 has an r-direction motion converting portion 200r that converts the rotational motion of the r-direction flexible shaft 400r into the linear motion of the processing head 100 in the r-direction.

The displacement mechanism 200 according to the present embodiment has the first power transmission device 70A-1 in which the θ-direction motion conversion unit 200θ is constituted by the power transmission device 70A shown in FIG. is also characterized in that it has a second power transmission device 70A-2 configured by the power transmission device 70A shown in FIG.

The configuration of the displacement mechanism 200 will be specifically described with reference to FIG. 11 . 11 shows the internal configuration of the cover 230 as the outer shell shown in FIG.

The displacement mechanism 200 is configured by arranging members described below on a base plate 201 parallel to a plane parallel to the r direction and the θ direction (hereinafter referred to as the rθ plane). A base plate 201 is fixed to the seat plate IT shown in FIG. A plurality of screw holes 202 are formed in the base plate 201 for attaching it to the seat plate IT.

A cylindrical guide post 203 is fixed to the surface of the base plate 201 and rises in the z-direction. The guide post 203 extends on the pivot axis AX2 also shown in FIG. Further, on the surface of the base plate 201, a circumferential wall 204 is provided that has an annular shape centered on the position of the guide post 203 in plan view parallel to the z-direction (hereinafter simply referred to as plan view).

A swivel plate 205 pierced by a guide post 203 is placed on the base plate 201 . The swivel plate 205 has a circular shape centered on the swivel axis AX2 in a plan view, and the center portion thereof is penetrated by the guide post 203 . The swivel plate 205 is fitted inside the peripheral wall 204 with its outer peripheral surface 205 a facing the inner surface of the peripheral wall 204 . The thickness of the swivel plate 205 is approximately equal to the height of the peripheral wall 204 .

Gear teeth are formed on the outer peripheral surface 205a of the swivel plate 205, and the swivel plate 205 functions as a worm wheel. The swivel plate 205 is rotatable about the swivel axis AX2 with respect to the base plate 201, the guide post 203, and the peripheral wall 204. As shown in FIG.

The peripheral wall 204 is formed with a notch 204a that exposes a portion of the outer peripheral surface 205a of the swivel plate 205 . A worm 206 that meshes with the exposed teeth of the outer peripheral surface 205a is arranged in the notch 204a.

A worm 206 is supported on a flexible rotary shaft 20θ. The flexible rotary shaft 20θ is connected to the θ-direction flexible shaft 400θ shown in FIG. 10 via a shaft coupling (not shown), and rotates together with the θ-direction flexible shaft 400θ. The flexible rotary shaft 20 θ is held in a bent state by bearing members 207 a and 207 b attached to the base plate 201 .

A first power transmission device 70A-1 of FIG. 10 having the same configuration as the power transmission device 70A shown in FIG. is configured.

The guide post 203 corresponds to the mating rotating shaft 40 shown in FIG. The swivel plate 205 corresponds to the worm wheel 30A shown in FIG. Worm 206 corresponds to worm 10A shown in FIG. The flexible rotating shaft 20θ corresponds to the flexible rotating shaft 20 shown in FIG. The bearing member 207a corresponds to the first bearing member 51 shown in FIG. The bearing member 207b corresponds to the second bearing member 52 shown in FIG. Also, the base plate 201 corresponds to the base member BM shown in FIG.

A rotating body 208 fitted on the guide post 203 is placed on the swivel plate 205 . The rotating body 208 is concentric with the guide post 203 and is rotatable about the swivel axis AX2 with respect to the guide post 203 and swivel plate 205 . The rotating body 208 has a disk portion 209 in contact with the swivel plate 205 and a male screw portion 210 rising from the disk portion 209 in the z-direction.

Gear teeth are formed on the outer peripheral surface 209a of the disc portion 209, and the disc portion 209 functions as a worm wheel. A worm 212 that meshes with the teeth of the outer peripheral surface 209a is arranged on the swivel plate 205 .

The worm 212 is supported by the flexible rotating shaft 20z. The flexible rotating shaft 20z is connected to the z-direction flexible shaft 400z shown in FIG. 10 via a shaft coupling (not shown), and rotates together with the z-direction flexible shaft 400z. The flexible rotary shaft 20z is held in a bent state by bearing members 211a and 211b attached to the swivel plate 205. As shown in FIG.

10 having the same configuration as the power transmission device 70A shown in FIG. 2 is configured.

The guide post 203 corresponds to the mating rotating shaft 40 shown in FIG. The disc portion 209 corresponds to the worm wheel 30A shown in FIG. The worm 212 corresponds to the worm 10A shown in FIG. The flexible rotating shaft 20z corresponds to the flexible rotating shaft 20 shown in FIG. The bearing member 211a corresponds to the first bearing member 51 shown in FIG. The bearing member 211b corresponds to the second bearing member 52 shown in FIG. A swivel plate 205 serves as the base member BM shown in FIG.

A male threaded portion 210 of the rotating body 208 is screwed with an arm housing 216 housing an arm 213 . The arm 213 and the arm container 216 will be described below.

The arm 213 has a shape with one direction as its longitudinal direction in plan view. Hereinafter, the description will be continued by defining xy orthogonal coordinates fixed to the arm 213, with the longitudinal direction of the arm 213 being the x direction and the direction orthogonal to the x direction in plan view being the y direction.

The arm 213 holds the machining head 100 at one end in the x direction (hereinafter referred to as the tip). A screw hole 214 penetrating the arm 213 in the x direction is formed at the other end in the x direction (hereinafter referred to as the rear end) of the arm 213 . In plan view, an opening 215 extending in the x direction is formed between the tip and the rear end of the arm 213 .

The arm 213 is housed in a hollow sheath-shaped arm container 216 . Arm 213 is inserted into arm container 216 from its rear end. Similarly to the arm 213, the arm container 216 also has a shape whose longitudinal direction is the x direction in plan view. The arm 213 can appear and retract in the x direction with respect to the arm container 216 .

However, the arm housing 216 restricts displacement of the arm 213 in the y direction and the z direction with respect to the arm housing 216 . That is, the outer dimension in the y direction of the portion of the arm 213 accommodated in the arm container 216 is equal to the inner dimension in the y direction of the portion of the arm container 216 that accommodates the arm 213 . The outer dimension in the z direction of the portion of the arm 213 accommodated in the arm container 216 is equal to the inner dimension in the z direction of the portion of the arm container 216 that accommodates the arm 213 .

The arm container 216 has a top plate 217 and a bottom plate 218 facing each other in the z direction. A top plate 217 and a bottom plate 218 restrict displacement of the arm 213 with respect to the arm housing 216 in the z direction. A screw hole 219 is formed through the top plate 217 in the z-direction. The bottom plate 218 is also formed with a screw hole 220 passing through it in the z direction. The screw holes 219 and 220 are arranged to overlap each other in plan view.

Although the screw holes 219 and 220 are separated in the z-direction, the screw grooves of the screw holes 219 and 220 are in phase so that they are screwed together with a common male screw, specifically the male screw portion 210. Aligned.

Also, the arm housing 216 has an end plate 221 that can come into contact with the rear end of the arm 213 . A through hole 222 is formed through the end plate 221 in the x direction. When the rear end of arm 213 contacts end plate 221, screw hole 214 and through hole 222 communicate with each other.

A male screw 223 extending in the x-direction is connected to the r-direction flexible shaft 400r so as to extend it in the x-direction. A fixing portion 224 is provided at the boundary between the r-direction flexible shaft 400r and the male screw 223 to restrict displacement of the male screw 223 in the x direction with respect to the arm housing 216 . The male thread 223 and the fixing portion 224 rotate together with the r-direction flexible shaft 400r.

The fixed portion 224 is composed of an intermediate portion 227 interposed between the r-direction flexible shaft 400r and the male screw 223, and retaining rings 225 and 226 attached to the intermediate portion 227 so as to face each other in the x-direction. . A thread groove is not formed in the intermediate portion 227 . The spacing between retaining rings 225 and 226 is equal to the thickness of end plate 221 . The male screw 223 is screwed into the threaded hole 214 of the arm 213 in a state in which the intermediate portion 227 is fitted in the through hole 222 and the stop rings 225 and 226 sandwich the end plate 221 from both sides in the x direction.

The male threaded portion 210 of the rotating body 208 described above is screwed into the threaded holes 219 and 220 of the arm housing 216 through the opening 215 of the arm 213 housed in the arm housing 216 .

On the other hand, regulating columns 228 and 229 are fixed to the swivel plate 205 as regulating means for regulating the displacement of the arm container 216 in the θ direction with respect to the swivel plate 205 . The regulating posts 228 and 229 each rise from the swivel plate 205 in the z-direction.

The y-direction spacing between the regulating posts 228 and 229 is equal to the y-direction width of the arm housing 216 . Rotating body 208 screwed to arm housing 216 is placed on swivel plate 205 while arm housing 216 is sandwiched between regulation posts 228 and 229 in the y direction.

The operation of the displacement mechanism 200 described above is as follows.

When the worm 206 rotates along with the rotation of the flexible rotary shaft 20θ, the swivel plate 205 as a worm wheel meshing with the worm 206 rotates around the swivel axis AX2. Rotation of the arm housing 216 and the arm 213 about the swivel axis AX2 with respect to the swivel plate 205 is blocked by the restricting posts 228 and 229 . Accordingly, the arm housing 216 and the arm 213 rotate together with the swivel plate 205 around the swivel axis AX2. As a result, the processing head 100 turns in the θ direction.

That is, a worm 206, a flexible rotary shaft 20θ that supports the worm 206, bearing members 207a and 207b that hold the flexible rotary shaft 20θ, a swivel plate 205 as a worm wheel, and the swivel plate 205 around the swivel axis AX2. The guide post 203 that guides the rotation of , and the regulation posts 228 and 229 fixed to the swivel plate 205 constitute the θ-direction motion converting portion 200θ shown in FIG.

In addition, since the worm 206 is pressed against the swivel plate 205 as a worm wheel by the restoring force against the bending of the flexible rotary shaft 20θ, the backlash between the worm 206 and the swivel plate 205 is reduced. As a result, the accuracy of the position of the processing head 100 in the θ direction is enhanced.

When the worm 212 rotates along with the rotation of the flexible rotary shaft 20z, the rotating body 208 meshing with the worm 212 in the disc portion 209 as the worm wheel rotates with respect to the swivel plate 205 around the swivel axis AX2. Rotation of the arm housing 216 and the arm 213 about the swivel axis AX2 with respect to the swivel plate 205 is blocked by the restricting posts 228 and 229 . Therefore, the male threaded portion 210 of the rotating body 208 rotates about the turning axis AX2 with respect to the screw holes 219 and 220 while receiving the load of the arm 213 holding the machining head 100 and the arm housing 216 . As a result, the arm housing 216 is displaced in the z direction with respect to the rotating body 208 . At this time, the regulation posts 228 and 229 also serve to guide the arm housing 216 in the z direction. As a result, the machining head 100 is displaced in the z direction.

That is, a rotating body 208 having a worm 212, a flexible rotary shaft 20z supporting the worm 212, bearing members 211a and 211b holding the flexible rotary shaft 20z, a disk portion 209 and a male screw portion 210 as a worm wheel. , and threaded holes 219 and 220 that screw together with the male threaded portion 210 constitute the z-direction motion converting portion 200z shown in FIG.

In addition, since the worm 212 is pressed against the disc portion 209 as the worm wheel by the restoring force against the bending of the flexible rotary shaft 20z, the backlash between the worm 212 and the disc portion 209 is reduced. As a result, the accuracy of the position of the processing head 100 in the z direction is enhanced.

When the r-direction flexible shaft 400r rotates, the male screw 223 rotates with respect to the screw hole 214 accordingly. The x-direction displacement of the male screw 223 with respect to the arm housing 216 is prevented by the fixing portion 224 . Accordingly, rotation of the male screw 223 displaces the arm 213 and the processing head 100 in the x-direction with respect to the arm housing 216 . As described above, since the arm housing 216 and the arm 213 rotate together with the swivel plate 205 around the swivel axis AX2, the x direction coincides with the r direction.

In other words, the male screw 223, the screw hole 214, and the fixing portion 224 that fixes the r-direction position of the male screw 223 constitute the r-direction motion converting portion 200r shown in FIG. The actions of the θ-direction motion conversion section 200θ, the z-direction motion conversion section 200z, and the r-direction motion conversion section 200r described above are independent of each other.

For treatment, first, the displacement mechanism 200 is positioned on the patient's jaw so that the origin O as the reference point of the cylindrical coordinate system shown in FIG. 9 coincides with the processing start point in the patient's oral cavity. As described above, the seat plate IT and stabilizer IM shown in FIG. 8 are used to fix the displacement mechanism 200 to the jaw. In addition, in the displacement mechanism 200, the origin search operation for matching the position of the tip of the tool CT and the position of the origin O is performed outside the oral cavity in advance.

Next, the control device 500 shown in FIG. 8 controls the rotation of the flexible shafts 400r, 400θ, and 400z through the power source 300 so that the tip of the tool CT is displaced along a path specified in advance. Specifically, the motors 300r, 300θ, and 300z are composed of stepping motors, and the control device 500 controls the flexible shafts 400r, 300r, 300θ, and 300z according to the number of voltage pulses output to each of the motors 300r, 300θ, and 300z. The rotation angles of 400θ and 400z are controlled.

The controller 500 can also control the speed of displacement of the tool CT. Specifically, the control device 500 can control the rotation speed by the repetition frequency of the voltage pulses output to each of the motors 300r, 300θ, and 300z.

As described above, according to the intraoral processing apparatus 600 according to the present embodiment, the worm 206 is pressed against the swivel plate 205, so that the backlash between the worm 206 and the swivel plate 205 is reduced. The positional accuracy of the head 100 in the θ direction is enhanced. In addition, since the worm 212 is pressed against the disc portion 209, the backlash between the worm 212 and the disc portion 209 is reduced. Therefore, the inside of the oral cavity can be processed with high accuracy.

Further, relative displacement of the worm 206 in the direction intersecting with the base plate 201 is prevented by bearing members 207a and 207b, and relative displacement of the worm 212 in the direction intersecting with the turning plate 205 is prevented by bearing members 211a and 211b. be blocked. Therefore, the worms 206 and 212 are less likely to undergo relative displacement due to torque. This also contributes to improving the machining accuracy in the oral cavity.

Moreover, the bearing member 207b allows relative displacement of the portion of the flexible rotary shaft 20θ held by the bearing member 207b in the direction in which the worm 206 is pressed against the swivel plate 205. FIG. Therefore, even if the teeth of the worm 206 or the swivel plate 205 are worn, the worm 206 is displaced toward the swivel plate 205 due to the restoring force against the deflection of the flexible rotary shaft 20θ, and the increase in backlash is naturally suppressed.

Moreover, the bearing member 211b allows relative displacement of the portion of the flexible rotary shaft 20z held by the bearing member 211b in the direction in which the worm 212 is pressed against the disk portion 209. FIG. Therefore, even if the teeth of the worm 212 or the disc portion 209 are worn, the worm 212 is displaced toward the disc portion 209 due to the restoring force against the bending of the flexible rotary shaft 20z, and the increase in backlash is naturally suppressed. be done.

Further, since the flexible rotary shaft 20θ serves both to support the worm 206 and to press the worm 206 against the swivel plate 205, a pressing means for pressing the worm 206 against the swivel plate 205 is not required. In addition, since the flexible rotary shaft 20z serves both to support the worm 212 and to press the worm 212 against the disc portion 209, a pressing means for pressing the worm 212 against the disc portion 209 is not required. Therefore, the displacement mechanism 200 according to the present embodiment can be realized in a small size in spite of the effect of improving the machining accuracy by reducing the backlash.

Also, three degrees of freedom orthogonal to each other are imparted to the machining head 100 by the θ-direction motion transforming unit 200θ, the z-direction motion transforming unit 200z, and the r-direction motion transforming unit 200r to guide the displacement in the θ direction. The guide post 203 is configured to also play a role of guiding the displacement in the z direction. Specifically, the guide post 203 functions as a common rotary shaft that serves both the role of supporting the turning plate 205 as the first worm wheel and the role of supporting the disk portion 209 as the second worm wheel. This also contributes to miniaturization of the displacement mechanism 200 .

Since the displacement mechanism 200 is fixed to the jaw of the patient, the displacement mechanism 200 can be downsized to prevent the patient from feeling oppressive.

The embodiments of the present invention have been described above. The present invention is not limited to these, and for example, the following modifications are possible.

In Embodiment 1, the worm 10A and the worm wheel 30A were exemplified as the combination of the gear and the mating gear that cause backlash, but the combination of the gear and the mating gear is not limited to this. Combinations of gears and mating gears include helical gear combinations, double helical gear combinations, internal gear combinations, rack and pinion combinations, straight bevel gear combinations, spiral bevel gear combinations, hypoid gear combinations, and screws. A combination of gears or the like may also be used. The shape of the teeth of the gear and the mating gear is not particularly limited as long as the backlash between the two is reduced when the gear is pressed against the mating gear.

In the first embodiment, the worm 10A as a gear is arranged between the first bearing member 51 and the second bearing member 52, but the worm 10A as a gear and the first bearing member 51 A second bearing member 52 may be arranged therebetween.

Although a nickel-titanium alloy was exemplified as the material of the flexible rotating shaft 20 in the first embodiment, the material of the flexible rotating shaft 20 is not particularly limited as long as it has flexibility. Spring steel, carbon, fiber-reinforced plastic, or the like can also be used as the material of the flexible rotating shaft 20 .

In Embodiment 1, the rolling bearing 52a was exemplified as a component of the second bearing member 52, but instead of this, other bearings such as a sliding bearing may be used. The first bearing member 51 may also be configured with a bearing other than a rolling bearing.

In the third embodiment, a configuration in which the guide member 60 shown in FIG. 4 is added to the configuration of the second embodiment has been described. can also be added. Further, the guide member 60 does not necessarily have to be composed of the first guide member 60a and the second guide member 60b arranged on both sides of the worm 10A. It may be configured by two guide members 60b.

In the sixth embodiment, a configuration in which the guide member 61 shown in FIG. 7 is added to the configuration of the fifth embodiment has been described. However, the guide member 61 shown in FIG. can also be added. Further, the guide member 61 does not necessarily have to be composed of the first guide member 61a and the second guide member 61b arranged on both sides of the spur gear 10B. Or you may comprise by the 2nd guide member 61b.

Although three degrees of freedom are given to the position of the processing head 100 in the seventh embodiment, the number of degrees of freedom given to the processing head 100 may be two. For example, the processing head 100 may move only in the θ direction and the z direction.

In Embodiment 7, the flexible rotary shaft 20θ and the θ-direction flexible shaft 400θ are separate members connected by a shaft joint (not shown). It may also serve as the directional flexible shaft 400θ. Alternatively, the flexible rotating shaft 20z and the z-direction flexible shaft 400z may be integrated, and the flexible rotating shaft 20z may also serve as the z-direction flexible shaft 400z.

The above embodiments 1-7 are intended to illustrate the present invention and are not intended to limit the scope of the present invention. The scope of the present invention is indicated by the claims rather than by Embodiments 1-7. Various modifications made within the scope of the claims are considered within the scope of the present invention.

10A ... worm (gear),
10B... spur gear (gear),
20, 20θ, 20z... flexible rotating shafts,
21 ... first holding portion,
22 ... second holding portion,
30A... Worm wheel (mating gear),
30B ... Mating spur gear (mating gear),
40 ... mating rotating shaft,
50... Holding member,
51... First bearing member,
52 ... second bearing member,
52a ... Rolling bearing,
52b... guide member,
52c... long hole,
53 ... second bearing member,
60, 61... guide member,
60a, 61a... first guide member,
60b, 61b... second guide member,
70A, 70B, 70C, 70D, 70E, 70F power transmission device,
70A-1 ... first power transmission device,
70A-2 ... second power transmission device,
100 ... processing head,
200 ... displacement mechanism,
200θ... θ-direction motion converter (first displacement mechanism),
200z ... z-direction motion conversion unit (second displacement mechanism),
200r... r-direction motion conversion unit,
201 ... base plate,
202 ... screw hole,
203... guide post (common rotary shaft),
204... Surrounding wall,
204a... Notch,
205... Revolving plate (mating gear),
205a ... outer peripheral surface,
206 ... worm (gear),
207a... Bearing member (first bearing member),
207b ... bearing member (second bearing member),
208 ... rotating body,
209... Disc portion (mating gear),
209a... Peripheral surface,
210... male screw part,
211a ... bearing member (first bearing member),
211b ... bearing member (second bearing member),
212 ... worm (gear),
213 Arm,
214 ... screw hole,
215 ... opening,
216 ... Arm container,
217 ... top plate,
218 ... Bottom plate,
219, 220... screw holes,
221 end plate,
222 through hole,
223... male screw,
224: fixed part,
225, 226... Retaining rings,
227 ... intermediate part,
228, 229... regulation pillars,
230 ... cover,
300 power source,
300θ... θ direction motor (first motor),
300z... z-direction motor (second motor),
300r... r direction motor,
400 motion transmission member,
400θ... flexible shaft for θ direction (first flexible shaft),
400z... z-direction flexible shaft (second flexible shaft),
400r... flexible shaft for r direction,
500... control device,
600 ... intraoral processing device,
IS... input shaft,
SC... Shaft coupling,
PC: pitch circle,
VP1, VP2...virtual points,
VL: virtual straight line,
BM... base member,
CT... tools,
IT...Seat plate,
ITa: Flat part,
IM...stabilizer,
TH ... target tooth,
AX1...Rotating axis,
AX2... Rotational axis.

Claims (7)

a gear meshing with a mating gear;
a flexible rotating shaft made of a material having flexibility and supporting the gear;
a shaft coupling that connects an end of the flexible rotating shaft with an end of a flexible shaft that transmits torque to the flexible rotating shaft;
holding members for holding the flexible rotary shafts in the state of being flexed so that the gears are pressed against the mating gears by a restoring force against the deflection of the flexible rotary shafts , each of the flexible rotary shafts and having a first bearing member and a second bearing member spaced apart from each other in a direction along the flexible rotation axis, wherein the first bearing member is coupled to the second bearing member a holding member arranged at a position closer to the shaft coupling than
a base member to which the first bearing member and the second bearing member are fixed;
with
The first bearing member is a first holding portion of the flexible rotary shaft held by the first bearing member, which is perpendicular to the length direction of the flexible rotary shaft in the first holding portion. preventing relative displacement with respect to said mating gear in an in-plane direction parallel to the plane, and of said first retaining portion with respect to said mating gear in the longitudinal direction of said flexible axis of rotation in said first retaining portion; It prevents relative displacement,
The second bearing member is a second holding portion held by the second bearing member on the flexible rotary shaft, the length direction of the flexible rotary shaft on the first holding portion and the gear are aligned with the mating gear. prevents relative displacement with respect to the mating gear in the direction intersecting the second virtual plane parallel to the direction pressed against
The base is arranged such that the shaft coupling and the first bearing member are spaced apart from each other in a direction along the flexible rotation shaft, and the shaft coupling is rotatable together with the flexible shaft and the flexible rotation shaft. being fixed to a member, the portion of the flexible rotary shaft between the coupling and the first bearing member remains parallel to the first retaining portion ;
power transmission. the second bearing member permits relative displacement of the second retaining portion with respect to the mating gear in a direction in which the gear is pressed against the mating gear;
The power transmission device according to claim 1. The second bearing member also prevents relative displacement of the second retaining portion with respect to the mating gear in a direction in which the gear is pressed against the mating gear and in a direction in which the gear moves away from the mating gear.
The power transmission device according to claim 1. the gear is positioned between the first bearing member and the second bearing member;
The power transmission device according to any one of claims 1 to 3. a processing head capable of processing teeth and bones;
A first power transmission device configured by the power transmission device according to any one of claims 1 to 4, and a first worm as the gear that constitutes the first power transmission device, and a mating gear that meshes with the a first displacement mechanism that displaces the processing head in a first direction inside the oral cavity by rotation of the first worm wheel accompanying rotation of the first worm;
A second power transmission device configured by the power transmission device according to any one of claims 1 to 4, and a second worm as the gear that constitutes the second power transmission device, and a mating gear that meshes with the second power transmission device. and a second worm wheel, and displaces the processing head in a second direction orthogonal to the first direction inside the oral cavity by rotation of the second worm wheel accompanying rotation of the second worm. a second displacement mechanism;
An intraoral processing device comprising: further comprising a common rotating shaft that serves both to support the first worm wheel and to support the second worm wheel;
the holding member constituting the second power transmission device is attached to the first worm wheel,
The first direction is the θ direction in which the first worm wheel rotates,
The second direction is a z-direction parallel to the common rotation axis,
The intraoral processing device according to claim 5. a first motor and a second motor respectively installed outside the oral cavity;
A first flexible shaft as the flexible shaft connected to the flexible rotating shaft that constitutes the first power transmission device , wherein the rotation of the first motor is controlled by the flexible shaft that constitutes the first power transmission device. a first flexible shaft that transmits to the rotating shaft;
A second flexible shaft as the flexible shaft connected to the flexible rotating shaft that constitutes the second power transmission device , wherein the rotation of the second motor is controlled by the flexible shaft that constitutes the second power transmission device. a second flexible shaft that transmits to the rotating shaft;
The intraoral treatment device according to claim 5 or 6, further comprising:

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