JP7604682B2 - Power transmission - Google Patents

Description

The present invention relates to a power transmission device.

Conventionally, joint devices for prosthetic limbs and the like are equipped with a power transmission device that includes an interrupter that switches between a state in which the rotating bodies can rotate together and a state in which they can rotate relative to each other (for example, Patent Document 1).

International Publication No. 2021/040039

Patent document 1 does not disclose how to protect the power transmission parts from the intrusion of foreign objects, etc., leaving room for improvement.

The present invention provides a power transmission device that can prevent foreign objects from entering the power transmission part.

The present invention relates to
A power transmission device disposed on a power transmission path between a driving part and a driven part,
A first rotating body;
A second rotating body;
An interrupter device;
a housing that accommodates the first rotating body, the second rotating body, and the interrupting device,
The interrupter device is
an engagement element disposed between the first rotating body and the second rotating body;
an operating unit that operates the engaging element between an engaged state in which the first rotating body and the second rotating body are capable of integral rotation and a disengaged state in which the first rotating body and the second rotating body are capable of relative rotation ;
The first rotating body and the second rotating body are
The rotation axes of the two are aligned, and
The rotation axis is perpendicular to the direction perpendicular to the rotation axis, and the rotation axis is perpendicular to the direction perpendicular to the rotation axis.
The housing includes a first housing and a second housing that are formed separately from each other and fixed to each other,
The first housing includes:
The second housing is disposed on one side in the direction of the rotation axis,
The power transmission device is supported by a mounting body,
the housing further includes a third housing formed separately from the first housing and the second housing and fixed to the first housing;
the second rotating body is mechanically connected to the driven part,
The third housing accommodates the driven part .
The present invention also provides a method for producing a method for manufacturing a semiconductor device comprising the steps of:
A power transmission device disposed on a power transmission path between a driving part and a driven part,
A first rotating body;
A second rotating body;
An interrupter device;
a housing that accommodates the first rotating body, the second rotating body, and the interrupting device,
The interrupter device is
an engagement element disposed between the first rotating body and the second rotating body;
an operating unit that operates the engaging element between an engaged state in which the first rotating body and the second rotating body are capable of integral rotation and a disengaged state in which the first rotating body and the second rotating body are capable of relative rotation;
The first rotating body and the second rotating body are
The rotation axes of the two are aligned, and
The rotation axis is perpendicular to the direction perpendicular to the rotation axis, and the rotation axis is perpendicular to the direction perpendicular to the rotation axis.
The housing includes a first housing and a second housing that are formed separately from each other and fixed to each other,
The first housing includes:
The second housing is disposed on one side in the direction of the rotation axis,
The power transmission device is supported by a mounting body,
The mounting body includes a framework having a pair of opposing portions disposed at positions opposing each other with the housing therebetween.

According to the present invention, it is possible to prevent foreign objects from entering the power transmission part.

FIG. 1 is a perspective view of an electric prosthetic leg equipped with a disconnecting device according to one embodiment of the present invention, as viewed obliquely from the front. FIG. 2 is an exploded perspective view of the electric prosthetic leg 1 of FIG. 1 . FIG. 1 is a perspective view of an extension device 140. FIG. 2 is a cross-sectional view of the electric prosthetic leg 1 of FIG. FIG. 1 is a cross-sectional view of an extension device 140. 2 is a cross-sectional view of a main part showing a bent state of the electric prosthetic leg 1 of FIG. 1. 2 is a cross-sectional view of a main part showing the maximum bending state of the electric prosthetic leg 1 of FIG. 1. 2 is a cross-sectional view of a two-way clutch 280. FIG. 9 is a perspective view showing an example of a retainer 282 shown in FIG. 8 (including a roller 281, a guide 284, and a rubber ball 282c). FIG. 9 is a perspective view showing another example of the retainer shown in FIG. 8 (including a roller 281 and a rubber ball 282c). FIG. 1A and 1B are diagrams showing the operation of the operating mechanism 240, in which (A) is a diagram showing the state in which the first intermittent portion 212 and the second intermittent portion 222 are off, (B) is a diagram showing the state in which the first intermittent portion 212 is off and the second intermittent portion 222 is on, and (C) is a diagram showing the state in which the first intermittent portion 212 is on and the second intermittent portion 222 is off. 13A is a cross-sectional view showing a state in which the second interrupter 222 is in an OFF state, and FIG. 13B is a diagram showing the position of the operating rod at that time. 13A is a cross-sectional view showing a state in which the second interrupter 222 is operated from OFF to ON, and FIG. 13B is a diagram showing the position of the operating rod 241 at that time. 1A is a cross-sectional view showing the second intermittent part 222 in a forward rotation on state, and FIG. 1B is a view showing the position of the operating rod 241 at that time. 13A is a cross-sectional view showing the second intermittent portion 222 in a reverse ON state, and FIG. 13B is a diagram showing the position of the operating rod 241 at that time. 13A is a cross-sectional view showing a state in which the second interrupter 222 is operated from on to off, and FIG. 13B is a diagram showing the position of the operating rod 241 at that time. 1A to 1C are diagrams showing the movement of a user and the electric prosthetic leg 1 when ascending steps (ascending movement). 1A to 1C are diagrams illustrating the movement of a user and the electric prosthetic leg 1 when walking on flat ground (flat ground walking movement). 1 is a schematic diagram of a vehicle drive device equipped with a disconnecting device according to an embodiment of the present invention;

An electric prosthetic leg equipped with a disconnecting device according to one embodiment of the present invention will be described below with reference to the drawings. In the following description, the front-rear, left-right, and up-down directions are defined based on the user of the electric prosthetic leg. In the drawings, the front of the electric prosthetic leg is indicated as Fr, the rear as Rr, the left side as L, the right side as R, the top as U, and the bottom as D.

As shown in Figures 1 to 5, the electric prosthetic leg 1 of this embodiment is a prosthetic leg that is attached to the leg of a person without a knee, and comprises a below-knee member 110 located below the knee, an above-knee member 120 attached to the thigh 123 (see Figures 17 and 18) and located above the knee, a knee joint mechanism 130 that connects the below-knee member 110 and the above-knee member 120 in a manner that allows the angle between them to be changed, an expansion/contraction device 200 that can expand and contract the angle between the below-knee member 110 and the above-knee member 120 by expanding and contracting, a mechanical stop mechanism 150 that mechanically limits the range of change of the angle between the below-knee member 110 and the above-knee member 120, a buffer mechanism 160 that buffers impacts caused by the mechanical stop mechanism 150, and a battery B that supplies power to the expansion/contraction device 200, etc.

The above-knee member 120 includes an adapter 121 that is connected to a socket (not shown). The socket is a joint member provided on the thigh 123, and by connecting the adapter 121 to the socket, the above-knee member 120 is integrated with the thigh 123.

The knee-lower member 110 comprises a box-shaped main frame 111 with openings at the top and rear, removable side covers 112 that cover both the left and right sides of the main frame 111, and a removable rear cover 113 that covers the rear opening 111m of the main frame 111 in an openable and closable manner.

The main frame 111 comprises a pair of side frames 111L, 111R arranged on either side of the unit case 250 (described below) housed inside, and a front frame 111F arranged to connect the side frames 111L, 111R at the front.

A knee-upper member 120 is provided on the upper part of the main frame 111 via a rotating part 135 that constitutes the knee joint mechanism 130, and a leg part 114 extending downward is provided on the lower part of the main frame 111.

An expansion/contraction device 200 capable of expanding and contracting the angle between the knee-below member 110 and the knee-below member 120 is provided in the space formed by the knee-above member 120 and the knee-below member 110. The expansion/contraction device 200 of this embodiment is an expansion/contraction device 140 capable of expanding and contracting the angle between the knee-below member 110 and the knee-below member 120 by expanding and contracting. The expansion/contraction device 140 extends in the vertical direction, and one side of the extension direction is mechanically connected to the knee-below member 120 and the other side of the extension direction is mechanically connected to the knee-below member 110, as will be described in detail later. Note that "mechanically connected" is a concept that includes a configuration in which they are directly connected and a configuration in which they are connected via another member.

As shown in Figures 3 to 5, the telescopic device 140 comprises a motor M that outputs rotational power, a transmission T that transmits the power of the motor M, a spindle unit SP that is connected to the transmission T so as to be capable of transmitting power and converts the rotational power output from the transmission T into translational motion (telescopic motion), a first interrupting mechanism 210 and a second interrupting mechanism 220 provided in the transmission T, and a unit case 250 that unitizes the telescopic device 140.

The motor M is disposed rearward and above the transmission T, and the spindle unit SP is disposed forward and above the transmission T. The motor M is a motor with a built-in gear mechanism, including a motor body 171 and a gear mechanism 172 that reduces the output rotation of the motor body 171. The spindle unit SP has a spindle 173 with a male thread and a sleeve 174 with a female thread, and the sleeve 174 moves in a translational manner along the axis of the spindle 173 as the spindle 173 rotates.

Specifically, the spindle 173 rotates by receiving the rotational power of the motor M transmitted by the transmission T. Meanwhile, the sleeve 174 is supported by the unit case 250 so as to be non-rotatable and movable up and down. Therefore, when the spindle 173 rotates to one side by receiving the rotational power of the motor M transmitted by the transmission T, the sleeve 174 translates away from the transmission T, and when the spindle 173 rotates to the other side, the sleeve 174 translates toward the transmission T. The translational movement of the sleeve 174 away from the transmission T is sometimes referred to as the extension operation of the spindle unit SP, and conversely, the translational movement of the sleeve 174 toward the transmission T is sometimes referred to as the contraction operation of the spindle unit SP.

That is, the distance between the sleeve 174 and the transmission T expands and contracts depending on the rotation direction of the spindle 173. The upper end of the sleeve 174 is connected to the above-knee member 120 via a link member 175. The distance between the sleeve 174 and the transmission T expands and contracts depending on the rotation direction of the spindle 173, causing the below-knee member 110 and the above-knee member 120 to rotate around the rotating part 135. This changes the angle between the above-knee member 120 and the below-knee member 110. If the angle between the above-knee member 120 and the below-knee member 110 is the acute angle between the acute angle and the obtuse angle, the knee joint mechanism 130 extends when the angle becomes larger, and the knee joint mechanism 130 bends when the angle becomes smaller.

In addition, the expansion/contraction device 200 of this embodiment expands and contracts the expansion device 140 by converting rotational motion into translational motion using the spindle unit SP of the expansion device 140, thereby expanding and contracting the angle between the below-knee member 110 and the above-knee member 120. However, it is also possible to have no expanding (moving) part like the expansion device 140 (spindle unit SP), and instead provide a gear meshing mechanism (a meshing mechanism between spur gears, a hypoid gear mechanism (registered trademark), a worm gear mechanism, etc.) between the below-knee member 110 and the above-knee member 120 to transmit rotational motion to expand and contract the angle between the below-knee member 110 and the above-knee member 120.

The transmission T includes a first speed change mechanism T1 that transmits the power of the motor M to the spindle unit SP at a first speed change ratio, and a second speed change mechanism T2 that transmits the power of the motor M to the spindle unit SP at a second speed change ratio different from the first speed change ratio. The first speed change mechanism T1 and the second speed change mechanism T2 are switched between a power disconnection state and a power connection state by the interruption mechanisms 210 and 220.

Such a transmission T has two power transmission paths with different gear ratios, making it possible to switch the movement speed and generated power of extension and flexion in the knee joint mechanism 130. The first gear ratio and the second gear ratio need only be different, and either one of the first gear mechanism T1 and the second gear mechanism T2 may be a reduction mechanism and the other an accelerating mechanism, either one may be a constant speed mechanism and the other a reduction mechanism or an accelerating mechanism, both may be reduction mechanisms, or both may be accelerating mechanisms.

The first gear ratio is the ratio of the post-shift rotation speed, which is the rotation speed on the anti-motor M side (spindle unit SP side) of the first speed change mechanism T1, to the pre-shift rotation speed, which is the rotation speed on the motor M side of the first speed change mechanism T1. The second gear ratio is the ratio of the post-shift rotation speed, which is the rotation speed on the anti-motor M side (spindle unit SP side) of the second speed change mechanism T2, to the pre-shift rotation speed, which is the rotation speed on the motor M side of the second speed change mechanism T2.

For example, when the first speed change ratio of the first speed change mechanism T1 is smaller than 1, the rotation speed on the anti-motor M side (spindle unit SP side) decreases compared to the rotation speed on the motor M side, and torque increases. When the second speed change ratio of the second speed change mechanism T2 is greater than 1, the rotation speed on the anti-motor M side (spindle unit SP side) increases compared to the rotation speed on the motor M side, and torque decreases. In this embodiment, the first speed change ratio is set smaller than 1 and the second speed change ratio is set greater than 1, and the first speed change mechanism T1 is disposed lower than the second speed change mechanism T2.

The first speed change mechanism T1 and the second speed change mechanism T2 include a first shaft 181 rotatably arranged on a downward extension of the output shaft 172a of the gear mechanism 172, and a second shaft 182 rotatably arranged on a downward extension of the spindle 173 of the spindle unit SP. The first shaft 181 is connected to the output shaft 172a of the gear mechanism 172 of the motor M so as to be rotatable together with the motor M via a coupling 187 that allows for axial center error. The second shaft 182 is connected to the spindle 173 of the spindle unit SP so as to be rotatable together with the motor M. In this embodiment, the second shaft 182 is integrated with the spindle 173 of the spindle unit SP, but the second shaft 182 may be connected to the spindle 173 of the spindle unit SP using a spline fit or a coupling.

The first speed change mechanism T1 includes a first drive gear 183 and a first driven gear 184 that mesh with each other. The first drive gear 183 is supported by the first shaft 181 so as to be rotatable together with the first shaft 181, and the first driven gear 184 is supported by the second shaft 182 so as to be rotatable relative to the first shaft 181. The first driven gear 184 and the second shaft 182 have the same rotation axis. Also, when viewed in an orthogonal direction perpendicular to the rotation axis, they are arranged so that at least a portion of them overlap with each other. In other words, they are arranged so that at least a portion of each of them is located on the same plane perpendicular to the rotation axis. The first speed change mechanism T1 of this embodiment is a reduction transmission mechanism in which the first drive gear 183 has a smaller diameter than the first driven gear 184, and can perform extension and retraction of the spindle unit SP at low speed and high torque.

The second speed change mechanism T2 includes a second drive gear 185 and a second driven gear 186 that mesh with each other. The second drive gear 185 is supported by the first shaft 181 so as to be rotatable together with the first shaft 181, and the second driven gear 186 is supported by the second shaft 182 so as to be rotatable relative to the first shaft 182. The second driven gear 186 and the second shaft 182 have the same rotation axis. Also, when viewed in an orthogonal direction perpendicular to the rotation axis, they are arranged so that at least a portion of them overlap with each other. In other words, they are arranged so that at least a portion of each of them is located on the same plane perpendicular to the rotation axis. The second speed change mechanism T2 of this embodiment is a speed-up transmission mechanism in which the second drive gear 185 has a larger diameter than the second driven gear 186, and the spindle unit SP can be extended and retracted at high speed and with low torque. In this embodiment, the second speed change mechanism T2 is disposed above the first speed change mechanism T1, but the second speed change mechanism T2 may be disposed below the first speed change mechanism T1. In other words, the first driven gear 184 and the second driven gear 186 only need to be located at different positions in the direction of the rotation axis. In addition, the first shaft 181 and the second shaft 182 in this embodiment are each integrally formed from the beginning, but the upper and lower gear support parts may be formed separately and then integrally connected (coupled).

The first interrupting mechanism 210 includes a first interrupting part 212 provided between the first driven gear 184 and the second shaft 182. The second interrupting mechanism 220 includes a second interrupting part 222 provided between the second driven gear 186 and the second shaft 182. These interrupting parts 212, 222 have a common configuration and are configured to be switchable between a cut-off state in which power transmission is cut off and a power transmittable state in which rotational power can be transmitted in both one direction and the other direction. Details of the interrupting parts 212, 222 will be described later.

As shown in Figures 3 to 5, the unit case 250 comprises an upper case 251, a middle case 252, and a lower case 253. The upper case 251, the middle case 252, and the lower case 253 are formed separately from one another.

The upper case 251 houses the spindle unit SP. More specifically, the upper case 251 has a cylindrical shape that covers the outer periphery of the spindle unit SP, and supports the sleeve 174 of the spindle unit SP so that it cannot rotate and can move up and down via a bush 254 provided on the inner periphery of its upper end. In addition, a flange portion 251a extending outward is provided at the lower end of the upper case 251. The upper case 251 is fastened to the front and above the middle case 252 by a plurality of screws N1 that penetrate the flange portion 251a from above.

The middle case 252 rotatably supports the upper end side of the first shaft 181 via a bearing B1, and rotatably supports the upper end side of the second shaft 182 via a bearing B2. The upper case 251 is fastened to the front and above of the middle case 252, and the motor M is fastened to the rear and above of the middle case 252. More specifically, the motor M has the motor body 171 and the gear mechanism 172 housed in the motor case, and the motor case is fastened to the rear and above of the middle case 252. The motor case of the motor M is fastened to the middle case 252 by a plurality of screws N2 that penetrate the middle case 252 from the lower side (inside). In addition, a lower flange 252a for fastening the lower case 253 and a pair of upper flanges 252b for fixing to the main frame 111 are provided on the outer periphery of the middle case 252.

The lower case 253 is fastened to the lower side of the middle case 252 by a plurality of screws N3 that penetrate the lower flange 252a of the middle case 252 from above. The lower case 253 not only covers the lower side and sides of the transmission T, but also rotatably supports the lower end side of the first shaft 181 via bearing B3. The space formed by the middle case 252 and the lower case 253 accommodates the second drive gear 185 and the second driven gear 186, the first drive gear 183 and the first driven gear 184, the first interrupter 212, the second interrupter 222, and a part of the operating mechanism 240.

With this type of unit case 250, the three-stage structure of the upper case 251, middle case 252 and lower case 253 not only makes it possible to casing the transmission T and spindle unit SP, but also makes it possible to unitize the extension device 140 including the motor M, thereby reducing the number of parts and making it lighter.

3, the unit case 250 is attached to the main frame 111 via one upper bracket 256 and a pair of middle brackets 257. The upper bracket 256 supports the upper end of the upper case 251 to the front frame 111F of the main frame 111, and the pair of middle brackets 257 support a pair of upper flanges 252b formed on both the left and right sides of the middle case 252 to the side frames 111L, 111R of the main frame 111. In other words, the lower case 253 is supported by the main frame 111 via the middle case 252, and the lower case 253 itself is not supported by the main frame 111.

For example, if the upper bracket 256 and middle bracket 257 are attached to the main frame 111 and then the extension device 140 is assembled, the pair of upper flanges 252b of the middle case 252 can be placed on the pair of middle brackets 257 to temporarily hold the extension device 140 on the main frame 111, facilitating the fastening work of the middle case 252 to the middle bracket 257 and the fastening work of the upper case 251 to the upper bracket 256. It also becomes easy to remove the extension device 140 by following the reverse procedure.

In addition, since the upper case 251 and the middle case 252 are subjected to a higher load than the lower case 253, by fastening them to the main frame 111 via the upper bracket 256 and the middle bracket 257, not only is the support strength of the transmission T and the spindle unit SP increased, but the rigidity of the lower case 253 can be reduced, making it lighter.

Figure 4 shows the extended state of the electric prosthetic leg 1, Figure 6 shows the bent state of the electric prosthetic leg 1, and Figure 7 shows the maximum bent state of the electric prosthetic leg 1. Note that while walking with the electric prosthetic leg 1, the maximum bent state shown in Figure 7 is never reached.

As shown in Figures 4, 6 and 7, the mechanical stop mechanism 150 includes a stopper member 151 provided on the knee-below member 110, and a first abutment portion 152 and a second abutment portion 153 provided on the knee-above member 120. In the state shown in Figure 4, the first abutment portion 152 abuts against the stopper member 151, thereby restricting the knee joint mechanism 130 from bending in the opposite direction. In the state shown in Figure 7, the second abutment portion 153 abuts against the stopper member 151, thereby restricting the knee joint mechanism 130 from bending further from the maximum bending state.

The buffer mechanism 160 is provided on the knee-upper member 120 side and has a pressing part 162 that can press the upper end of the link member 175 with the biasing force of a spring 161 (e.g., a compression coil spring). The lower end of the link member 175 is rotatably connected to the sleeve 174 of the spindle unit SP via a first rotating part 176, and the upper end of the link member 175 is rotatably connected to the knee-upper member 120 via a second rotating part 177. A cam part 178 is formed on the upper end of the link member 175. The cam part 178 has a small diameter outer periphery 178a centered on the second rotating part 177, a large diameter outer periphery 178b that is a long distance from the second rotating part 177, and a connecting outer periphery 178c that connects the small diameter outer periphery 178a and the large diameter outer periphery 178b without any steps.

6 and 7, when the knee joint mechanism 130 is bent, the pressing portion 162 faces the small diameter outer periphery 178a of the cam portion 178, so that the pressing portion 162 and the cam portion 178 are separated. As shown in FIG. 4, when the knee joint mechanism 130 extends in response to the contraction operation of the spindle unit SP and approaches the mechanical stop position on the extension side, the opposing position of the pressing portion 162 and the cam portion 178 moves from the connecting outer periphery 178c to the large diameter outer periphery 178b, and the cam portion 178 abuts against the pressing portion 162, and the large diameter outer periphery 178b presses the pressing portion 162 against the biasing force of the spring 161. In other words, the cam portion 178 is pressed in the return direction by the biasing force of the spring 161. As a result, the biasing force of the spring 161 acts as a resistance, and the impact when the first contact portion 152 contacts the stopper member 151 is cushioned.

Next, details of the interrupting portions 212, 222 and the operating mechanism 240 will be described with reference to Figures 8 onwards.

Each of the disconnecting parts 212, 222 has a common configuration and is configured to be switchable between a cut-off state in which power transmission is cut off and a power transmission state in which rotational power can be transmitted in both one direction and the other direction. Each of the disconnecting parts 212, 222 in this embodiment is configured using a two-way clutch 280 equipped with a forced free function, as shown in FIG. 8. The two-way clutch 280 includes a plurality of rollers 281 (three in this embodiment) disposed between the outer circumferential surface of the second shaft 182 and the inner circumferential surfaces of the gears 184, 186, a retainer 282 that holds the plurality of rollers 281 at a predetermined interval, an operation mechanism 240, a plurality of pins 283 (three in this embodiment) that radially penetrate the second shaft 182 and are operated by the operation mechanism 240 to a forced free position and a forced free release position, and a plurality of guides 284 (three in this embodiment) that are provided on the retainer 282 and determine the relative rotational position of the retainer 282 with respect to the second shaft 182 when the pins 283 are in the forced free position. The rollers 281 may be balls or sprags.

The radial distance A between the outer peripheral surface of the second shaft 182 and the inner peripheral surface of the gears 184, 186 is smaller than the diameter B of the roller 281. In addition, flat portions 182a are formed at a predetermined interval in the circumferential direction on the outer peripheral portion of the second shaft 182, and the distance A is larger than the diameter B at the circumferential center side of the flat portions 182a.

In other words, when the roller 281 is held in the circumferential center of the flat portion 182a, the roller 281 does not mesh with the outer peripheral surface of the second shaft 182 and the inner peripheral surfaces of the gears 184 and 186 (disengaged state), and relative rotation between the second shaft 182 and the gears 184 and 186 is permitted (forced free state).

On the other hand, when the roller 281 is allowed to move circumferentially relative to the second shaft 182, the roller 281 meshes with the outer peripheral surface of the second shaft 182 and the inner peripheral surface of the gears 184, 186 (engaged state), and the second shaft 182 and the gears 184, 186 are connected so as to be able to rotate together in two directions (forced free release state).

9, the retainer 282 is in a ring shape that is rotatable relative to the second shaft 182 and the gears 184 and 186, and has a plurality of roller holding portions 282a that hold the rollers 281 and a plurality of guide holding portions 282b that hold the guides 284. In other words, the retainer 282 is provided adjacent to the rollers 281 in the circumferential direction with respect to the rotation axis.

In addition, multiple rubber balls 282c are embedded at predetermined intervals in the circumferential direction on the outer peripheral surface of the retainer 282. These rubber balls 282c prevent unintended free rotation in the forced free release state by generating appropriate friction between the gears 184, 186 and the retainer 282. Note that the member that generates friction between the gears 184, 186 and the retainer 282 is not limited to the rubber balls 282c, but may be an O-ring.

Returning to FIG. 8, the pin 283 has a conical convex portion 283a at the radially outer end, and the guide 284 has a conical concave portion 284a at the radially inner end face that fits (engages) with the convex portion 283a. When the convex portion 283a of the pin 283 fits into the concave portion 284a of the guide 284, the guide action of the pin 283 and the guide 284 positions the retainer 282 at a predetermined position where the relative rotation position of the retainer 282 with respect to the second shaft 182 is forced to be free. Also, as shown in FIG. 10, instead of the concave portion 284a of the guide 284, a V-groove 282d may be formed along the axial direction on the inner peripheral portion of the retainer 282. In this way, not only can the number of parts and assembly steps be reduced by eliminating the need for the guide 284, but also an axial error of the pin 283 can be tolerated.

The operating mechanism 240 includes an operating rod 241 that is capable of operating the interrupting portions 212, 222 intermittently, and a servo motor 242 that moves the operating rod 241 linearly.

The second shaft 182 is a hollow shaft having an internal space S2 extending in the direction of the rotation axis (also referred to as the vertical direction), and the operating rod 241 is disposed in this internal space S2. The operating rod 241 is provided with a rack 241a at the lower end exposed from the internal space S2. The operating rod 241 is supported by bearings B4 and B5 arranged in the internal space S2 so that it cannot rotate relative to the rack 241a and can move forward and backward together in the direction of the rotation axis. The lower end of the second shaft 182 is screwed with a cover member 188 having an insertion hole through which the operating rod 241 passes. The cover member 188 prevents foreign matter from entering the internal space S2 and makes it easy to replace the operating rod 241. A pinion 243 provided on the output shaft 242a of the servo motor 242 meshes with the rack 241a, and the vertical position of the operating rod 241 is switched according to the drive of the servo motor 242. The servo motor 242 and the pinion 243 of this embodiment constitute a driving unit of the present invention. The operating rod 241 is mechanically connected to the driving unit via a rack 241a.

11, the operating rod 241 is formed with a first large diameter portion 241c1, a first small diameter portion 241b1, a second large diameter portion 241c2, a second small diameter portion 241b2, and a third large diameter portion 241c3, in order from the top, at a predetermined length and interval. The operating rod 241 is provided so as to be able to simultaneously control the two interrupted portions 212 and 222, but may be provided separately for each of the interrupted portions 212 and 222. In addition, the operating rod 241 of this embodiment is integrally formed from the beginning, but may be integrally connected (joined) after being formed separately for each of the interrupted portions 212 and 222. In addition, the operating rod 241 of this embodiment changes the position of the roller 281 via the pin 283, the guide 284, and the retainer 282, but it can also be applied to a modified example in which the position of the roller 281 is changed directly by the pin 283 without the guide 284 and the retainer 282.

In the following description, the operation of the operating mechanism 240 that simultaneously controls the interrupting portions 212 and 222 is explained with reference to Figure 11.

As shown in FIG. 11, the interrupting portions 212, 222 can be switched between a forced free state (hereinafter referred to as the OFF state as appropriate) and a forced free release state (hereinafter referred to as the ON state as appropriate) by the operating mechanism 240.

When the operating rod 241 of the operating mechanism 240 is in the upper position shown in (A) of Figure 11, the second large diameter portion 241c2 pushes the pin 283 of the second interruption portion 222 in the outward radial direction, while the third large diameter portion 241c3 pushes the pin 283 of the first interruption portion 212 in the outward radial direction, thereby turning the first interruption portion 212 and the second interruption portion 222 to the off state.

When the operating rod 241 of the operating mechanism 240 is in the middle position shown in FIG. 11 (B), the first small diameter portion 241b1 allows the pin 283 of the second interruption portion 222 to return in the inner diameter direction, while the third large diameter portion 241c3 pushes the pin 283 of the first interruption portion 212 in the outer diameter direction, thereby turning the second interruption portion 222 to the ON state and the first interruption portion 212 to the OFF state.

When the operating rod 241 of the operating mechanism 240 is in the lower position shown in (C) of Figure 11, the first large diameter portion 241c1 pushes the pin 283 of the second interrupting portion 222 in the outer diameter direction while the second small diameter portion 241b2 allows the pin 283 of the first interrupting portion 212 to return in the inner diameter direction, thereby putting the second interrupting portion 222 in the OFF state and the first interrupting portion 212 in the ON state.

Next, the operation of the two-way clutch 280 will be described with reference to Figures 12 to 16 using the second interrupting part 222 as an example. In the following example, the transition from (A) to (C) in Figure 11 at the second interrupting part 222 will be described as an example.

12A and 12B, when the second large diameter portion 241c2 of the operating rod 241 pushes the pin 283 of the second interrupting portion 222 in the outward radial direction, the convex portion 283a of the pin 283 fits into the concave portion 284a of the guide 284, and the relative rotational position of the retainer 282 with respect to the second shaft 182 is fixed at a predetermined position. In this state, the roller 281 is held in the circumferential center of the flat portion 182a, so that the roller 281 does not mesh with the outer peripheral surface of the second shaft 182 and the inner peripheral surface of the second driven gear 186, resulting in an OFF state in which the relative rotation between the second shaft 182 and the second driven gear 186 is permitted.

13A and 13B show the state in which the operating rod 241 has moved from a position where the second large diameter portion 241c2 pushes the pin 283 of the second interrupting portion 222 in the outer diameter direction to a position where the first small diameter portion 241b1 allows the pin 283 to return in the inner diameter direction. In FIG. 13, the pin 283 has already moved in the inner diameter direction, but in reality, when the relative rotation between the second shaft 182 and the second driven gear 186 occurs, the guide 284 of the retainer 282, which rotates together with the second driven gear 186, pushes the pin 283 back in the inner diameter direction with the inclined surface of the recess 284a.

14A and 14B, when relative rotation in the forward direction indicated by the arrow in the figure occurs between second shaft 182 and second driven gear 186 while pin 283 is allowed to return in the inward direction, retainer 282, which rotates together with second driven gear 186, moves roller 281 in the forward direction relative to second shaft 182. As a result, roller 281 meshes with the outer peripheral surface of second shaft 182 and the inner peripheral surface of second driven gear 186, creating a forward rotation on state in which second shaft 182 and second driven gear 186 rotate integrally in the forward direction.

15A and 15B, when relative rotation in the reverse direction indicated by the arrow in the figure occurs between second shaft 182 and second driven gear 186 while pin 283 is allowed to return in the inward direction, retainer 282, which rotates together with second driven gear 186, moves roller 281 in the reverse direction relative to second shaft 182. As a result, roller 281 meshes with the outer peripheral surface of second shaft 182 and the inner peripheral surface of second driven gear 186, creating a reverse-on state in which second shaft 182 and second driven gear 186 rotate integrally in the reverse direction. Retainer 282 can be seen as one element of the actuator of the operating unit that moves roller 281.

16A and 16B, when the operating rod 241 moves from a position where the first small diameter portion 241b1 allows the pin 283 of the second interrupter 222 to return in the inner diameter direction to a position where the first large diameter portion 241c1 pushes the pin 283 in the outer diameter direction, the convex portion 283a of the pin 283 fits into the concave portion 284a of the guide 284, and the relative rotational position of the retainer 282 with respect to the second shaft 182 is fixed in a predetermined position by the guide action of the pin 283 and the guide 284. In this state, the roller 281 is held in the circumferential center of the flat portion 182a, so that the roller 281 does not mesh with the outer peripheral surface of the second shaft 182 and the inner peripheral surface of the second driven gear 186, and the second shaft 182 and the second driven gear 186 are allowed to rotate relative to each other in an OFF state.

With the electric prosthetic leg 1 configured in this way, it is possible to smoothly ascend stairs, whereas with a passive prosthetic leg equipped with a passive damper in the past, the user had to ascend one step at a time with the non-prosthetic leg.

To be more specific, as shown in (A) to (D) of Figure 17, when the electric prosthetic leg 1 is moved forward to climb stairs (ascend), and a load is applied to the electric prosthetic leg 1, a large amount of power is required to extend the knee joint mechanism 130 from a bent position.

At this time, the transmission T is in a speed change state in which the operating rod 241 is positioned in the position shown in FIG. 11C. In this speed change state, the motor M and the spindle unit SP are in a power transmission state via the first speed change mechanism T1. In this state, when the motor M is rotated in the first direction, the power of the motor M is transmitted to the first shaft 181, the first drive gear 183, the first driven gear 184, the interrupter 212 of the first interrupter mechanism 210, the second shaft 182, and the spindle unit SP. As a result, the sleeve 174 moves in a translational manner (extension operation) away from the transmission T, and the upper-knee member 120 to which the sleeve 174 is connected rotates about the rotating part 135 relative to the lower-knee member 110 to which the transmission T is attached, and the knee joint mechanism 130 extends. Furthermore, since this extension power is a high-torque power that is decelerated by the first transmission mechanism T1, it is possible to reliably extend the knee joint mechanism 130 from a bent position even when a large load is placed on the electric prosthesis 1 when the electric prosthesis 1 is moved forward to climb stairs.

On the other hand, in order to smoothly ascend stairs, the knee joint mechanism 130 needs to be bent (lifted) from an extended position while a load is being applied to the healthy leg, as shown in (E)-(H) of Figure 17. When bending the knee joint mechanism 130 from an extended position, a large amount of power is not required, but a quick movement is required.

At this time, the transmission T is in a speed change state in which the operating rod 241 is positioned in the position shown in FIG. 11B. In this speed change state, the motor M and the spindle unit SP are in a power transmission state via the second speed change mechanism T2. In this state, when the motor M is rotated in a second direction opposite to the first direction, the power of the motor M is transmitted to the first shaft 181, the second drive gear 185, the second driven gear 186, the interrupter 222 of the second interrupter mechanism 220, the second shaft 182, and the spindle unit SP. As a result, the sleeve 174 moves in a translational manner (reducing movement) so as to approach the transmission T, and the knee-lower member 110 to which the transmission T is attached rotates about the rotating part 135 relative to the knee-upper member 120 to which the sleeve 174 is connected, and the knee joint mechanism 130 is bent. Furthermore, since this bending power is a power that has been made low torque when it is accelerated by the second speed change mechanism T2, it is possible to bend the knee joint mechanism 130 quickly.

When descending stairs (descending) as shown in Figure 18 or walking on flat ground, during the free leg period when no load is applied to the electric prosthetic leg 1, the speed change state is set to position the operating rod 241 in the position shown in Figure 11 (A). In this speed change state, the first interrupting part 212 and the second interrupting part 222 are in the off state, so the motor M and the spindle unit SP are in a free state where they are not connected. In this state, the knee joint mechanism 130 is allowed to extend and bend as desired depending on the walking situation, enabling smooth prosthetic walking with the free leg.

On the other hand, when walking on flat ground as shown in Figure 18 and when descending stairs (stepping down), during standing when a load is applied to the electric prosthetic leg 1, the speed change state is set to position the operating rod 241 in the position shown in Figure 11 (B). In this speed change state, the second interrupter 222 is in the on state, so that the motor M and the spindle unit SP are in a power transmission state via the second speed change mechanism T2. In this state, the external force in the bending direction acting on the electric prosthetic leg 1 is transmitted from the spindle unit SP to the motor M via the second speed change mechanism T2, so that smooth prosthetic walking is possible by utilizing the friction of the motor M to attenuate the external force in the bending direction.

Although various embodiments have been described above with reference to the drawings, it goes without saying that the present invention is not limited to such examples. It is clear that a person skilled in the art can come up with various modified or revised examples within the scope of the claims, and it is understood that these naturally fall within the technical scope of the present invention. Furthermore, the components in the above embodiments may be combined in any manner as long as it does not deviate from the spirit of the invention.

For example, in the above embodiment, a prosthetic device (electric prosthetic leg) applied to a knee joint is exemplified as one embodiment of a joint device in which the disconnecting device of the present invention is used, but the present invention is not limited to this and may be a prosthetic device (electric prosthetic limb) applied to an elbow joint, and the wearer may be an animal other than a human, or a robot. When applied to an elbow joint, the lower knee member 110 of the above embodiment becomes the distal side of the wearer relative to the upper knee member 120, i.e., the forearm.

The interrupter device of the present invention may be used not only in coupling devices but also in vehicle drive devices. Figure 19 is a schematic diagram of a vehicle drive device equipped with the interrupter device of the above-mentioned embodiment.

The vehicle drive device 900 in Figure 19 comprises a motor M as a drive source, a transmission T' that transmits the power of the motor M, a first interruption mechanism 210 and a second interruption mechanism 220 provided in the transmission T', a transmission case (not shown) that houses the transmission T', the first interruption mechanism 210 and the second interruption mechanism 220, and a differential device DIF that distributes the output from the transmission T' to the left and right drive wheels WH.

The transmission T' includes a first transmission mechanism T1 that transmits the power of the motor M to the left and right drive wheels WH at a first gear ratio, and a second transmission mechanism T2 that transmits the power of the motor M to the left and right drive wheels WH at a second gear ratio different from the first gear ratio. The relationship between the first gear ratio and the second gear ratio is the same as in the above-described embodiment.

The first transmission mechanism T1 includes a first drive gear 901 and a first driven gear 902 that mesh with each other. The first drive gear 901 is supported by a first shaft 911 so as to be rotatable relative to the first shaft, and the first driven gear 902 is supported by a second shaft 912 so as to be rotatable together with the first shaft. The second transmission mechanism T2 includes a second drive gear 905 and a second driven gear 906 that mesh with each other. The second drive gear 905 is supported by the first shaft 911 so as to be rotatable relative to the first shaft, and the second driven gear 906 is supported by the second shaft 912 so as to be rotatable together with the second shaft. In addition to the first drive gear 901 and the second drive gear 905, an input gear 907 to which the power of the motor M is input is attached to the first shaft 911 so as to be rotatable together with the first shaft. Further, in addition to the first driven gear 902 and the second driven gear 906, an output gear 908 capable of outputting the power of the motor M to the differential device DIF is attached to the second shaft 912 so as to be rotatable together therewith.

The first interrupting mechanism 210 includes a first interrupting part 212 provided between the first drive gear 901 and the first shaft 911. The second interrupting mechanism 220 includes a second interrupting part 222 provided between the second drive gear 905 and the first shaft 911. These interrupting parts 212, 222 have a common configuration and are configured to be switchable between a cut-off state in which power transmission is cut off and a power transmission state in which rotational power can be transmitted in both one direction and the other direction. Note that the roller 281, operating rod 241, pin 283, retainer 282, and guide 284 that constitute the interrupting parts 212, 222 are the same as those in the above-mentioned embodiment, so they are denoted by the same reference numerals and their description is omitted.

In the vehicle drive device 900 configured in this manner, when the first interrupter 212 is off and the second interrupter 222 is on, the power of the motor M is transmitted to the left and right drive wheels WH via the second transmission mechanism T2. When the first interrupter 212 is on and the second interrupter 222 is off, the power of the motor M is transmitted to the left and right drive wheels WH via the first transmission mechanism T1. When the first interrupter 212 is off and the second interrupter 222 is off, the power of the motor M is not transmitted to the left and right drive wheels WH, which is a so-called neutral state.

The transmission T' is housed in a transmission case (not shown) and fixed to the vehicle body.

By applying the interrupting device of the present invention to the vehicle drive device 900, rotation matching during gear shifting is not necessary, and responsiveness during gear shifting is improved. In addition, the number of parts constituting the interrupting device can be reduced compared to a general dog clutch, etc. The first interrupting mechanism 210 and/or the second interrupting mechanism 220 may be provided on the second shaft 912 instead of the first shaft 911. In addition, the driving wheel WH may be a circular wheel as in this embodiment, or a drive wheel that moves a caterpillar. In addition, although the interrupting device is applied to a driving device that drives the driving wheel WH as a propulsion part that propels a vehicle in this embodiment, the interrupting device may be applied to a driving device that drives a propulsion part such as a propeller that propels other moving objects such as ships and aircraft. Furthermore, in addition to the propulsion part of a moving object, the interrupting device may be applied to a driving device that drives a working part such as a snow removal part or a grass cutting part of a working machine such as a snow removal machine or a grass cutting machine.

This specification describes at least the following items. Note that the items in parentheses indicate corresponding components etc. in the above-mentioned embodiment, but are not limited to these.

(1) A power transmission device (transmission T) disposed on a power transmission path between a driving part (motor M) and a driven part (spindle unit SP, driving wheels WH),
A first rotating body (a first driven gear 184, a first driving gear 901),
A second rotating body (a second shaft 182, a first shaft 911),
An interrupting device (a first interrupting mechanism 210, a second interrupting mechanism 220);
a housing (unit case 250) that houses the first rotating body, the second rotating body, and the interrupting device,
The interrupter device is
An engagement element (roller 281) disposed between the first rotating body and the second rotating body;
a power transmission device comprising an operating portion (operating rod 241, pin 283, retainer 282, guide 284) that operates the engaging element between an engaged state in which the first rotating body and the second rotating body can rotate together, and a disengaged state in which the first rotating body and the second rotating body can rotate relatively to each other.

According to (1), the housing houses the first rotating body, the second rotating body, and the interrupter device, thereby preventing foreign matter and the like from entering the power transmission part.

(2) The power transmission device according to (1),
The first rotating body and the second rotating body are
The rotation axes of the two are aligned, and
A power transmission device, wherein the power transmission members are arranged so as to at least partially overlap each other when viewed in a direction perpendicular to the rotation axis.

(2) The power transmission device can be made smaller.

(3) The power transmission device according to (2),
The housing has a first housing (middle case 252) and a second housing (lower case 253) that are formed separately and fixed to each other,
The first housing includes:
The second housing is disposed on one side (upper side) in the direction of the rotation axis,
A power transmission device that is provided so as to be supported by a mounting body (knee-below member 110) on which the power transmission device is mounted.

According to (3), the second housing is supported on the mounting body via the first housing.

(4) The power transmission device according to (3),
The housing includes:
The direction in which the rotation axis extends is aligned with the vertical direction,
A power transmission device, wherein the one side is positioned vertically upward.

According to (4), the first housing, which is located on the upper side in the vertical direction, is fixed to the mounting body. Note that "coinciding with the vertical direction" may mean a form in which the first housing is located above the second housing, other than a form in which the first housing is completely aligned with the vertical direction.

(5) The power transmission device according to any one of (2) to (4),
The rotation mechanism further includes a third rotating body (a second driven gear 186, a second driving gear 905) and a fourth rotating body (a second shaft 182, a first shaft 911),
The interrupter device is
and further comprising another engaging element disposed between the third rotating body and the fourth rotating body, the third rotating body and the fourth rotating body being disposed so that their rotation axes coincide with each other.
The housing further houses the third rotating body, the fourth rotating body, and the other engaging element.

According to (5), the housing can prevent foreign matter from entering the vicinity of other engaging elements.

(6) The power transmission device according to any one of (3) to (5),
the housing further includes a third housing (upper case 251) that is formed separately from the first housing and the second housing and is fixed to the first housing,
the second rotating body is mechanically connected to the driven part,
The third housing accommodates the driven part.

According to (6), by making another housing that houses the driven part separate from the housing and fixing it to the housing, the ease of installation of the non-driven part is improved.

(7) The power transmission device according to any one of (2) to (6),
A fifth rotor (first drive gear 183) is connected to the first rotor so as to be capable of transmitting rotation therethrough and rotates around another rotation axis different from the rotation axis.
The housing further houses the fifth rotating body.

According to (7), the housing also houses the fifth rotating body, thereby reducing the number of parts.

(8) The power transmission device according to (7),
The fifth rotating body is mechanically connected to the drive unit,
A power transmission device, wherein another housing (motor case) that houses the drive unit is fixed to the housing.

According to (8), by fixing the drive unit to the housing separately from the other housing that houses the drive unit, the handleability of the drive unit is improved.

(9) The power transmission device according to (3) or (4),
The mounting body is a power transmission device having a skeleton (main frame 111) having a pair of opposing parts (side frames 111L, 111R) arranged at positions opposing each other with the housing in between.

(9) According to the present invention, the housing can be protected.

(10) The power transmission device according to (9),
A power transmission device in which the housing is fixed to the pair of opposing portions via a pair of fixing members (middle brackets 257) that are arranged on either side of the housing with the housing in between.

According to (10), the housing is held stably.

(11) The power transmission device according to (10),
The housing has an extension portion (upper flange 252b) that is provided to extend from an outer surface of the housing and to which the fixing member is fixed.

(11) makes it easier to fix the housing and the fixing member.

(12) The power transmission device according to any one of (9) to (11),
The power transmission device, wherein the framework has a connecting portion (front frame 111F) that is provided to connect the pair of opposing portions.

According to (12), the strength of the skeleton is improved.

(13) A power transmission device according to any one of (9) to (12),
The framework has an opening (rear opening 111m) in a direction perpendicular to the opposing direction of the pair of opposing parts,
The power transmission device, wherein the mounting body includes a closing portion (rear cover 113) that closes at least a portion of the opening.

According to (13), the housing can be attached to the skeleton through the opening.

(14) The power transmission device according to any one of (9) to (13),
The power transmission device includes a mounting body having an exterior member (side cover 112) that is detachably attached to the outer surface of the skeleton opposite to the housing.

According to (14), the design is improved.

(15) A power transmission device according to any one of (1) to (14),
The power transmission device is attached to a prosthetic device that is worn by a wearer.

According to (15), the intrusion of foreign objects into the interrupter device in the prosthetic device is suppressed.

Although various embodiments have been described above, it goes without saying that the present invention is not limited to such examples. It is clear that a person skilled in the art can come up with various modified or revised examples within the scope of the claims, and it is understood that these naturally fall within the technical scope of the present invention. Furthermore, the components in the above embodiments may be combined in any manner as long as it does not deviate from the spirit of the invention.

This application is based on a Japanese patent application (Patent Application No. 2021-203499) filed on December 15, 2021, the contents of which are incorporated by reference into this application.

110 Lower knee member (mounting body)
111 Main frame (skeleton)
111F Front frame (connection)
111L, 111R Side frame (opposing part)
111m Rear opening (opening)
112 Side cover (exterior member)
113 Rear cover (blocking part)
182 second shaft (second rotating body, fourth rotating body)
183 First drive gear (fifth rotating body)
184 First driven gear (first rotating body)
186 Second driven gear (third rotating body)
210 First interrupting mechanism (interrupting device)
220 Second interrupting mechanism (interrupting device)
241 Operating rod (operating part)
250 Unit case (housing)
251 Upper case (third housing)
252 Middle case (first housing)
252b Upper flange (extension)
253 Lower case (second housing)
257 Middle bracket (fixing member)
281 Roller (engagement element)
282 Retainer (operation part)
283 Pin (operation part)
284 Guide (operation part)
901 First drive gear (first rotating body)
905 Second drive gear (third rotating body)
911 First shaft (second rotating body, fourth rotating body)
M Motor (drive unit)
WH Driving wheel (driven part)
SP Spindle unit (driven part)
T Transmission (power transmission device)

Claims (13)

A power transmission device disposed on a power transmission path between a driving part and a driven part,
A first rotating body;
A second rotating body;
An interrupter device;
a housing that accommodates the first rotating body, the second rotating body, and the interrupting device,
The interrupter device is
an engagement element disposed between the first rotating body and the second rotating body;
an operating unit that operates the engaging element between an engaged state in which the first rotating body and the second rotating body are capable of integral rotation and a disengaged state in which the first rotating body and the second rotating body are capable of relative rotation;
The first rotating body and the second rotating body are
The rotation axes of the two are aligned, and
The rotation axis is perpendicular to the direction perpendicular to the rotation axis, and the rotation axis is perpendicular to the direction perpendicular to the rotation axis.
The housing includes a first housing and a second housing that are formed separately from each other and fixed to each other,
The first housing includes:
The second housing is disposed on one side in the direction of the rotation axis,
The power transmission device is supported by a mounting body,
the housing further includes a third housing formed separately from the first housing and the second housing and fixed to the first housing;
the second rotating body is mechanically connected to the driven part,
The third housing accommodates the driven part.
Power transmission device. 2. The power transmission device according to claim 1 ,
The housing includes:
The direction in which the rotation axis extends is aligned with the vertical direction,
A power transmission device, wherein the one side is positioned vertically upward. 2. The power transmission device according to claim 1 ,
Further comprising a third rotating body and a fourth rotating body,
The interrupter device is
and further comprising another engaging element disposed between the third rotating body and the fourth rotating body, the third rotating body and the fourth rotating body being disposed so that their rotation axes coincide with each other.
The housing further houses the third rotating body, the fourth rotating body, and the other engaging element. 2. The power transmission device according to claim 1 ,
A fifth rotor is connected to the first rotor so as to be capable of transmitting rotation therethrough and rotates about another rotation axis different from the rotation axis,
The housing further houses the fifth rotating body. 5. The power transmission device according to claim 4 ,
The fifth rotating body is mechanically connected to the drive unit,
A power transmission device, wherein another housing that houses the drive unit is fixed to the housing. 2. The power transmission device according to claim 1,
The power transmission device, wherein the mounting body includes a skeleton having a pair of opposing portions arranged at positions opposing each other across the housing. A power transmission device disposed on a power transmission path between a driving part and a driven part,
A first rotating body;
A second rotating body;
An interrupter device;
a housing that accommodates the first rotating body, the second rotating body, and the interrupting device,
The interrupter device is
an engagement element disposed between the first rotating body and the second rotating body;
an operating unit that operates the engaging element between an engaged state in which the first rotating body and the second rotating body are capable of integral rotation and a disengaged state in which the first rotating body and the second rotating body are capable of relative rotation;
The first rotating body and the second rotating body are
The rotation axes of the two are aligned, and
The rotation axis is perpendicular to the direction perpendicular to the rotation axis, and the rotation axis is perpendicular to the direction perpendicular to the rotation axis.
The housing includes a first housing and a second housing that are formed separately from each other and fixed to each other,
The first housing includes:
The second housing is disposed on one side in the direction of the rotation axis,
The power transmission device is supported by a mounting body,
The power transmission device, wherein the mounting body includes a skeleton having a pair of opposing portions arranged at positions opposing each other across the housing. 8. The power transmission device according to claim 6 or 7 ,
A power transmission device, wherein the housing is fixed to the pair of opposing portions via a pair of fixing members arranged on either side of the housing with the housing sandwiched therebetween. 9. The power transmission device according to claim 8 ,
The housing has an extension portion extending from an outer surface of the housing and to which the fixing member is fixed. 8. The power transmission device according to claim 6 or 7 ,
A power transmission device, wherein the framework has a connecting portion provided to connect the pair of opposing portions. 8. The power transmission device according to claim 6 or 7 ,
the skeleton has an opening in a direction perpendicular to a direction in which the pair of opposing parts oppose each other,
The mounting body includes a closing portion that closes at least a portion of the opening. 8. The power transmission device according to claim 6 or 7 ,
The power transmission device, wherein the mounting body includes an exterior member that is detachably attached to an outer surface of the skeleton opposite the housing. The power transmission device according to any one of claims 1 to 7 ,
The power transmission device is attached to a prosthetic device that is worn by a wearer.

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