JPH0613896B2 - Continuously variable transmission - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a continuously variable transmission using gear means, which can be generally used in power plants.

[Conventional technology]

There are few conventional examples in which a mechanical continuously variable transmission mechanism is achieved by using gears. Among them, the rectangular wave generator disclosed in Japanese Patent Publication No. 59-42181 discloses a mechanical continuously variable transmission of the prior art. It is considered to be a typical example of the element device. The rectangular wave generator is shown in FIG. 15 as an example of a conventional element device. In the figure, reference numeral 301 denotes a first common shaft, and two sets of a non-circular drive gear and a driven gear that form a pair with a specific angular velocity ratio are provided between the first common shaft and the second common shaft 312. ing. 303 is the first
Of the first driven gear 307 fixed to the common shaft, and meshes with the first driven gear 307 rotatably supported by the common shaft 312. A second drive gear 305 is fixed to a movable element 304 that is rotatably supported by the common shaft 301, and meshes with a second driven gear 309 that is rotatably supported by the common shaft 312. . The second drive gear 305 comprises a movable element 304 and a common shaft.
By means of a control device consisting of a fixing element 302 fixed to 301 and an adjusting control device 306, it can be displaced in any relative angular position with respect to the first drive gear. Differential bevel gears 308 and 310 are fixed to the first driven gear 307 and the second driven gear 309, respectively.
It meshes with 313. This differential pinion is attached by a nut 314 to a differential element 311 fixed to a common shaft 312.

FIG. 16 shows a pair of non-circular drive gears of the element device of FIG.
Examples of the shapes of 303 and the driven gear 307 are shown, and FIG. 17 is a graph showing the angular velocity ratio characteristics given to the driving gear and the driven gear using specific numerical values. The horizontal axis of the graph is the angular displacement θ of the driving gear, and the vertical axis is the value of the angular velocity ratio R given by the equation R = (angular velocity of driven gear) / (angular velocity of driving gear). Also, the pair of the second non-circular drive gear 305 and driven gear 309 has the same characteristics as the angular velocity ratio shown in FIG. 17, but both are controlled by the relative angle control of the drive gear 305 with respect to the drive gear 303. The phase of the angular velocity ratio R of the gear pair is shifted.

The control device controls the first and second drive gears 303 and 305.
By changing the relative angular position shift (phase shift) between the two, the rotation of the second common shaft 312 with the constant angular velocity ratio with respect to the first common shaft 301 is intermittent via the differential device. Appear in. The value of the constant angular velocity ratio changes in correlation with the phase shift, and the range of the constant value area also changes.

A continuously variable transmission can be constructed by combining a plurality of such element devices and connecting speed increasing regions or decelerating regions exhibiting a constant angular velocity ratio.

However, as shown in FIG. 15, one set of this conventional element device example includes four non-circular spur gears and three bevel gears, for a total of seven.
It is basically composed of at least 10 elements including gears. Therefore, in a continuously variable transmission configured by adding a plurality of sets of this element device and a control mechanism or the like thereto, it is difficult to have a large number of constituent elements including non-circular and bevel gear special gears. I was told. Further, when the automatic control function is built in, the configuration must be complicated more and more.

[Problems to be solved by the invention]

Generally, a friction type power transmission device has an advantage that it is excellent in smoothness of rotation transmission, and a non-friction type power transmission device such as a gear has an advantage that transmission efficiency is good. However, comparing the conventional continuously variable transmissions with each other, the friction type has a problem that power loss is large due to a slight slip of the contact portion. Further, the one using a non-friction type representative gear has a drawback that it has a very complicated structure like the above-mentioned conventional element device example, and loss due to inertia of the constituent elements and friction between the elements. However, there is a problem that the transmission effect is lowered and the original advantage is hindered, which leads to the disadvantage.

The present invention has been made to solve such a problem, regardless of frictional transmission, the number of constituent elements of the gear group is reduced as compared with the conventional device, and for example, an automatic control function may be incorporated. An object of the present invention is to obtain a continuously variable transmission that has a simpler structure than the conventional device and has high transmission efficiency.

[Means for solving problems]

The continuously variable transmission according to the present invention has been studied to reduce the number of constituent elements based on the idea of a new mechanism principle called exponential velocity modulation, and it is easy to utilize the basic advantage of non-friction power transmission. It is a continuously variable transmission using gears configured. In this device, the first and second primary and second non-circular gear pairs having a common first non-circular gear are used.
The following angular velocity modulation means is used to perform mode conversion in which the angular velocity continuously increases and decreases exponentially. By introducing the exponential function, it is possible to adopt a mechanism that involves multiplication and division to superimpose the momentary angular velocity ratios by the first and second modulation means. This further enables a mechanism in which one of the gears, each requiring a pair for the primary or secondary angular velocity modulation, can be shared.
This feature is that a new mechanical means can be created to control the overlapping relationship between the mode conversions by the first and second angular velocity modulation means, and that an automatic control function can be easily incorporated. Bringing a relationship.

[Action]

The basic operation of the device of the present invention is that, with respect to the angular velocity of one of the rotating shafts, the other rotating shaft is provided with a cyclically changing angular velocity based on the exponential speedup or deceleration mode. It is a feature of this device that the basic action is repeated twice and the primary action and the secondary action are performed simultaneously. For example, when the first-order angular velocity modulation means has the modulation function in the exponential acceleration mode, the second-order angular velocity modulation means has the modulation function in the exponential deceleration mode. If so, the mode of change in angular velocity after passing through these two actions returns to the mode before passing through both actions. If the input is the constant angular velocity mode, the constant angular velocity mode also appears in the output. This device is provided with the action of changing the change mode relating to such an increase or decrease of the angular velocity, but in addition to this, changing the overlapping manner of the primary action and the secondary action, in other words, the phase. By shifting the input, the absolute value of the angular velocity ratio of the input and output is continuously changed, and the automatic control function for the change is easily incorporated. It is equipped with all the necessary actions.

Example of Invention

1 (a) and 1 (b) and FIGS. 2 (a) and 2 (b) are a front sectional view and a side sectional view showing different embodiments of a continuously variable transmission according to the present invention. Is. In the figure, 10 is a first rotary shaft, to which a first non-circular gear 11a of the first set is attached.
Are fixed, and the second set of first non-circular gears 11b are rotatably supported via bearings 16. Reference numeral 20 denotes a second rotating shaft, to which the first non-circular gear 21a of the first set and the second non-circular gear 21b of the second set are fixed. Reference numeral 30 is a third rotating shaft, and the first non-circular gear 31a of the first set and the third non-circular gear 31b of the second set are bearings with one-way clutch function.
Supported through 37.

Reference numeral 60 denotes a first frame, which in this embodiment is a fixed frame of the main body of the apparatus, supports the rotary shaft 10 via bearing portions 61 and 62, and supports the rotary shaft 20 via a bearing portion 63. 25 is a normal circular gear fixed to the rotary shaft 20, 40 is a fourth rotary shaft whose one end is supported by the first frame 60 via a bearing 61, and a normal circular gear 45 is fixed. Reference numeral 64 is a first spring hooking pin, both ends of which are fixed to both side plates of the first frame 60. Reference numeral 65 is a first rotation restricting hole provided in the first frame 60. Reference numeral 70 denotes a second frame, which is movable in this embodiment, is rotatably supported by the rotary shaft 10 via a bearing 71, and is also supported by the rotary shaft 30 via a bearing 72. Reference numeral 35 is a normal circular gear fixed to the rotating shaft 30, 50 is a fifth rotating shaft whose one end is supported by the first frame 60 via a bearing portion 62, and is a circular internal gear 55.
Is fixed. Reference numeral 74 denotes a second spring hooking pin, which is fixed to both side plate portions of the second frame 70, and both end portions protruding from the second frame 70 are the first
Is inserted into the rotation restricting hole 65 of the. 75 is the second frame
A second rotation restricting hole is provided in 70, through which the first spring hooking pin 64 is inserted and penetrates. Reference numeral 80 is a torsion elastic member, which is shown as a spiral spring as an example.
Mounted between the spring hooking pin 64 and the second spring hooking pin 74 of the first rotary shaft 10
And the second frame 70 between the second frame 60 and 70.
In FIG. 1 is rotated clockwise.

FIG. 1 shows that the first frame 60 and the second frame 70 are rotatable relative to each other with the first rotary shaft 10 as a fulcrum shaft. This rotation angle is indicated by α in the figure, and in this embodiment, the maximum rotation angle α is 0.415π.
It is a radian, and this is rotatable in the range of 0 to 0.415π radian. In the state where no external force acts on the frames 60 and 70 other than the torsion elastic member 80, one end of the second rotation restricting hole 75 is attached to the first spring hooking pin 64. It is pressed so that the state of α = βmin is maintained. The second spring hooking pin 74 is also pressed to one side in the first rotation restricting hole 65, and restricts the rotation-related positions of both frames 60 and 70 so that α = βmin. The angle α becomes a value smaller than β min because some external torsion torque against the torsion torque by the torsion elastic member 80 causes the second frame 70 to rotate counterclockwise between the frames 60 and 70. It is time to act to move. When the external torsion torque is equal to or more than the maximum value of the torsion torque by the torsion elastic member 80, the first
The other end portion of the second rotation restricting hole 75 is pressed against the spring hooking pin 64 of (1) so that α = 0. At this time, the second spring hooking pin 74 is also pressed against the other end of the first rotation restricting hole 65 to restrict the rotation-related position so that α = 0.

Among the devices configured as described above, the first, second and third
Rotating shafts 10, 20 and 30, and the first set of first, second and third
The non-circular gears 11a, 21a and 31a and the first and second frames 60 and 70 form one set of the element mechanism that performs the angular velocity modulation operation of the continuously variable transmission according to the present invention.
The first, second and third non-circular gears 11b, 21b and 31b of the second set share the respective rotary shafts and the respective frames,
The other pair of element mechanisms that perform the same angular velocity modulation action as described above is formed.

In this manner, the continuously variable transmission constructed by using two sets of the element mechanisms that perform the angular velocity modulation action, in FIG. 1 and FIG.
When the rotary shaft 40 of is used as an input shaft and the fifth rotary shaft 50 is operated as an output shaft, the ratio of the angular velocity ω _u obtained at the fifth rotary shaft 50 to the angular velocity ω _i given to the fourth rotary shaft 40. But,
It continuously changes in correlation with the value of the continuously controllable angle α. The operation will be described in detail below.

FIG. 3 and FIG. 4 show the first non-circular gear 11a and the second non-circular gear 21a taken out (note that the first non-circular gear 11b and the second non-circular gear 21b are Can be applied similarly). In the figure, 12 and 13 are meshing pitch curves of the first non-circular gear 11a, and 22 and 23 are second non-circular gear 21a.
It is a meshing pitch curve. In addition, along with the meshing pitch curves, in reality, for example, an involute tooth profile as partially illustrated is engraved, but the relationship of the angular velocity or the transmission torque of the meshed gears is not shown. Since the meshing pitch curve can be explained without any trouble, some or all of the tooth profile is omitted in FIG. 3 and other drawings.

The meshing pitch curves 12 and 13 are formed from the points S _1a to L _1a and from the points S _1b to L _1b , and their respective total lengths are from the points L _2a to S _{2a and the} points L _2b. To Pitch points 22 and 23 formed from S to point S _2b
Of the total length of each. In this way, the total number of teeth of the first non-circular gear 11a and the total number of teeth of the second non-circular gear 21a are made equal.

The characteristic relating to the angular velocity that appears in the pair of non-circular gears configured as described above is one of the important points of the present invention.

FIG. 5 shows a first non-circular gear 11a and a second non-circular gear 21.
The relationship between a and the angular velocity is represented by a graph. The horizontal axis indicates the angular displacement θ of the non-circular gear 11a during one full rotation in the counterclockwise direction in FIG. The angular displacement θ is zero in the state shown in FIG. 3, that is, the state where the meshing points are the points S _1a and L _2a . The vertical axis is a logarithmic scale, which is an unknown numerical value representing the angular velocity ratio with respect to the angular velocity of the non-circular gear 11a. When the angular velocity of the first non-circular gear 11a is represented by ω ₁ and the angular velocity of the second non-circular gear 21a is represented by ω ₂ , F _(θ) = | ω ₂ / ω ₁ | The angular velocity ratio between the first and second non-circular gears 11a and 21a is shown.

In the graph of FIG. 5, the non-circular gear 11a rotates counterclockwise by π radians from the state of FIG.
From the state where the meshing points with 21a are S _1a point and L _2a point,
The change of the L _1a point and the S _2a point while moving to the meshed state is represented by a straight line to the upper right starting from the reference angular velocity ratio F ₍₀₎ . Subsequently, a state in which the non-circular gear 11a further rotates by π radians is also represented by the same straight line on the upper right side.

The angular velocity ratio F of the non-circular gear pair used in the device of the present invention
The change in _(θ) is characterized so that it can be represented by an inclined straight line on a semi-logarithmic graph as shown in FIG. To define this algebraically, the angular velocity ratio F _(θ) can be calculated by the exponential equation e
It is given by ^{K · θ} · F ₍₀₎ . here,
The coefficient K is an angular velocity modulation coefficient that can be arbitrarily selected in design, and can be defined as a differential value K = dlogF _(θ) / dθ in the graph of FIG. By the way, in the embodiment of FIG. 3, K = 0.2206 radian- ¹ . Also, e is the base of the natural logarithm.

Next, a unique angular velocity modulation action that can be derived from the characteristics of the angular velocity ratio of the non-circular gear as described above will be described.
FIG. 6 and FIG. 7 are a front view and a side sectional view of an element mechanism that performs an angular velocity modulation action in the embodiment apparatus shown in FIGS. 1 and 2. In these figures, the relationship in which the third non-circular gear 31a is added to the first and second non-circular gears 11a and 21a already described in FIGS. 3 to 5 is shown. The gear specification of this third non-circular gear 31a is
It is the same as the second non-circular gear 21a. Where the first and second
The non-circular gears 11a and 21a in mesh with each other are referred to as first-order angular velocity modulating means, and the first and third non-circular gears 11a and 31
A combination of a is referred to as a secondary angular velocity modulation means. The first-order angular velocity modulation means is a means for determining the ratio of the angular velocity ω ₂ of the second rotary shaft 20 to the angular velocity ω ₁ of the _first rotary shaft 10, and this ratio will be referred to as the first-order angular velocity ratio. To do. Secondary angular velocity modulation means as well is a means for determining the ratio of the angular velocity omega ₁ and the angular velocity omega ₃ of the third rotating shaft 30 of the first rotating shaft 10, this ratio, the secondary angular velocity ratio I will call it. As in the case of the first-order angular velocity modulation means described in FIGS. 3 to 5, the description of FIGS. 3 to 5 can be applied to the second-order angular velocity modulation means alone. However, it should be noted here that, as shown in FIG. 6, the third rotary shaft 30 is π + α with respect to the position of the second rotary shaft 20 with respect to the position of the first rotary shaft 10.
It is arranged by giving a central angle of radian.
Since the third non-circular gear 31a returns to the same relationship around the first non-circular gear 11a for each central angle π radian, π +
α radian is equivalent to giving the central angle of real α.
Therefore, when the first angular velocity modulation means is in mesh with the angular displacement θ of the first non-circular gear 11a, the second angular velocity modulation means operates the angular displacement θ + α of the first non-circular gear 11a.
They are in mesh with each other. Because of this state, the first-order angular velocity ratio | ω ₂ / ω ₁ | has the same coefficient K, angular displacement θ, and angular velocity ratio F ₍₀₎ as already described.
When the exponential function equation e ^{k · θ} · F ₍₀₎ is used, the second-order angular velocity ratio | ω ₃ / ω ₁ | can be arbitrarily set as described above and the algebra used in the above equation. The exponential function equation e ^{k · (θ + α)} · F ₍₀₎ using the angle α that can be obtained is obtained. In this state, the ratio ω ₃ / ω ₂ of the angular velocity of the third rotary shaft 30 to the angular velocity of the second rotary shaft 20 is the coefficient obtained by dividing the second angular velocity ratio with respect to the first angular velocity ratio by the above coefficient. A value of exponential function equation ek · _α using K and the angle α is taken. The last expression e ^{k · α} shows the basic feature of the element mechanism that has the angular velocity modulation function of the continuously variable transmission according to the present invention.

8 to 10 are graphs showing the angular velocity modulation action characteristics of the above element mechanism, and the horizontal axis and the vertical axis are the same as the graph of FIG. FIG. 8 shows a state where α = 0,
The secondary and secondary angular velocity ratios are always the same, and the angular velocity ratio is ω ₃ /
ω ₂ = 1. FIG. 9 shows the state of α = (1/8) π, and the phase of the change pattern of the secondary angular velocity ratio is ahead of that of the primary angular velocity ratio by α radians. In this way, in the state where α is not zero (exactly, also in the case where α = π), the range of θ in which both the first and second angular velocity ratios can take continuous values is 0 to π−α, π. -Α ~ π, π ~ 2
It is divided into 4 sections, π-α and 2π-α to 2π. Among these, in the division range of 0 to π-α and π to 2π- ^α, a constant value of ek ^{· α} appears in the angular velocity ratio ω ₃ / ω ₂ , and the division of π-α to π and 2π-α to 2π In the range, the angular velocity ratio ω ₃ / ω ₂ becomes e
^A constant value ^{k · (α-π)} appears. In Fig. 10, α is the ninth
It is in a state of increasing from the figure to reach α = (3/8) π. It can be seen from the comparison with FIG. 9 that the value of ω ₃ / ω ₂ changes in correlation with the increase of α, and that the segmental range of its continuous value also changes. FIG. 11 shows the angular velocity ratio ω ₃ / ω ₂ when α is changed from 0 to π at π / 8 intervals.
It represents the change of.

As described above, the device of the present invention is provided with the exponential angular velocity modulation means, that is, the angular velocity modulation function based on the novel idea. In order to configure a continuously variable transmission by using a constituent unit that fulfills this function as an element mechanism, a plurality of sets of the element mechanisms are combined, a means for variably controlling the value of α and a constant value of the angular velocity ratio ω ₃ / ω ₂ are provided. It suffices to add means for making it continuous and means for selecting and extracting only a specific value from the repeated change pattern of the angular velocity ratio. Hereinafter, these means will be described by way of examples.

As described above with reference to FIGS. 1 and 2, the means for variably controlling the value of α is the same as the first frame 60 with respect to the second frame.
This can be achieved by making the 70 rotatable. This means can be shared by a plurality of element mechanisms. The relative rotation of the two frames 60 and 70 can be controlled arbitrarily by an operation from outside the device. At the same time, in this embodiment, as shown in the figure,
And a torsion elastic member 80 such as a spiral spring, which can correlate with the rotation amount of 70, are installed in the apparatus, and a configuration in which an action from the outside of the device is exerted on the torsion elastic member 80 is adjusted, It is possible to provide a control function. In particular, the control idea intended in the continuously variable transmission according to the present invention is to control the external action given to the torsion elastic member 80,
The torque transmitted by this device, specifically, the input torque or the output torque, is obtained, and the power transfer action between the device and the outside of the device depends on the input rotational power from the input end and the output rotational power from the output end. Even though the configuration is all, it is possible to incorporate a fully automatic control function by a direct control method.

As shown in FIGS. 1 and 2, the continuous means for maintaining the angular velocity ratio ω ₃ / ω _{2 at} a constant value rotates the second non-circular gear 21b by π / 2 radians with respect to the second non-circular gear 21a. This is achieved by giving a phase angle difference and fixing it. First non-circular gear 11a
And the angular velocity ratio ω ₃ / ω ₂ by the first set of element mechanisms in which the second non-circular gear 21a and the third non-circular gear 23a are meshed with _{each other.}
The value of is represented by the function G _{1 (θ)} , and the first non-circular gear 11b and the second
When the non-circular gear 21b and the second set value of the angular velocity ratio omega ₃ / omega ₂ by element mechanism comprising third non-circular gear 31b Togakami case connexion of expressed in function _{G 2 (θ), G 2} ( _θ) = G _{1 (θ-β)} . Β in the above equation is 2 on the second rotary shaft 20.
Phase angle difference π / 2 given to the second non-circular gears 21a, 21b
The two first non-circular gears 11a on the first rotating shaft 10,
It is replaced with the phase angle difference of 11b, and its value is given as a function of the angular displacement θ of the first rotation shaft 10. In the embodiment shown in FIG. 1, the minimum value βmin of β is 0.415π radian. First
FIG. 12 is a graph showing the values of the angular velocity ratios ω ₃ / ω ₂ by the element mechanisms of the first set and the second set, indicated by broken lines A and B, respectively. In the range where the condition α ≦ βmin is satisfied, the value of the angular velocity ratio ω ₃ / ω ₂ is such that the constant value part e ^{k · α} can be made continuous over the entire range of the angular displacement θ. In the conditions, the case of α = (3/8) π is illustrated.

The means for selecting only a specific value from the different angular velocity ratios obtained by the plurality of element mechanisms is achieved by the one-way clutch function. In FIGS. 1 and 2, the angular velocity ratios based on ω ₂ that appear in the _two third non-circular gears 31a and 31b are the polygonal lines A and B in FIG. When A and B have different values depending on the value of the horizontal axis θ, the one-way clutch is used as a means for selecting only the angular velocity according to the angular velocity ratio of either one to be transmitted to the third rotating shaft 30. A bearing 37 with a function is provided. This is oriented so that rotational power is transmitted only from the third non-circular gears 31a and 31b to the third rotation shaft 30 in the illustrated rotation direction. Therefore, only the high value of the angular velocity ratio shown by A and B in FIG. 12 contributes to the drive of the rotary shaft 30, and the low value causes the drive by idling by the bearing 37 with the one-way clutch function. I try not to contribute.

As is clear from the above description, since the angle α can be continuously controlled in a stepless manner, the angular velocity ratio ω ₃ / ω ₂ can also be continuously varied in a stepless manner. It is fixed to a fixed value that correlates. In FIG. 2 (a), the fourth rotary shaft 4
0 and the fifth rotary shaft 50 are provided, and the ordinary circular gears 45,
A pair of 25, a circular internal gear 55, and a pair of ordinary circular gears 35 are used to connect to the second rotary shaft 20 and the third rotary shaft 30. This is an example of a form in which the input shaft and the output shaft are concentrically arranged as a continuously variable transmission, and also performs the function necessary for operating the built-in automatic control function.

FIG. 13 is an explanatory diagram relating to torque balance when the device shown in FIG. 2 (a) is transmitting the power of the prime mover to the load device. 91 is a prime mover, 92 is a load device, 93 is a common base on which each device is installed and fixed, a straight line indicated by l is a common rotation axis of each device, τ _i and τ _u are input torque and output with respect to the common rotation axis l Each of the closed curves denoted by torque, m and n is a path that is mechanically balanced with respect to the input torque τ _i and a path that is mechanically balanced with respect to the output torque τ _u . When driving the fourth rotating shaft 40 with the torque τ _i , the prime mover 91 provides the common base 93 with a reaction torque −τ _i balanced with the torque. This action,
The reaction torque is balanced on the path of the closed curve m passing through the second rotary shaft 20 and the first frame 60. On the other hand, the fifth
When the load device 92 is driven by the torque τ _u , the rotating shaft 50 of the third rotating shaft 50 produces a reaction torque −τ _u that balances with the third rotating shaft.
It is given to the second frame 70 through 30. The torque τ _u applied to the load device 92 passes through the common base 93 and then the first frame 6
Acting on 0. As described above, the turning torque corresponding to the output torque τ _u acts between the first and second frames 60 and 70, and as a result, the turning torque corresponding to the output torque τ _u is intentionally provided between the two frames. The torsion torque of the torsion elastic member 80 is τ
_By equilibrating with _u , a torque equilibrium appears in the path of the closed curve n. The output torque τ _u acts on the torsion elastic member 80 and the input torque τ _i does not act on the torsion elastic member 80. In FIG. 1 of the embodiment apparatus used in this description, the first frame 60 is the fixed frame and the second frame is the second frame. Since the frame of FIG. 1 is a possible frame, if only the input torque τ _i needs to be applied to the torsion elastic member 80, the fixed side and the movable side are exchanged, and in the case of the device shown in FIG. , Can be achieved by making the first frame 60 a movable frame. The gear ratio of the circular gears 45 and 25 pairs and the gear ratio of the circular internal gear 55 and the circular gear 35 pairs can be set arbitrarily. These tooth number ratios have an effective meaning as means for fixedly matching the rotational speed ratios of the input / output shafts of the continuously variable transmission, and also, in the characteristic setting of the automatic control, the transmission torque and the torsion elastic member 80. It has a constant effect in relation to the spring characteristics of.

FIG. 14 shows an embodiment of the continuously variable transmission according to the present invention (apparatuses in FIGS. 1 and 2) in which the fourth rotary shaft 40 is an input shaft and the fifth rotary shaft 50 is an output shaft. Circular gear 45,25
Various characteristic graphs such as the input / output shaft rotation speed ratio when the ratio of the number of teeth of the pair is 1: 1 and the ratio of the number of teeth of the circular internal gear 55 and the circular gear 35 is 3: 1 are shown. FIG. 14 (a) is an input / output shaft rotation speed ratio characteristic graph, in which the input / output shaft rotation speed ratio ω _u / ω _i corresponding to the controllable angle α becomes a straight line on a semi-logarithmic graph. Is represented. FIG. 14 (b) shows a torsion elastic member 8
2 is a graph in which two examples of (torsion torque) / (twist angle) characteristics given to 0 are added together. The twist angle is
It is represented by the control angle α shown in FIG. 1, and α =
The torsion torque at βmin is set to 1.5kg-m, and the torsion torque at α = 0 is set to 2.0kg-m. Due to this torsional elastic property,
In the continuously variable transmission according to the present invention, the output torque sets the automatic control characteristic of the input / output rotation speed ratio. Fig. 14
(c) is a graph showing the automatic control characteristic.

In the description of the continuously variable transmission according to the present invention so far, the shape specifications of the non-circular gears shown in FIGS. 3 to 5 are used as an example. It is not limited to. In the above embodiment, the non-circular gear pair has shown the case where the total number of teeth and the shape of the meshing pitch curve are the same, but if the non-circular gear pair has an exponential angular velocity modulation action, both gears have teeth. The present invention can be applied even if the number and the length of the meshing pitch curves are different and the total length is different.

Further, in the above-mentioned embodiment, the case of the spiral spring is shown as a specific example of the torsion elastic member 80, but the present invention is not limited to the spiral spring, and the intended action is the first frame 60 and the second frame.
If a structure that uses a single elastic member, a structure that provides elasticity, and the like, by applying a turning torque having elasticity characteristics to the frame 70,
It is applicable.

Further, in the above-mentioned embodiment, a pair of torsion elastic members 80 is used, however, in consideration of the balance of action force between constituent elements on the actual machine, the dispersion of elastic load, etc., the number is limited to one or plural. Instead, it can be effectively applied.

Further, in the above embodiment, the circular internal gear 55 is fixedly output to the fifth rotary shaft 50, but the present invention is not limited to the internal gear, and the normal internal gear such as that used for the fourth rotary shaft 40 is not limited to the internal gear. Alternatively, a circular gear may be used. Alternatively, the circular gear 45 of the fourth rotating shaft 40 may be a circular internal gear, and the circular gear may be fixed to the rotating shaft 50. Whether these gears have internal teeth or external teeth is simply related to the relationship in the rotation direction, the rotational speed ratio matching value and the like already described, and one of the main objects of the present invention is This is particularly important for the automatic control characteristic of the input / output rotational speed ratio.

In the apparatus of the embodiment shown in FIG. 1, the automatic control of the input / output rotational speed ratio by the output torque tends to decrease the rotational speed ratio as the output torque increases (FIG. 14 (c)).
If only the circular internal gear 55 is changed to a normal circular gear that meshes with the circular gear 35 in the apparatus of the embodiment shown in FIG. 1, the output torque increases and the input / output rotational speed ratio also increases. A device is obtained in which automatic control in the direction is performed.

〔The invention's effect〕

As described above, according to the present invention, the first non-circular gear and the second non-circular gear are engaged with each other, and the first-order angular velocity modulating means that performs an exponential velocity modulation action, and the first non-circular gear. A third non-circular gear is meshed with the second non-circular gear, and a secondary angular velocity modulating means that performs an exponential velocity modulation action is provided, and the relative rotation between the two angular velocity modulating means is centered on the rotation axis of the first non-circular gear. Since the turning angle can be changed, a continuously variable transmission using a typical gear unit for non-friction type power transmission can be configured with a smaller number of elements than the conventional device. In addition, a torsion elastic member that directly responds to the relative rotation angle is provided, and the input torque or output torque that is inevitably exerted on the constituent elements when the device mainly transmits the rotational power is also directly applied. Since the mechanism for applying the torsion torque of the torsion elastic member is provided, it is possible to configure a continuously variable transmission having a built-in automatic control function of a direct control system by transmission torque. As described above, the gear-type continuously variable transmission that has the advantage of non-friction type power transmission and has a built-in automatic control function has the effect of obtaining high transmission efficiency.

If the present invention is utilized in the field of driving a device in which the rotation speed changes in a wide range as represented by an automobile and various machine tools, it is rational with an internal combustion engine or an electric motor having a characteristic of a prime mover unsuitable for the changed rotation speed. This has the effect of contributing to resource saving and energy saving by making various adjustments.

[Brief description of drawings]

1 and 2 show an embodiment of a continuously variable transmission according to the present invention. FIG. 1 (a) is a sectional view taken along the line Ia-Ia of FIG. 2 (a), and FIG. 1 (b). 2A is a sectional view taken along line Ib-Ib in FIG. 2A, FIG. 2A is a sectional view taken along line IIa-IIa in FIG. 1A, and FIG. 2B is shown in FIG. ) IIb-IIb line sectional view, FIG. 3 is a front view showing the first and second non-circular gears of FIG. 1 (a), and FIG. 4 is a sectional view taken along line IV-IV of FIG. FIG. 5 is a curve diagram relating to the angular velocity ratio between the first and second non-circular gears of FIG. 3, and FIG. 6 is a coupling diagram of the first, second and third non-circular gears of FIG. The front view shown in FIG. 7, FIG. 7 is a sectional view taken along line VII-VII in FIG. 6, and FIGS.
FIG. 1 is a curve diagram showing the angular velocity modulation characteristic of the mechanism shown in FIG.
FIG. 2 is a curve diagram showing one of the continuously variable transmission operations of the device shown in FIG.
FIG. 13 is an explanatory diagram showing the torque balance when the device of FIG. 2 (a) is installed and operated between the prime mover and the load device, and FIG. 14 shows the overall characteristics of the device of FIG. In the curve diagram, (a) shows the relationship between the rotation angle of the second frame and the input / output shaft rotation speed ratio, and (b) shows the relationship between the rotation angle of the second frame and the elastic member torsion torque. Fig. 1 (c) is a curve diagram showing the relationship between the output torque and the input / output shaft rotation speed ratio.
FIG. 5 is a partial cross-sectional side view showing an outline of a conventional continuously variable transmission element device, FIG. 16 is a front view showing a pair of a driving gear and a driven gear of FIG. 15, and FIG. It is a curve figure about the angular velocity ratio between the drive gearwheel and the driven gearwheel of the figure. 10 ... first rotary shaft, 11a, 11b ... first non-circular gear, 2
0 ... second rotary shaft, 21a, 21b ... second non-circular gear, 30
...... Third rotating shaft, 31a, 31b …… Third non-circular gear, 60
...... First frame, 61 to 63 …… Bearing, 70 …… Second frame, 71,72 …… Bearing, 80 …… Torsion elastic member In the drawings, the same reference numerals indicate the same or corresponding parts.

Claims (4)

[Claims] 1. A first non-circular gear fixed to a first rotary shaft, and a second non-circular gear fixed to a second rotary shaft and meshing with the first non-circular gear. A primary angular velocity modulation means for determining a primary angular velocity ratio as an angular velocity ratio of the second rotary shaft to the first rotary shaft, the first non-circular gear, and a third rotary shaft capable of transmitting power. And a third non-circular gear that meshes with the first non-circular gear, and a secondary angular velocity modulating means that determines a secondary angular velocity ratio as an angular velocity ratio of the third rotating shaft to the first rotating shaft,
A first frame that supports the first rotating shaft and the second rotating shaft through bearings, respectively, and a third frame that supports the third rotating shaft through bearings, and the first rotating shaft supports the bearings. And a second frame supported so as to be relatively rotatable with respect to the first frame with the rotation shaft serving as a fulcrum shaft, and the first angular velocity ratio can be arbitrarily determined in advance. F ₍₀₎ and angular velocity modulation coefficient K, and the exponential function equation e ^{K · θ} · F ₍₀₎ using the angular displacement θ of the first rotation axis
In this state, the secondary angular velocity ratio is the reference angular velocity ratio F ₍₀₎ and the angular velocity modulation coefficient K, the angular displacement θ, the first frame and the first angular velocity ratio. The second rotation axis is obtained by creating the state given by the exponential function equation e ^{K (θ + α)} · F ₍₀₎ using the relative rotation angle α between the two frames. Above for the third
The angular velocity modulation coefficient K of the rotation axis is calculated as a quotient of the second angular velocity ratio to the first angular velocity ratio.
And the angle α, the element mechanism having the angular velocity modulation function of being in a state given by the exponential function expression e ^{K · α} is formed, and the element mechanism sharing the first and second frames. And a torsion elastic member that applies a torsion torque correlated to the relative rotation angle α is provided between the first frame and the second frame. A continuously variable transmission characterized in that an output torque or an input torque resists a twisting torque of a member. 2. The continuously variable transmission according to claim 1, wherein the torsion elastic member is a spiral spring. 3. The continuously variable transmission according to claim 1 or 2, wherein the first frame is fixed to a fixed portion. 4. The continuously variable transmission according to claim 1 or 2, wherein the second frame is fixed to a fixed portion.