JP2005233377A - Toroidal continuously-variable transmission and continuously-variable speed change unit - Google Patents

Toroidal continuously-variable transmission and continuously-variable speed change unit Download PDF

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JP2005233377A
JP2005233377A JP2004046234A JP2004046234A JP2005233377A JP 2005233377 A JP2005233377 A JP 2005233377A JP 2004046234 A JP2004046234 A JP 2004046234A JP 2004046234 A JP2004046234 A JP 2004046234A JP 2005233377 A JP2005233377 A JP 2005233377A
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continuously variable
variable transmission
tilt
gear ratio
toroidal
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JP2005233377A5 (en
JP4496800B2 (en
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Takumi Shinojima
巧 篠島
Daiki Nishii
大樹 西井
Shoji Yokoyama
将司 横山
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NSK Ltd
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Abstract

<P>PROBLEM TO BE SOLVED: To prevent a reduction in life and unstable speed change motions caused by an excessive slip on a rolling contact section (traction section). <P>SOLUTION: A tilt rotating sensor 56 detecting an amount of tilt rotation of each power roller 7 is arranged on each power roller 7. The amount of tilt rotation of each power roller 7 is determined whether it is appropriate from the amount of tilt rotation of each power roller 7 calculated from a detected signal of each tilt rotating sensor 56. When determining that the amount of tilt rotation of each power roller 7 is inconsistent and an excessive slip is generated on the rolling contact section (traction section), countermeasures for reducing this excessive slip are applied on the basis of the determined results. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

この発明に係るトロイダル型無段変速機及び無段変速装置は、自動車（車両）用自動変速機の変速ユニットとして、或はポンプ等の各種産業機械の運転速度を調節する為の変速機として利用する。   The toroidal type continuously variable transmission and continuously variable transmission according to the present invention are used as a transmission unit of an automatic transmission for an automobile (vehicle) or as a transmission for adjusting the operating speed of various industrial machines such as a pump. To do.

自動車用自動変速機として使用されるトロイダル型無段変速機が、特許文献１〜４、非特許文献１、２等の多くの刊行物に記載され、且つ、一部で実施されていて周知である。この様なトロイダル型無段変速機は、互いに対向する軸方向側面をトロイド曲面とした入力側ディスクと出力側ディスクとの間に複数個のパワーローラを挟持して成る。運転時には、この入力側ディスクの回転が、これら各パワーローラを介して上記出力側ディスクに伝達される。これら各パワーローラは、それぞれトラニオン等の支持部材に回転自在に支持されており、これら各支持部材は、それぞれ上記両ディスクの中心軸に対し捩れの位置にある枢軸を中心とする揺動変位を自在に支持されている。上記両ディスク同士の間の変速比を変える場合は、油圧式のアクチュエータにより上記各支持部材を上記枢軸の軸方向に変位させる。この様なアクチュエータへの圧油の給排は、制御弁により制御すると共に、上記支持部材の動きをこの制御弁にフィードバックする様に構成する。   Toroidal-type continuously variable transmissions used as automatic transmissions for automobiles are described in many publications such as Patent Documents 1 to 4 and Non-Patent Documents 1 and 2, and are implemented in part and well known. is there. Such a toroidal-type continuously variable transmission is configured by sandwiching a plurality of power rollers between an input side disk and an output side disk whose toroidal curved surfaces are opposite to each other in the axial direction. During operation, the rotation of the input side disk is transmitted to the output side disk via these power rollers. Each of these power rollers is rotatably supported by a support member such as a trunnion, and each of these support members is subject to swinging displacement about a pivot that is in a twisted position with respect to the central axes of the two disks. It is supported freely. When changing the gear ratio between the two disks, the support members are displaced in the axial direction of the pivot by a hydraulic actuator. Such supply and discharge of pressure oil to and from the actuator is controlled by a control valve, and the movement of the support member is fed back to the control valve.

上記アクチュエータへの圧油の給排に基づき上記各支持部材を上記枢軸の軸方向に変位させると、上記各パワーローラの周面と上記入力側、出力側各ディスクの側面との転がり接触部（トラクション部）に作用する、接線方向の力の向きが変化（転がり接触部にサイドスリップが発生）する。そして、この力の向きの変化に伴って上記各支持部材が上記枢軸を中心に揺動（傾斜）し、上記各パワーローラの周面と上記入力側、出力側各ディスクの側面との接触位置が変化する。上記各パワーローラの周面を、上記入力側ディスクの側面の径方向外寄り部分と、上記出力側ディスクの側面の径方向内寄り部分とに転がり接触させれば、上記両ディスク同士の間の変速比が増速側になる。これに対して、上記各パワーローラの周面を、上記入力側ディスクの側面の径方向内寄り部分と、上記出力側ディスクの側面の径方向外寄り部分とに転がり接触させれば、上記両ディスク同士の間の変速比が減速側になる。   When each support member is displaced in the axial direction of the pivot based on supply / discharge of pressure oil to / from the actuator, a rolling contact portion between the peripheral surface of each power roller and the side surface of each disk on the input side and output side ( The direction of the tangential force acting on the traction section changes (side slip occurs in the rolling contact section). Then, with the change in the direction of the force, each support member swings (tilts) about the pivot, and the contact position between the peripheral surface of each power roller and the side surface of each disk on the input side and output side. Changes. If the circumferential surface of each of the power rollers is brought into rolling contact with the radially outward portion of the side surface of the input side disc and the radially inward portion of the side surface of the output side disc, The gear ratio is increased. In contrast, if the circumferential surface of each power roller is brought into rolling contact with the radially inward portion of the side surface of the input side disk and the radially outward portion of the side surface of the output side disc, The gear ratio between the disks is on the deceleration side.

又、上述の様なトロイダル型無段変速機を実際の自動車用自動変速機に組み込む場合、遊星歯車機構等の歯車式の差動ユニットと組み合わせて無段変速装置を構成する事が、従来から提案されている。例えば特許文献５には、所謂ギヤード・ニュートラルと呼ばれ、入力軸を一方向に回転させたまま、出力軸の回転状態を、停止状態を挟んで正転、逆転に切り換えられる無段変速装置が記載されている。図４は、この特許文献５に記載された無段変速装置を示している。この無段変速装置は、トロイダル型無段変速機１と遊星歯車式変速機２とを組み合わせて成る。このうちのトロイダル型無段変速機１は、入力軸３と、１対の入力側ディスク４、４と、出力側ディスク５と、それぞれが支持部材である複数のトラニオン６、６と、複数のパワーローラ７、７とを備える。   In addition, when a toroidal continuously variable transmission as described above is incorporated into an actual automatic transmission for an automobile, a continuously variable transmission has been conventionally configured in combination with a gear-type differential unit such as a planetary gear mechanism. Proposed. For example, Patent Document 5 discloses a continuously variable transmission called a so-called geared neutral, in which the rotation state of the output shaft can be switched between forward rotation and reverse rotation with the input shaft rotated in one direction with the stop state interposed therebetween. Has been described. FIG. 4 shows the continuously variable transmission described in Patent Document 5. This continuously variable transmission is formed by combining a toroidal type continuously variable transmission 1 and a planetary gear type transmission 2. Among these, the toroidal continuously variable transmission 1 includes an input shaft 3, a pair of input side disks 4, 4 and an output side disk 5, a plurality of trunnions 6, 6 each of which is a support member, and a plurality of trunnions Power rollers 7 and 7 are provided.

又、上記遊星歯車式変速機２は、上記入力軸３及び一方（図４の右方）の入力側ディスク４に結合固定されたキャリア８を備える。そして、このキャリア８の両側面に、それぞれがダブルピニオン型である、第一、第二の遊星歯車９、１０を支持している。これら各第一、第二遊星歯車９、１０は、内径側の遊星歯車素子１１ａ、１２ａを、上記出力側ディスク５にその基端部（図４の左端部）を結合した中空回転軸１３の先端部（図４の右端部）及び伝達軸１４の一端部（図４の左端部）にそれぞれ固設した第一、第二の太陽歯車１５、１６に、外径側の遊星歯車素子１１ｂ、１２ｂをリング歯車１７に、それぞれ噛合させている。   The planetary gear type transmission 2 includes a carrier 8 coupled and fixed to the input shaft 3 and one (on the right side in FIG. 4) input side disk 4. The first and second planetary gears 9 and 10, each of which is a double pinion type, are supported on both side surfaces of the carrier 8. Each of the first and second planetary gears 9 and 10 includes a planetary gear element 11a and 12a on the inner diameter side of a hollow rotary shaft 13 in which a base end portion (left end portion in FIG. 4) is coupled to the output side disk 5. To the first and second sun gears 15 and 16 fixed to the tip (right end in FIG. 4) and one end (left end in FIG. 4) of the transmission shaft 14, respectively, 12b is meshed with the ring gear 17, respectively.

一方、上記伝達軸１４の他端部（図４の右端部）に固設した第三の太陽歯車１８の周囲に設けた第二のキャリア１９に遊星歯車素子２０ａ、２０ｂを、回転自在に支持している。これら各遊星歯車素子２０ａ、２０ｂは、互いに噛合すると共に、内径側の遊星歯車素子２０ａを上記第三の太陽歯車１８に、外径側の遊星歯車素子２０ｂを、上記第二のキャリア１９の周囲に回転自在に設けた第二のリング歯車２１に、それぞれ噛合させている。又、上記リング歯車１７と上記第二のキャリア１９とを低速用クラッチ２２により係脱自在とすると共に、上記第二のリング歯車２１とハウジング等の固定の部分とを、高速用クラッチ２３により係脱自在としている。又、上記第二のキャリア１９に出力軸２４を、上記入力軸３と同心に固設している。   On the other hand, planetary gear elements 20a and 20b are rotatably supported by a second carrier 19 provided around a third sun gear 18 fixed to the other end portion (right end portion in FIG. 4) of the transmission shaft 14. doing. The planetary gear elements 20a and 20b mesh with each other, and the planetary gear element 20a on the inner diameter side is placed on the third sun gear 18 and the planetary gear element 20b on the outer diameter side is placed around the second carrier 19. Are respectively meshed with second ring gears 21 provided rotatably. The ring gear 17 and the second carrier 19 can be freely engaged and disengaged by a low speed clutch 22, and the second ring gear 21 and a fixed portion such as a housing are engaged by a high speed clutch 23. It is considered to be removable. An output shaft 24 is fixed to the second carrier 19 concentrically with the input shaft 3.

上述の様な、図４に示した無段変速装置の場合、上記低速用クラッチ２２を接続し、上記高速用クラッチ２３の接続を断った、所謂低速モード状態では、上記入力軸３の動力が上記リング歯車１７を介して上記出力軸２４に伝えられる。そして、トロイダル型無段変速機１の変速比を変える事により、無段変速装置全体としての速度比、即ち、上記入力軸３と上記出力軸２４との間の速度比が変化する。この様な低速モード状態では、図５に線分αで示す様に、無段変速装置全体としての速度比は無限大に変化する。即ち、上記トロイダル型無段変速機１の変速比を調節する事により、上記入力軸３を一方向に回転させた状態のまま上記出力軸２４の回転状態を、停止状態を挟んで、正転、逆転の変換自在となる。   In the case of the continuously variable transmission shown in FIG. 4 as described above, in the so-called low speed mode state in which the low speed clutch 22 is connected and the high speed clutch 23 is disconnected, the power of the input shaft 3 is reduced. This is transmitted to the output shaft 24 via the ring gear 17. The speed ratio of the entire continuously variable transmission, that is, the speed ratio between the input shaft 3 and the output shaft 24 is changed by changing the gear ratio of the toroidal continuously variable transmission 1. In such a low speed mode state, as indicated by a line segment α in FIG. 5, the speed ratio of the continuously variable transmission as a whole changes to infinity. That is, by adjusting the gear ratio of the toroidal-type continuously variable transmission 1, the rotational state of the output shaft 24 is rotated forward with the stop state between the input shaft 3 and the input shaft 3 being rotated in one direction. , Reverse conversion is possible.

これに対して、上記低速用クラッチ２２の接続を断ち、上記高速用クラッチ２３を接続した、所謂高速モード状態では、上記入力軸３の動力が、前記第一の遊星歯車９、上記リング歯車１７、前記第二の遊星歯車１０、前記伝達軸１４、前記各遊星歯車素子２０ａ、２０ｂ、上記第二のキャリア１９を介して、上記出力軸２４に伝えられる。そして、上記トロイダル型無段変速機１の変速比を変える事により、無段変速装置全体としての速度比が変化する。この様な高速モード状態の場合には、図５に線分βで示す様に、上記トロイダル型無段変速機１の変速比を大きくする程、無段変速装置全体としての速度比が大きくなる。   On the other hand, in the so-called high speed mode state in which the low speed clutch 22 is disconnected and the high speed clutch 23 is connected, the power of the input shaft 3 is applied to the first planetary gear 9 and the ring gear 17. The second planetary gear 10, the transmission shaft 14, the planetary gear elements 20 a and 20 b, and the second carrier 19 are transmitted to the output shaft 24. And the speed ratio as the whole continuously variable transmission changes by changing the gear ratio of the toroidal type continuously variable transmission 1. In such a high-speed mode state, as indicated by a line β in FIG. 5, the speed ratio of the continuously variable transmission as a whole increases as the speed ratio of the toroidal continuously variable transmission 1 increases. .

上述の様に構成する無段変速装置の場合、入力軸３を回転させた状態のまま出力軸２４を停止させたり、或は極低速で回転させる状態で、トロイダル型無段変速機１を通過するトルクを適正に規制する必要がある。この様な事情に鑑みて、特願２００３−５６６８１号には、上記入力軸３を駆動するエンジンの回転速度を大まかに制御しつつ、この回転速度に合わせてトロイダル型無段変速機１の変速比の調節を行なう事により、上記トロイダル型無段変速機１を通過するトルクを目標値に規制する制御方法が開示されている（第一の先発明）。又、特願２００３−１０５９６７号には、非走行状態で、出力軸に加わるトルクが０若しくは小さな値に収まる様にする為に、トロイダル型無段変速機の変速比を厳密に規制できる、無段変速装置に関する発明が開示されている（第二の先発明）。この第二の先発明の構造及び作用に就いて、図６〜７により説明する。尚、このうちの図６の上部には、例えば上述の図４に示した無段変速装置を模式的に示している。従って、当該部分には、この図４に示した符号と同じ符号を付している。又、上記図６中、太矢印は動力の伝達経路を、実線は油圧回路を、破線は電気回路を、それぞれ示している。   In the case of the continuously variable transmission configured as described above, the output shaft 24 is stopped while the input shaft 3 is rotated, or is passed through the toroidal continuously variable transmission 1 while rotating at an extremely low speed. It is necessary to properly regulate the torque to be applied. In view of such circumstances, Japanese Patent Application No. 2003-56681 discloses that the rotational speed of the engine that drives the input shaft 3 is roughly controlled, and the speed change of the toroidal type continuously variable transmission 1 according to the rotational speed. A control method is disclosed in which the torque passing through the toroidal-type continuously variable transmission 1 is regulated to a target value by adjusting the ratio (first prior invention). In Japanese Patent Application No. 2003-105967, the speed ratio of the toroidal continuously variable transmission can be strictly regulated so that the torque applied to the output shaft can be kept to 0 or a small value in a non-running state. An invention relating to a step transmission is disclosed (second prior invention). The structure and operation of the second prior invention will be described with reference to FIGS. In the upper part of FIG. 6, for example, the continuously variable transmission shown in FIG. 4 is schematically shown. Accordingly, the same reference numerals as those shown in FIG. In FIG. 6, thick arrows indicate power transmission paths, solid lines indicate hydraulic circuits, and broken lines indicate electric circuits.

エンジン２５の出力は、ダンパ２６を介して、入力軸３に入力される。この入力軸３に伝達された動力は、トロイダル型無段変速機１を構成する油圧式の押圧装置２７から入力側ディスク４に伝達され、更にパワーローラ７を介して出力側ディスク５に伝達される。これら両ディスク４、５のうち、入力側ディスク４の回転速度は入力側回転センサ２８により、出力側ディスク５の回転速度は出力側回転センサ２９により、それぞれ測定して、制御器３０に入力し、上記両ディスク４、５間の（トロイダル型無段変速機１の）変速比を算出自在としている。   The output of the engine 25 is input to the input shaft 3 via the damper 26. The power transmitted to the input shaft 3 is transmitted from the hydraulic pressing device 27 constituting the toroidal type continuously variable transmission 1 to the input side disk 4 and further to the output side disk 5 through the power roller 7. The Among these disks 4 and 5, the rotational speed of the input side disk 4 is measured by the input side rotation sensor 28, and the rotational speed of the output side disk 5 is measured by the output side rotation sensor 29, and is input to the controller 30. The gear ratio (of the toroidal-type continuously variable transmission 1) between the two disks 4 and 5 can be calculated.

又、上記入力軸３に伝達された動力は、直接又は上記トロイダル型無段変速機１を介して、差動ユニットである遊星歯車式変速機２に伝達される。そして、この遊星歯車式変速機２の構成部材の差動成分が、クラッチ装置３１を介して、出力軸２４に取り出される。尚、このクラッチ装置３１は、前記図４に示した低速用クラッチ２２及び高速用クラッチ２３を表すものである。又、出力軸回転センサ３２によって、上記出力軸２４の回転速度を検出自在としている。一方、上記ダンパ２６部分から取り出した動力によりオイルポンプ３３（３３ａ、３３ｂ）を駆動し、このオイルポンプ３３から吐出した圧油を、上記押圧装置２７と、上記パワーローラ７を支持したトラニオン６（図４参照）を枢軸３４、３４（後述する本発明の実施例を示す図２参照）の軸方向に変位させるアクチュエータ３５（後述する図７参照）の変位量を制御する為の制御弁装置３６とに、送り込み自在としている。尚、この制御弁装置３６とは、後述する図７に示した制御弁３７と、差圧シリンダ３８と、補正用制御弁３９ａ、３９ｂと、高速用切換弁４０及び低速用切換弁４１とを合わせたものである。このうちの制御弁３７は、上記アクチュエータ３５への油圧の給排を制御するものである。又、このアクチュエータ３５に設けた１対の油圧室４２ａ、４２ｂ（図７参照）内の油圧を（実際には１対の）油圧センサ４３により検出して、その検出信号を、上記制御器３０に入力している。   The power transmitted to the input shaft 3 is transmitted directly or via the toroidal type continuously variable transmission 1 to the planetary gear type transmission 2 which is a differential unit. Then, the differential component of the constituent members of the planetary gear type transmission 2 is taken out to the output shaft 24 via the clutch device 31. The clutch device 31 represents the low speed clutch 22 and the high speed clutch 23 shown in FIG. The output shaft rotation sensor 32 can detect the rotation speed of the output shaft 24. On the other hand, the oil pump 33 (33a, 33b) is driven by the power extracted from the damper 26, and the pressure oil discharged from the oil pump 33 is sent to the trunnion 6 (supporting the pressing device 27 and the power roller 7). A control valve device 36 for controlling the amount of displacement of an actuator 35 (see FIG. 7 described later) for displacing the pivots 34, 34 (see FIG. 2 showing an embodiment of the present invention described later) in the axial direction. In addition, it can be sent in freely. The control valve device 36 includes a control valve 37, a differential pressure cylinder 38, correction control valves 39a and 39b, a high-speed switching valve 40, and a low-speed switching valve 41 shown in FIG. It is a combination. Of these, the control valve 37 controls the supply and discharge of hydraulic pressure to and from the actuator 35. Further, the hydraulic pressure in the pair of hydraulic chambers 42a and 42b (see FIG. 7) provided in the actuator 35 is detected by a hydraulic sensor 43 (actually a pair), and the detection signal is sent to the controller 30. Is entered.

この制御器３０は、上記油圧センサ４３からの信号に基づいて、上記トロイダル型無段変速機１を通過するトルク（通過トルク）を算出する。そして、この様に算出される通過トルクに応じてトロイダル型無段変速機１の変速比を補正すべく、上記制御弁３７の構成部材を上記差圧シリンダ３８により変位させる。この様な差圧シリンダ３８への圧油の給排は、上記補正用制御弁３９ａ、３９ｂにより制御される。又、上記制御弁装置３６は、ステッピングモータ４４と、ライン圧制御用電磁開閉弁４５と、上記補正用制御弁３９ａ、３９ａを切り換える為の電磁弁４６と、上記高速用切換弁４０及び低速用切換弁４１を切り換える為のシフト用電磁弁４７とにより、その作動状態を切り換えられる。そして、これらステッピングモータ４４と、ライン圧制御用電磁開閉弁４５と、電磁弁４６と、シフト用電磁弁４７とは、何れも上記制御器３０からの制御信号に基づいて切り換えられる。   The controller 30 calculates a torque (passing torque) that passes through the toroidal continuously variable transmission 1 based on a signal from the hydraulic sensor 43. Then, the component of the control valve 37 is displaced by the differential pressure cylinder 38 in order to correct the transmission ratio of the toroidal type continuously variable transmission 1 according to the passing torque calculated in this way. The supply and discharge of pressure oil to and from such a differential pressure cylinder 38 is controlled by the correction control valves 39a and 39b. The control valve device 36 includes a stepping motor 44, a line pressure control electromagnetic switching valve 45, a solenoid valve 46 for switching the correction control valves 39a and 39a, the high speed switching valve 40 and the low speed switching valve 40. The operating state can be switched by a shift electromagnetic valve 47 for switching the switching valve 41. The stepping motor 44, the line pressure control electromagnetic on-off valve 45, the electromagnetic valve 46, and the shift electromagnetic valve 47 are all switched based on the control signal from the controller 30.

又、この制御器３０には、前記各回転センサ２８、２９、３２及び上記油圧センサ４３からの信号の他、潤滑油（トラクションオイル）の温度を検出する油温センサ４８の検出信号と、後述する図７に記載した手動油圧切換弁５２を切り換える為のシフトレバー（操作レバー）の操作位置を検出するポジションスイッチ４９の位置信号と、アクセルペダルの開度を検出するアクセルセンサ５０の検出信号と、ブレーキペダル或はパーキングブレーキの操作を検出するブレーキスイッチ５１の信号とを入力している。又、上記制御器３０は、上記各スイッチ４９、５１及び各センサ２８、２９、３２、４３、４８、５０からの信号に基づいて、上記ステッピングモータ４４と、ライン圧制御用電磁開閉弁４５と、電磁弁４６と、シフト用電磁弁４７とに上記制御信号を送る他、前記エンジン２５を制御する為のエンジンコントローラ５３に制御信号を送る。そして、前記第一の先発明の場合と同様に、入力軸３と出力軸２４との間の速度比を変えたり、或は停止時若しくは極く低速走行時に前記トロイダル型無段変速機１を通過して上記出力軸２４に加えられるトルク（通過トルク）を制御する。   In addition to the signals from the rotation sensors 28, 29, 32 and the hydraulic pressure sensor 43, the controller 30 includes a detection signal from an oil temperature sensor 48 for detecting the temperature of the lubricating oil (traction oil), and a later-described signal. The position signal of the position switch 49 for detecting the operation position of the shift lever (operation lever) for switching the manual hydraulic pressure switching valve 52 shown in FIG. 7 and the detection signal of the accelerator sensor 50 for detecting the opening degree of the accelerator pedal The brake switch 51 detects the operation of the brake pedal or parking brake. Further, the controller 30 is connected to the stepping motor 44, the line pressure control electromagnetic open / close valve 45, based on the signals from the switches 49, 51 and the sensors 28, 29, 32, 43, 48, 50. In addition to sending the control signal to the solenoid valve 46 and the shift solenoid valve 47, the control signal is sent to the engine controller 53 for controlling the engine 25. As in the case of the first prior invention, the speed ratio between the input shaft 3 and the output shaft 24 is changed, or when the toroidal continuously variable transmission 1 is stopped or stopped at a very low speed. The torque passing therethrough and applied to the output shaft 24 (passing torque) is controlled.

又、第二の先発明の場合には、前記入力側回転センサ２８及び前記出力側回転センサ２９の検出信号に基づいて、上記出力軸２４の回転速度及び回転方向を算出し、上記通過トルクの制御を行なう様にしている。即ち、上記入力側、出力側両回転センサ２８、２９の検出信号を入力した上記制御器３０は、これら両回転センサ２８、２９の検出信号に基づいて、各入力側ディスク４、４の回転速度ＮIDと出力側ディスク５の回転速度ＮODを求める。そして、これら各入力側ディスク４、４の回転速度ＮIDと出力側ディスク５の回転速度ＮODとから求められる、上記トロイダル型無段変速機１の変速比ＮOD／ＮIDと、前記低速用クラッチ２２を接続しての低速モード状態時の、前記遊星歯車式変速機２の変速比ｉ1 とから、上記出力軸２４の回転速度ＮOUT を、上記各入力側ディスク４、４の回転速度に対する比として求める。 In the case of the second prior invention, the rotational speed and direction of the output shaft 24 are calculated based on the detection signals of the input side rotation sensor 28 and the output side rotation sensor 29, and the passing torque is calculated. The control is performed. That is, the controller 30 that has input the detection signals of the input side and output side rotation sensors 28 and 29, based on the detection signals of the rotation sensors 28 and 29, rotates the rotational speeds of the input side disks 4 and 4 respectively. N ID and the rotational speed N OD of the output side disk 5 are obtained. The speed ratio N OD / N ID of the toroidal continuously variable transmission 1 obtained from the rotational speed N ID of each of the input side disks 4 and 4 and the rotational speed N OD of the output side disk 5 and the low speed From the transmission gear ratio i 1 of the planetary gear type transmission 2 in the low speed mode state with the clutch 22 connected, the rotational speed N OUT of the output shaft 24 is determined from the rotation of the input side disks 4, 4. Calculated as a ratio to speed.

そして、この様に出力軸２４の回転速度ＮOUT を求める第二の先発明の場合、走行状態（Ｄ、Ｌレンジ又はＲレンジ）が選択された瞬間に、この出力軸２４が突然、必要以上のトルク、且つ、必要以上の速度で回転し始める事を防止すべく、低速側、高速側両クラッチ２２、２３が繋がれた場合でも上記出力軸２４の回転速度が０となる様に、トロイダル型無段変速機１の変速比を規制する。この場合に、このトロイダル型無段変速機１を通過するトルクの目標値を（非走行状態での実質的通過トルクの値である）０にした状態で、このトロイダル型無段変速機１の変速比を調節する。或は、上記両クラッチ２２、２３が繋がれた場合に上記出力軸２４の回転速度が、ブレーキペダルの踏み込みにより停止させられる程度の低速となり、且つ、この出力軸２４に加わるトルクが小さくなる様に、上記トロイダル型無段変速機１の変速比を調節する。 In the case of the second prior invention for obtaining the rotational speed N OUT of the output shaft 24 in this way, the output shaft 24 suddenly becomes more than necessary at the moment when the traveling state (D, L range or R range) is selected. In order to prevent the rotation of the output shaft 24 from becoming zero even when both the low speed side and high speed side clutches 22 and 23 are connected, in order to prevent the motor from starting to rotate at a higher speed than necessary. The gear ratio of the type continuously variable transmission 1 is regulated. In this case, when the target value of the torque passing through the toroidal type continuously variable transmission 1 is set to 0 (which is a value of the substantial passing torque in the non-running state), the toroidal type continuously variable transmission 1 Adjust the gear ratio. Alternatively, when both the clutches 22 and 23 are connected, the rotational speed of the output shaft 24 is low enough to be stopped by depressing the brake pedal, and the torque applied to the output shaft 24 is reduced. In addition, the gear ratio of the toroidal type continuously variable transmission 1 is adjusted.

図７は、この様な変速比の調節を行なう第二の先発明の無段変速装置を制御する油圧回路を示している。この油圧回路では、油溜５４から吸引されてオイルポンプ３３ａ、３３ｂにより吐出された圧油を、調圧弁５５ａ、５５ｂで所定圧に調整自在としている。又、上記両調圧弁５５ａ、５５ｂのうち、手動油圧切換弁５２側に送る油圧を調整する為の調圧弁５５ｂによる調整圧を、ライン圧制御用電磁開閉弁４５の開閉に基づいて調節自在としている。そして、上記両調圧弁５５ａ、５５ｂにより圧力を調整された圧油を、制御弁３７を介してアクチュエータ３５に送り込み自在とする他、差圧シリンダ３８のストロークを調節する為の補正用制御弁３９ａ、３９ｂに、電磁弁４６の開閉に基づいて送り込み自在としている。又、上記圧油を、油圧式の押圧装置２７に送り込む様にしている。又、この圧油は、上記手動油圧切換弁５２と、高速用切換弁４０又は低速用切換弁４１とを介して、低速用クラッチ２２又は高速用クラッチ２３の油圧室内に送り込み自在としている。   FIG. 7 shows a hydraulic circuit for controlling the continuously variable transmission according to the second aspect of the invention for adjusting the speed ratio as described above. In this hydraulic circuit, the pressure oil sucked from the oil reservoir 54 and discharged by the oil pumps 33a and 33b can be adjusted to a predetermined pressure by the pressure regulating valves 55a and 55b. Further, among the pressure regulating valves 55a and 55b, the adjustment pressure by the pressure regulating valve 55b for adjusting the hydraulic pressure sent to the manual hydraulic pressure switching valve 52 side can be adjusted based on the opening / closing of the line pressure control electromagnetic switching valve 45. Yes. The pressure oil whose pressure is adjusted by the pressure regulating valves 55a and 55b can be sent to the actuator 35 via the control valve 37, and the correction control valve 39a for adjusting the stroke of the differential pressure cylinder 38. , 39b based on the opening and closing of the electromagnetic valve 46. Further, the pressure oil is fed into the hydraulic pressing device 27. The pressure oil can be fed into the hydraulic chamber of the low speed clutch 22 or the high speed clutch 23 via the manual hydraulic pressure switching valve 52 and the high speed switching valve 40 or the low speed switching valve 41.

上述の様な油圧回路により制御される、前述の様な第二の先発明を実施する場合、前述した様に、入力側回転センサ２８及び出力側回転センサ２９の検出信号に基づいて、入力側ディスク４の回転速度ＮID及び出力側ディスク５の回転速度ＮODを求めつつ、制御弁装置３６をフィードバック制御する。言い換えれば、上記入力側、出力側各回転センサ２８、２９の検出信号に基づいて、トロイダル型無段変速機１の変速比ＮOD／ＮIDを所望値に調節する事で、このトロイダル型無段変速機１を通過するトルクや出力軸２４の回転速度の規制を行なう。但し、この様に入力側、出力側各ディスク４、５の回転速度ＮID、ＮODのみから上記変速比ＮOD／ＮIDの調節を行なう場合、これら入力側ディスク４と出力側ディスク５との間の変速比ＮOD／ＮIDを所望値に調節できても、これら両ディスク４、５同士の間に挟持された各パワーローラ７の傾転量（各パワーローラ７を支持するトラニオン６の枢軸３４を中心とする揺動量）を知る事はできない。 When the second prior invention as described above, which is controlled by the hydraulic circuit as described above, is implemented, based on the detection signals of the input side rotation sensor 28 and the output side rotation sensor 29 as described above, the input side The control valve device 36 is feedback-controlled while obtaining the rotational speed N ID of the disk 4 and the rotational speed NOD of the output side disk 5. In other words, by adjusting the gear ratio N OD / N ID of the toroidal continuously variable transmission 1 to a desired value based on the detection signals of the input side and output side rotation sensors 28 and 29, the toroidal type The torque passing through the step transmission 1 and the rotational speed of the output shaft 24 are regulated. However, when the speed ratio N OD / N ID is adjusted only from the rotational speeds N ID and N OD of the input side and output side disks 4 and 5, the input side disk 4 and the output side disk 5 Even if the gear ratio N OD / N ID can be adjusted to a desired value, the tilting amount of each power roller 7 sandwiched between these two disks 4, 5 (the trunnion 6 that supports each power roller 7 is Cannot be known).

即ち、上記各回転センサ２８、２９の検出信号に基づいて上記変速比ＮOD／ＮIDを所望値に調節しても、上記各パワーローラ７の傾転量が適正な状態（不可避的なばらつきの範囲内）で所望値に調節されているのか、或は、不適正で（互いに揺動量が不一致となり）、これら各パワーローラ７の周面と上記入力側、出力側各ディスク４、５の側面との転がり接触部（トラクション部）で過大な滑りが生じている状態で所望値に調節されているのかは、そのままでは分らない。そして、この様に転がり接触部で過大な滑りが生じたまま運転を続けた場合には、変速動作が不安定になると共に、上記入力側、出力側各ディスク４、５及び各パワーローラ７が早期に寿命に至り、耐久性を十分に確保できなくなる可能性がある。 That is, even if the gear ratio N OD / N ID is adjusted to a desired value based on the detection signals of the rotation sensors 28 and 29, the tilt amount of each power roller 7 is in an appropriate state (inevitable variation). In the range of the power roller 7 or inadequate (the amount of swinging is inconsistent with each other), and the peripheral surfaces of the power rollers 7 and the input and output disks 4 and 5 It is not known as it is whether it is adjusted to the desired value in the state where excessive slip occurs at the rolling contact portion (traction portion) with the side surface. When the operation is continued with excessive slippage at the rolling contact portion in this way, the shifting operation becomes unstable, and the input side, output side disks 4, 5 and the power rollers 7 are There is a possibility that the service life will be reached early, and sufficient durability cannot be secured.

又、上述の様に入力側、出力側各回転センサ２８、２９の検出信号に基づいて、上記トロイダル型無段変速機１の変速比ＮOD／ＮIDの調節を行なう場合、これら各回転センサ２８、２９のうちの何れかのセンサに異常が発生すると、そのままではこの変速比ＮOD／ＮIDの調節を所望通り行なえなくなる可能性がある。尚、出力軸２４の回転速度を検出する為の出力軸回転センサ３２を設けた場合には、この出力軸２４の回転速度を検出する事により、上記各回転センサ２８、２９に異常が発生した事を判定できる。そして、異常が発生したセンサの検出する回転速度を推定する等により、上記変速比の調節を行なう事ができる。但し、この様な変速比の調節が行なえるのは、低速用クラッチ２２や高速用クラッチ２３が接続されている状態、即ち走行状態が選択されている場合であり、上記両クラッチ２２、２３の接続が断たれる非走行状態が選択されている場合には、そのままでは上記変速比の調節を所望通り行なえなくなる可能性がある。 Further, when adjusting the gear ratio N OD / N ID of the toroidal type continuously variable transmission 1 based on the detection signals of the input side and output side rotation sensors 28 and 29 as described above, the rotation sensors If an abnormality occurs in any of the sensors 28 and 29, the gear ratio N OD / N ID may not be adjusted as desired. When the output shaft rotation sensor 32 for detecting the rotation speed of the output shaft 24 is provided, an abnormality has occurred in each of the rotation sensors 28 and 29 by detecting the rotation speed of the output shaft 24. You can judge things. The gear ratio can be adjusted by estimating the rotational speed detected by the sensor in which the abnormality has occurred. However, the gear ratio can be adjusted when the low speed clutch 22 or the high speed clutch 23 is connected, that is, when the running state is selected. If the non-running state in which the connection is broken is selected, the gear ratio may not be adjusted as desired.

一方、上述の様な出力軸回転センサ３２を設けていない場合には、上記入力側、出力側各回転センサ２８、２９に異常が発生した事を判定できるとしても、やはり上記変速比の調節を所望通り行なう事ができなくなる可能性がある。即ち、例えば上記入力側、出力側各回転センサ２８、２９の検出する回転速度が正常な運転では生じ得ない様な急変動をした場合等に、これら各回転センサ２８、２９に異常が発生したと判定する事ができる。又、所定の条件の下でこれら各回転センサ２８、２９が検出する回転速度が所定の値か否かを判定する事により、上記各回転センサ２８、２９に異常が発生したか否かを判定する事ができる。但し、何れにしてもそのままでは上記変速比を所望値に調節する事はできず、トロイダル型無段変速機１を通過するトルクや出力軸２４の回転速度を規制する為の変速比制御を所望通り行なえなくなる可能性がある。そして、この様に変速比制御を所望通り行なえなくなった場合には、無段変速装置、延いてはこの無段変速装置を搭載した車両の運転状態が不安定になる他、この車両を修理工場まで自走させられなくなる等の故障を生じる可能性もある。   On the other hand, when the output shaft rotation sensor 32 as described above is not provided, even if it can be determined that an abnormality has occurred in each of the input side and output side rotation sensors 28 and 29, the speed ratio is also adjusted. You may not be able to do what you want. That is, for example, when the rotational speeds detected by the input side and output side rotational sensors 28 and 29 change suddenly such that they cannot occur during normal operation, abnormalities have occurred in the rotational sensors 28 and 29. Can be determined. Further, it is determined whether or not an abnormality has occurred in each of the rotation sensors 28 and 29 by determining whether or not the rotation speed detected by each of the rotation sensors 28 and 29 is a predetermined value under a predetermined condition. I can do it. However, in any case, the gear ratio cannot be adjusted to a desired value as it is, and a gear ratio control for regulating the torque passing through the toroidal continuously variable transmission 1 and the rotational speed of the output shaft 24 is desired. You may not be able to pass. If the gear ratio control cannot be performed as desired in this manner, the operating state of the continuously variable transmission, and thus the vehicle equipped with the continuously variable transmission becomes unstable. There is a possibility of causing a failure such as being unable to self-run.

特開２００１−３１７６０１号公報JP 2001-317601 A 特開２００１−１６５２６２号公報JP 2001-165262 A 特開昭６２−１６７９６６号公報Japanese Patent Laid-Open No. 62-167966 特開平６−４２６１８号公報JP-A-6-42618 特開２００３−３０７２６６号公報JP 2003-307266 A 青山元男著、「別冊ベストカー 赤バッジシリーズ２４５／クルマの最新メカがわかる本」、株式会社三雄社／株式会社講談社、平成１３年１２月２０日、ｐ．９２−９３Motoo Aoyama, "Bessed Best Car Red Badge Series 245 / A book that understands the latest mechanics of cars", Sanyusha Co., Ltd./Kodansha Co., Ltd., December 20, 2001, p. 92-93 田中裕久著、「トロイダルＣＶＴ」、株式会社コロナ社、２０００年７月１３日Hirohisa Tanaka, “Toroidal CVT”, Corona Inc., July 13, 2000

本発明のトロイダル型無段変速機及び無段変速装置は、上述の様な事情に鑑みて、転がり接触部（トラクション部）の過大な滑りに基づく寿命の短縮や変速動作が不安定になる事を防止する他、センサの異常の有無に拘わらず変速比制御が不安定になる事を防止して、優れた耐久性並びに信頼性を有する構造を実現すべく発明したものである。   In view of the above-described circumstances, the toroidal continuously variable transmission and continuously variable transmission according to the present invention have a reduced life due to excessive slippage of the rolling contact portion (traction portion) and unstable shifting operation. The present invention has been invented to realize a structure having excellent durability and reliability by preventing the transmission ratio control from becoming unstable regardless of whether the sensor is abnormal or not.

本発明のトロイダル型無段変速機及び無段変速装置のうち、請求項１に記載したトロイダル型無段変速機は、入力側ディスク及び出力側ディスクと、複数の支持部材と、複数のパワーローラとを備える。
このうちの入力側ディスク及び出力側ディスクは、それぞれが断面円弧形の凹面である互いの側面同士を対向させた状態で、互いに同心に、且つ互いに独立した回転自在に支持されている。
又、上記各支持部材は、上記入力側ディスク及び出力側ディスクの中心軸に対し捻れの位置にある枢軸を中心として揺動する。
又、上記各パワーローラは、その周面を球状凸面としたもので、上記各支持部材に支持された状態で上記入力側ディスク及び出力側ディスク同士の間に挟持されている。
特に、本発明のトロイダル型無段変速機に於いては、上記各パワーローラの傾転量（傾転角、揺動角）を検出する為の傾転センサを、それぞれのパワーローラ毎に設けている。 Of the toroidal continuously variable transmission and continuously variable transmission according to the present invention, the toroidal continuously variable transmission according to claim 1 includes an input side disk, an output side disk, a plurality of support members, and a plurality of power rollers. With.
Of these, the input-side disk and the output-side disk are supported so as to be concentric with each other and independently of each other with their side surfaces, which are concave surfaces each having an arcuate cross section, facing each other.
Each of the support members swings around a pivot that is twisted with respect to the center axis of the input side disk and the output side disk.
Each of the power rollers has a spherical convex surface, and is sandwiched between the input side disk and the output side disk while being supported by the support members.
In particular, in the toroidal type continuously variable transmission according to the present invention, a tilt sensor for detecting the tilt amount (tilt angle, swing angle) of each power roller is provided for each power roller. ing.

又、請求項５に記載した無段変速装置は、入力軸と、出力軸と、トロイダル型無段変速機と、複数の歯車を組み合わせて成る歯車式の差動ユニットと、このトロイダル型無段変速機の変速比の変更を制御する為の制御器とを備える。
このうちのトロイダル型無段変速機は、上記差動ユニットの第一の入力部と共に上記入力軸により回転駆動される入力側ディスクと、この入力側ディスクと同心に、且つ、この入力側ディスクに対する相対回転を自在として支持され、上記差動ユニットの第二の入力部に接続された出力側ディスクと、これら両ディスク同士の間に挟持された複数個のパワーローラと、これら各パワーローラを回転自在に支持した複数個の支持部材と、これら各支持部材を変位させて上記入力側ディスクと上記出力側ディスクとの間の変速比を変えるアクチュエータと、上記入力側ディスクの回転速度を検出する為の入力側回転センサと、上記出力側ディスクの回転速度を検出する為の出力側回転センサと、上記各パワーローラの傾転量（傾転角、揺動角）を検出する為の傾転センサとを備えたものである。
又、上記差動ユニットは、上記第一、第二の入力部同士の間の速度差に応じた回転を取り出して上記出力軸に伝達するものである。 According to a fifth aspect of the present invention, a continuously variable transmission includes an input shaft, an output shaft, a toroidal continuously variable transmission, a gear-type differential unit formed by combining a plurality of gears, and the toroidal continuously variable transmission. And a controller for controlling the change of the transmission gear ratio.
Of these, the toroidal-type continuously variable transmission includes an input side disk that is rotationally driven by the input shaft together with the first input portion of the differential unit, a concentric with the input side disk, and the input side disk. An output-side disk connected to the second input portion of the differential unit, a plurality of power rollers sandwiched between the two disks, and each of these power rollers is supported. A plurality of support members freely supported, an actuator for changing the gear ratio between the input side disk and the output side disk by displacing each of the support members, and a rotational speed of the input side disk; Input side rotation sensor, output side rotation sensor for detecting the rotation speed of the output side disk, and tilt amounts (tilt angle, swing angle) of each power roller. It is obtained by a tilt sensor for output.
Further, the differential unit takes out rotation according to the speed difference between the first and second input parts and transmits the rotation to the output shaft.

そして、上記制御器は、次の（１）〜（４）の機能を有する。
（１）上記入力側回転センサにより求められる上記入力側ディスクの回転速度と、上記出力側回転センサにより求められる上記出力側ディスクの回転速度とに基づいて、上記トロイダル型無段変速機の変速比を算出する機能。
（２）上記各傾転センサにより求められる上記各パワーローラの傾転量と、予め求めたこの傾転量と上記トロイダル型無段変速機の変速比との関係とに基づいて、このトロイダル型無段変速機の変速比を算出する機能。
（３）上記（１）の機能により算出される変速比と上記（２）の機能により算出される変速比とを比較し、これら各変速比同士の間に予め設定した閾値を超えるずれがある場合に、上記（１）の機能と（２）の機能とのうちの何れかの機能により算出される変速比が正常な値でないと判定する機能。
（４）上記（３）の機能により何れかの変速比が正常な値でないと判定された場合に、正常な値の変速比に基づいてトロイダル型無段変速機の変速比の調節を行なう機能。 The controller has the following functions (1) to (4).
(1) The transmission ratio of the toroidal continuously variable transmission based on the rotational speed of the input-side disk determined by the input-side rotation sensor and the rotational speed of the output-side disk determined by the output-side rotation sensor. The function to calculate
(2) Based on the tilt amount of each power roller determined by each tilt sensor and the relationship between the tilt amount determined in advance and the gear ratio of the toroidal continuously variable transmission, the toroidal type A function that calculates the gear ratio of a continuously variable transmission.
(3) The gear ratio calculated by the function (1) is compared with the gear ratio calculated by the function (2), and there is a deviation exceeding a preset threshold value between the gear ratios. In this case, a function for determining that the gear ratio calculated by any one of the functions (1) and (2) is not a normal value.
(4) A function for adjusting the gear ratio of the toroidal continuously variable transmission based on the gear ratio having a normal value when it is determined by the function (3) that the gear ratio is not a normal value. .

上述の様に構成する本発明のトロイダル型無段変速機及び無段変速装置によれば、各傾転センサによりそれぞれのパワーローラの傾転量（傾転角、揺動角）を求められる為、これら各パワーローラの傾転量が適正か否か等の判定を行なえる。即ち、上記各傾転センサの検出信号に基づいて求められる上記各パワーローラの傾転量から、これら各パワーローラの傾転量にずれが生じたか否か（揺動量が不一致か否か）を判定できる。そして、これら各パワーローラの傾転量が不一致となり、転がり接触部（トラクション部）で過大な滑りが生じていると判定される場合に、この過大な滑りに基づく過大な摩擦を低減させる事ができる。例えば、押圧装置が発生する押圧力の低減やアクチュエータによる変速動作の停止等を必要に応じて行なえば、上記過大な滑りに基づく過大な摩擦を低減して、この過大な摩擦に基づく寿命の短縮を防止できる。   According to the toroidal type continuously variable transmission and continuously variable transmission of the present invention configured as described above, the tilt amount (tilt angle, swing angle) of each power roller can be obtained by each tilt sensor. It is possible to determine whether or not the tilt amount of each power roller is appropriate. That is, whether or not the tilt amount of each power roller is deviated from the tilt amount of each power roller obtained based on the detection signal of each tilt sensor (whether or not the swing amount is inconsistent). Can be judged. When the tilt amounts of these power rollers are inconsistent and it is determined that excessive slip occurs at the rolling contact portion (traction portion), excessive friction based on the excessive slip may be reduced. it can. For example, if the pressing force generated by the pressing device is reduced or the shifting operation by the actuator is stopped as necessary, the excessive friction due to the excessive slip is reduced, and the life due to the excessive friction is shortened. Can be prevented.

又、入力側、出力側各回転センサを設けた場合には、これら入力側、出力側各回転センサにより求められる入力側、出力側各ディスクの回転速度と上記各傾転センサにより求められる各パワーローラの傾転量とを比較すれば、これら各センサ（の検出信号）の異常の判定も行なえる。即ち、上記各ディスクの回転速度から算出されるこれら両ディスク同士の間の変速比と、予め求めたこの変速比と上記各パワーローラの傾転量との関係から算出される当該傾転量でのこの変速比とを比較する事により、これら各センサの何れかに異常が発生したか否かを判定できる。   In addition, when the input side and output side rotation sensors are provided, the rotational speeds of the input side and output side disks determined by these input side and output side rotation sensors and the respective power required by the above tilt sensors. By comparing the amount of tilting of the roller, it is possible to determine the abnormality of each of these sensors (detection signals). That is, the gear ratio between the two disks calculated from the rotational speed of each disk and the tilt amount calculated from the relationship between the gear ratio determined in advance and the tilt amount of each power roller. By comparing with this speed ratio, it can be determined whether or not an abnormality has occurred in any of these sensors.

しかも、これら各センサの異常を判定する為の閾値の値を必要に応じて調節したり、或は複数の閾値を設定しておく等により、上記センサの異常が、検出信号にノイズが混入する等の検出誤差に基づくもの（補正可能なもの）であるか、破損等の修理・交換等を要するもの（当該センサの検出信号を使用できなもの）であるかの判定も行なえる。そして、上記センサの異常が、検出信号にノイズが混入する等の検出誤差に基づくものであれば、上記各センサにより求められる値を相互に比較しつつ、上記誤差を低減する為の微調整や補正を行なえる。又、上記センサの異常が、破損等の修理・交換等を要するものである場合には、警報を発する事により使用者等に修理を促す事ができる。   In addition, by adjusting the threshold value for determining the abnormality of each sensor as necessary, or by setting a plurality of threshold values, the above-mentioned sensor abnormality causes noise to be mixed in the detection signal. It is also possible to determine whether the error is based on a detection error such as (can be corrected), or requires repair / replacement such as breakage (a detection signal of the sensor cannot be used). If the abnormality of the sensor is based on a detection error such as noise mixed in the detection signal, fine adjustment for reducing the error can be performed while comparing values obtained by the sensors. You can make corrections. If the sensor abnormality requires repair / replacement such as damage, an alarm can be issued to prompt the user to repair the sensor.

又、請求項５に記載した様に、上記入力側、出力側各回転センサと共に、上記各傾転センサにより求められる上記各パワーローラの傾転量に基づいて、上記トロイダル型無段変速機の変速比を算出すれば、通過トルクや出力軸の回転速度を規制する為の変速比制御をより正確且つ安定して行なえる。即ち、上記各傾転センサの検出信号に基づいて算出される上記変速比と、上記入力側、出力側各回転センサの検出信号に基づいて算出される上記変速比とを互いに比較し、これら２通りの方法で求めた変速比が互いに異なる場合に、上記各センサ（の検出信号）の何れかに異常が発生したと判定できる。そして、この様に異常が発生したと判定した場合に、正常なセンサにより算出される上記変速比に基づいて、上記トロイダル型無段変速機の変速比の調節を行なう事により、上記変速比制御をより正確且つ安定して行なえる。   Further, as described in claim 5, together with the rotation sensors of the input side and the output side, the toroidal type continuously variable transmission of the toroidal-type continuously variable transmission is based on the amount of tilt of the power rollers determined by the tilt sensors. If the gear ratio is calculated, the gear ratio control for regulating the passing torque and the rotation speed of the output shaft can be performed more accurately and stably. That is, the transmission ratio calculated based on the detection signals of the respective tilt sensors and the transmission ratio calculated based on the detection signals of the input side and output side rotation sensors are compared with each other. When the gear ratios obtained by the different methods are different from each other, it can be determined that an abnormality has occurred in any one of the sensors (detection signals). When it is determined that an abnormality has occurred in this way, the transmission ratio control is performed by adjusting the transmission ratio of the toroidal continuously variable transmission based on the transmission ratio calculated by a normal sensor. Can be performed more accurately and stably.

請求項１に記載した発明を実施する場合に好ましくは、請求項２に記載した様に、各傾転センサにより求められる各パワーローラの傾転量を相互に比較する為の比較手段を備える。そして、この比較手段は、これら各パワーローラの傾転量同士の間に予め設定した閾値を超える差が存在する場合に、上記各パワーローラのうちの少なくとも何れか１個のパワーローラの傾転量に異常ありと判定する。
この様に構成すれば、転がり接触部（トラクション部）で過大な滑りが生じているか否かを判定でき、この判定結果に基づいてこの過大な滑りに基づく過大な摩擦を低減する為の適切な処置を講ずる事により、この過大な摩擦に基づく寿命の短縮を防止して、耐久性の向上を図れる。 When carrying out the invention described in claim 1, preferably, as described in claim 2, a comparison means for comparing the tilt amounts of the respective power rollers obtained by the respective tilt sensors is provided. Then, when there is a difference exceeding a preset threshold value between the tilt amounts of the power rollers, the comparing means tilts at least one of the power rollers. It is determined that the amount is abnormal.
If comprised in this way, it can be determined whether the excessive slip has arisen in the rolling contact part (traction part), and it is suitable for reducing the excessive friction based on this excessive slip based on this determination result. By taking measures, it is possible to prevent the shortening of the life due to this excessive friction and to improve the durability.

又、好ましくは、請求項３に記載した様に、入力側ディスクの回転速度を検出する為の入力側回転センサと、出力側ディスクの回転速度を検出する為の出力側回転センサとを備える。又、これら入力側、出力側各回転センサにより求められる入力側、出力側各ディスクの回転速度と、各傾転センサにより求められる各パワーローラの傾転量とを比較する為の比較手段を備える。この比較手段は、上記各ディスクの回転速度から算出されるこれら両ディスク同士の間の変速比と、予め求めたこの変速比と上記各パワーローラの傾転量との関係から算出される当該傾転量でのこの変速比とを比較するものとする。そして、これら２通りの方法で求めた変速比同士の間に予め設定した閾値を超える差が存在する場合に、上記入力側回転センサと出力側回転センサと傾転センサとのうちの何れかに異常ありと判定する。
この様に構成すれば、このセンサの異常に基づく検出誤差を低減したり使用者等に修理を促す事により、安定性や信頼性の向上を図れる。 Preferably, an input side rotation sensor for detecting the rotation speed of the input side disk and an output side rotation sensor for detecting the rotation speed of the output side disk are provided. Also, a comparison means is provided for comparing the rotational speeds of the respective input and output disks determined by the input and output rotation sensors with the tilt amounts of the power rollers determined by the tilt sensors. . The comparing means calculates the tilt ratio calculated from the speed ratio between the two disks calculated from the rotational speeds of the respective disks and the relationship between the previously determined speed ratio and the tilt amount of each power roller. It is assumed that the gear ratio with the amount of rotation is compared. When there is a difference exceeding a preset threshold between the gear ratios obtained by these two methods, any one of the input side rotation sensor, the output side rotation sensor, and the tilt sensor is used. It is determined that there is an abnormality.
With this configuration, it is possible to improve stability and reliability by reducing the detection error based on the abnormality of the sensor or urging the user to repair the sensor.

又、好ましくは、請求項４に記載した様に、傾転センサを、支持部材の枢軸を中心とする揺動量を検出する為の回転検出センサとする。そして、この回転検出センサにより求められるこの支持部材の揺動量（揺動角、回転角）を、パワーローラの傾転量とする。
この様に構成すれば、上記各パワーローラの傾転量を簡素な構造で正確に求められる。 Preferably, as described in claim 4, the tilt sensor is a rotation detection sensor for detecting a swing amount around the pivot of the support member. The swing amount (swing angle, rotation angle) of the support member obtained by the rotation detection sensor is set as the tilt amount of the power roller.
If comprised in this way, the tilting amount of each said power roller can be calculated | required correctly with a simple structure.

又、請求項５に記載した発明を実施する場合に好ましくは、請求項６に記載した様に、入力側、出力側各回転センサに異常がない事を条件に、（２）の機能により算出される変速比に基づいて、トロイダル型無段変速機の変速比を所望値に調節した状態で、（１）の機能により算出される変速比と所望値とを比較する。そして、この変速比と所望値との間に予め設定した閾値を超えるずれがある場合に、上記（２）の機能により算出される変速比が正常な値でないと判定する。
この様に構成すれば、各傾転センサに異常が発生した事を効率良く判定できる。尚、この場合に、上記（１）の機能により算出される変速比が正常な値でなければ、上記（２）の機能により算出される変速比の値が正常か否かの判定は行なえない。この為に、上記入力側、出力側各回転センサに異常がない事を条件としている。そして、この様な条件を満たすべく、例えば、これら入力側、出力側各回転センサの検出する回転速度が正常運転では生じ得ない様な急変動をしていない事や、所定の条件の下（例えばアイドリング回転で各クラッチの接続を断った状態の如く、各部の回転速度が推定可能な条件下）で上記入力側、出力側各回転センサの検出する回転速度が所定の値である事を、予め確認しておく。そして、この様な確認に基づいて上記入力側、出力側各回転センサに異常がないと判定される場合に、上記（２）の機能により算出される変速比の値が正常か否かの判定を行なえば、上記各傾転センサに異常が発生した事を効率良く判定できる。 Further, when the invention described in claim 5 is carried out, it is preferably calculated by the function (2) on the condition that there is no abnormality in the input side and output side rotation sensors as described in claim 6. The gear ratio calculated by the function (1) is compared with the desired value in a state where the gear ratio of the toroidal type continuously variable transmission is adjusted to the desired value based on the gear ratio to be performed. When there is a deviation exceeding a preset threshold value between the speed ratio and the desired value, it is determined that the speed ratio calculated by the function (2) is not a normal value.
If comprised in this way, it can determine efficiently that abnormality generate | occur | produced in each inclination sensor. In this case, if the speed ratio calculated by the function (1) is not a normal value, it cannot be determined whether or not the speed ratio value calculated by the function (2) is normal. . For this reason, the condition is that there is no abnormality in the input side and output side rotation sensors. In order to satisfy such conditions, for example, the rotational speed detected by each of the input side and output side rotation sensors does not fluctuate so as not to occur in normal operation, or under predetermined conditions ( For example, the rotation speed detected by each of the input side and output side rotation sensors is a predetermined value under the condition that the rotation speed of each part can be estimated as in the state where each clutch is disconnected by idling rotation. Check in advance. Then, when it is determined that there is no abnormality in the input side and output side rotation sensors based on such confirmation, it is determined whether or not the speed ratio value calculated by the function (2) is normal. As a result, it is possible to efficiently determine that an abnormality has occurred in each of the tilt sensors.

又、上述の様な請求項６に記載した発明を実施する場合に好ましくは、請求項７に記載した様に、（２）の機能により算出される変速比が正常な値でないと判定した場合に、（１）の機能により算出される変速比が所望値になるまで、アクチュエータを制御する為の制御ユニットを構成するステッピングモータの出力部材を移動させる事により、トロイダル型無段変速機の変速比を所望値に補正する。
この様に構成すれば、上記各傾転センサに何らかの異常が発生し、上記（２）の機能により算出される変速比が正常な値でない場合でも、トロイダル型無段変速機の変速比を所望値に調節できる。 Further, when the invention described in claim 6 as described above is implemented, preferably, as described in claim 7, when it is determined that the speed ratio calculated by the function (2) is not a normal value Further, by shifting the output member of the stepping motor constituting the control unit for controlling the actuator until the speed ratio calculated by the function (1) reaches a desired value, the shift of the toroidal type continuously variable transmission is achieved. Correct the ratio to the desired value.
With this configuration, even if some abnormality occurs in each of the tilt sensors and the speed ratio calculated by the function (2) is not a normal value, the speed ratio of the toroidal continuously variable transmission is desired. Can be adjusted to the value.

又、上述の様にトロイダル型無段変速機の変速比を補正した場合は、請求項８に記載した様に、パワーローラの傾転量とトロイダル型無段変速機の変速比との関係を再学習し、更に記憶したり、請求項９に記載した様に、その補正した変速比とステッピングモータの出力部材の位置とを対応させて学習し、更に記憶する。
この様に構成すれば、上記各傾転センサの異常が、検出信号にノイズが混入する等の検出誤差に基づくものである場合に、この傾転センサの異常を修正でき（誤差を補正でき）、この傾転センサの検出信号に基づくトロイダル型無段変速機の変速比制御を正確且つ安定して行なえる。又、上記ステッピングモータの出力部材の位置と上記変速比とを対応させて学習する事で、上記変速比制御をより迅速に行なう事もできる。
尚、上記傾転センサの異常が、破損等の修理・交換を要するものである場合には、使用者等に修理を促す為の警報を発する。又、この場合に、上述の様な再学習等の修正作業は行なわず、入力側、出力側各回転センサの検出信号に基づいて上記変速比制御を行なう。この様に構成すれば、この変速比制御を継続して行なえると共に、車両を修理工場まで自走できなくなる程の故障に至る事を未然に防止できる。 Further, when the gear ratio of the toroidal continuously variable transmission is corrected as described above, the relationship between the tilting amount of the power roller and the gear ratio of the toroidal continuously variable transmission is set as described in claim 8. Re-learning is performed, and further learning is performed. As described in claim 9, the corrected gear ratio and the position of the output member of the stepping motor are associated with each other to be learned and further stored.
According to this configuration, when the abnormality of each tilt sensor is based on a detection error such as noise mixed in the detection signal, the abnormality of the tilt sensor can be corrected (error can be corrected). The speed ratio control of the toroidal type continuously variable transmission based on the detection signal of the tilt sensor can be performed accurately and stably. Further, the gear ratio control can be performed more quickly by learning the position of the output member of the stepping motor in correspondence with the gear ratio.
In the case where the abnormality of the tilt sensor requires repair / replacement such as breakage, an alarm is issued to prompt the user etc. to repair. In this case, the gear ratio control is performed based on the detection signals of the input side and output side rotation sensors without performing the correction work such as relearning as described above. If configured in this way, the gear ratio control can be continuously performed, and it is possible to prevent the vehicle from being damaged to the extent that it cannot run to the repair shop.

又、好ましくは、請求項１０に記載した様に、トロイダル型無段変速機の変速比を調節して差動ユニットを構成する複数の歯車の相対的変位速度を変化させる事により、入力軸を一方向に回転させた状態のまま出力軸の回転状態を、停止状態を挟んで正転及び逆転に変換する機能を有するものとする。
この様に構成すれば、トルク制御や回転速度の規制を厳密に行なう必要のある構造で、トロイダル型無段変速機の変速比調節を正確且つ安定して行なえる。 Preferably, as described in claim 10, the input shaft is adjusted by changing a relative displacement speed of a plurality of gears constituting the differential unit by adjusting a transmission ratio of the toroidal type continuously variable transmission. It shall have the function to convert the rotation state of an output shaft into the normal rotation and reverse rotation on both sides of a stop state with the state rotated in one direction.
With this configuration, the gear ratio of the toroidal type continuously variable transmission can be adjusted accurately and stably with a structure that requires strict torque control and rotational speed regulation.

図１〜３は、本発明の実施例を示している。図１は、トロイダル型無段変速機１と、差動ユニットである遊星歯車式変速機２とを組み合わせて成る、無段変速装置のブロック図である。尚、本実施例の特徴は、各パワーローラ７の傾転量（傾転角、揺動角）を検出する為の傾転センサ５６をそれぞれのパワーローラ７毎に設ける事により、転がり接触部の過大な滑りに基づく寿命の短縮や変速動作が不安定になる事を防止すると共に、上記トロイダル型無段変速機１の変速比制御を正確且つ安定して行なう点にある。上記図１に示した無段変速装置は、図面に表れる構造に関しては、制御器３０に上記各傾転センサ５６の検出信号を入力させる様にした点が、前述の図６に示した第二の先発明の構造と相違する。又、上記トロイダル型無段変速機１の変速比を調節する為の油圧回路に就いては、図７に示した、上記第二の先発明に利用する油圧回路と同様である。よって、重複する説明を省略し、以下、本実施例の特徴である、上記各傾転センサ５６を設けた部分の具体的構造、並びに、この様な傾転センサ５６の検出信号に基づいて上記制御器３０が行なう変速比制御に就いて説明する。   1 to 3 show an embodiment of the present invention. FIG. 1 is a block diagram of a continuously variable transmission comprising a combination of a toroidal continuously variable transmission 1 and a planetary gear transmission 2 that is a differential unit. The feature of the present embodiment is that each of the power rollers 7 is provided with a tilt sensor 56 for detecting the tilt amount (tilt angle, swing angle) of each power roller 7, thereby rolling contact portions. This is to prevent the shortening of the service life and the instability of the speed change operation due to the excessive slippage, and to perform the speed ratio control of the toroidal type continuously variable transmission 1 accurately and stably. In the continuously variable transmission shown in FIG. 1, the second embodiment shown in FIG. 6 is that the controller 30 inputs the detection signal of each tilt sensor 56 with respect to the structure shown in the drawing. This is different from the structure of the previous invention. The hydraulic circuit for adjusting the gear ratio of the toroidal continuously variable transmission 1 is the same as the hydraulic circuit used in the second prior invention shown in FIG. Therefore, the description which overlaps is abbreviate | omitted, and it is hereafter based on the specific structure of the part which provided each said inclination sensor 56 which is the characteristics of a present Example, and the detection signal of such an inclination sensor 56 above. The gear ratio control performed by the controller 30 will be described.

本実施例の場合、図２に示す様に、上記各パワーローラ７を回転自在に支持する為の支持部材である各トラニオン６ａを、揺動フレーム５７の両端部に、ラジアルニードル軸受５８、５８及びスラストニードル軸受５９、５９を介して揺動変位自在に支持している。そして、上記各揺動フレーム５７の中間部を、入力側、出力側各ディスク４、５（図４参照）の中心軸に対し平行若しくはほぼ平行に設けた各支持軸６０に、これら各支持軸６０を中心とする揺動変位自在に支持している。上記入力側ディスク４と出力側ディスク５との間の変速比を変える場合には、アクチュエータ３５（図７参照）を構成する図示しない油圧シリンダへの圧油の給排に基づき、上記揺動フレーム５７を、上記支持軸６０を中心に揺動変位させる。この結果、これら各揺動フレーム５７に支持された上記各トラニオン６ａが、上記各支持軸６０を中心として円弧運動（スイベル運動）をする。   In the case of the present embodiment, as shown in FIG. 2, each trunnion 6 a that is a support member for rotatably supporting each power roller 7 is provided at both ends of the swing frame 57 with radial needle bearings 58, 58. Further, it is supported through a thrust needle bearing 59, 59 so as to be swingable and displaceable. The intermediate portion of each swing frame 57 is connected to each support shaft 60 provided in parallel or substantially parallel to the central axis of each of the input side and output side disks 4 and 5 (see FIG. 4). It is supported so that it can swing and displace around 60. When changing the gear ratio between the input side disk 4 and the output side disk 5, the swing frame is based on the supply and discharge of pressure oil to a hydraulic cylinder (not shown) constituting the actuator 35 (see FIG. 7). 57 is oscillated and displaced about the support shaft 60. As a result, the trunnions 6 a supported by the swing frames 57 perform an arc motion (swivel motion) about the support shafts 60.

そして、この円弧運動に基づく上記各トラニオン６ａの枢軸３４、３４の軸方向に関する変位により、これら各トラニオン６ａに回転自在に支持した各パワーローラ７の周面と上記各ディスク４、５の側面との転がり接触部に作用する、接線方向の力の向きが変化する。そして、この力の向きの変化に伴って上記各トラニオン６ａが、上記各揺動フレーム５７に枢支された上記各枢軸３４、３４を中心として揺動し、上記各パワーローラ７の周面と上記各側面との当接位置が変化して、上記両ディスク４、５同士の間の回転速度比が変化する。尚、上記各トラニオン６ａの動きは、何れかのトラニオン６ａの外側面に設けたカム面６１を介して圧油の給排を制御する為の制御弁３７のスプール６２（図７参照）に伝達する事で、この制御弁３７にフィードバックする様にしている。この様な変速動作を行なう部分の構成に就いては、特許文献２等に記載される等により従来から知られているトロイダル型無段変速機の変速機構と基本的に同じである為、より詳しい説明は省略する。   Then, due to the displacement in the axial direction of the pivots 34, 34 of each trunnion 6a based on this arc motion, the peripheral surface of each power roller 7 rotatably supported by each trunnion 6a and the side surface of each disk 4, 5 The direction of the tangential force acting on the rolling contact portion changes. As the direction of the force changes, the trunnions 6a swing around the pivots 34 and 34 pivotally supported by the swing frames 57, and the peripheral surfaces of the power rollers 7 and The contact position with the side surfaces changes, and the rotational speed ratio between the disks 4 and 5 changes. The movement of each trunnion 6a is transmitted to the spool 62 (see FIG. 7) of the control valve 37 for controlling the supply and discharge of pressure oil through the cam surface 61 provided on the outer surface of any trunnion 6a. By doing so, feedback is made to the control valve 37. Since the structure of the part that performs such a shift operation is basically the same as the transmission mechanism of a toroidal-type continuously variable transmission that has been conventionally known, as described in Patent Document 2 and the like, Detailed description is omitted.

又、本実施例の場合、上述の様に各パワーローラ７の傾転量を検出する為の傾転センサ５６を、これら各パワーローラ７毎に設けている。この為に本実施例の場合には、上記揺動フレーム５７の両端部に固定した1 対の端板６３ａ、６３ｂのうちの一方（図２の左方）の端板６３ａに、上記トラニオン６ａの一端部（図２の左端部）に設けた枢軸３４の端面に対向する状態で、上記傾転センサ５６である回転検出センサを設けている。この回転検出センサは、上記枢軸３４の端面のうちでこの枢軸３４の中心軸から径方向外方に外れた位置に固設した被検出部材となるロータ（エンコーダ）６４に、その検出部を当接乃至近接対向させている。そして、上記回転検出センサから出力される、上記ロータ６４の変位量（回転角度）に応じて、上記枢軸３４を中心とした上記各トラニオン６ａの揺動量（回転量）を検出自在としている。本実施例の場合、この様な回転検出センサにより求められる上記トラニオン６ａの揺動量を、上記パワーローラ７の傾転量としている。   In the case of the present embodiment, the tilt sensor 56 for detecting the tilt amount of each power roller 7 is provided for each power roller 7 as described above. Therefore, in this embodiment, the trunnion 6a is connected to one end plate 63a (left side in FIG. 2) of the pair of end plates 63a and 63b fixed to both ends of the swing frame 57. The rotation detection sensor which is the tilt sensor 56 is provided in a state facing the end surface of the pivot 34 provided at one end (the left end in FIG. 2). This rotation detection sensor applies its detection unit to a rotor (encoder) 64 that is a member to be detected, which is fixed at a position radially outward from the central axis of the pivot 34 in the end face of the pivot 34. It is in contact or close to each other. Then, according to the displacement amount (rotation angle) of the rotor 64 output from the rotation detection sensor, the swing amount (rotation amount) of each trunnion 6a around the pivot 34 can be detected. In the case of the present embodiment, the swing amount of the trunnion 6a obtained by such a rotation detection sensor is used as the tilt amount of the power roller 7.

この様な各パワーローラ７の傾転量を検出する為の傾転センサ５６を設けた本実施例の場合、これら各傾転センサ５６の検出信号に基づいて求められるそれぞれのパワーローラ７の傾転量から、これら各パワーローラ７の傾転量が適正か否かを判定する。この為に、本実施例の場合には、これら各傾転センサ５６により求められる上記各パワーローラ７の傾転量を相互に比較する為の比較手段を備えている。この様な比較手段は、後述する制御器３０等に組み込まれ、必要に応じて、上記各パワーローラ７の傾転量に異常があるか否かの判定を行なう。即ち、これら各パワーローラ７の傾転量同士の間に予め設定した閾値を超える差が存在する場合に、上記各パワーローラ７のうちの少なくとも何れかのパワーローラ７の傾転量が他のパワーローラ７の傾転量と不一致となり、当該パワーローラ７の周面と入力側、出力側各ディスク４、５の側面との転がり接触部（トラクション部）で過大な滑りが生じていると判定する。そして、この判定結果に基づいてこの過大な滑りに基づく過大な摩擦を低減する為の適切な処置、例えば、押圧装置２７の押圧力の低減やアクチュエータ３５による変速動作の停止等を必要に応じて行なえば、上記過大な滑りに基づく過大な摩擦を低減して、この過大な摩擦に基づく寿命の短縮を防止できる。   In the case of the present embodiment in which the tilt sensor 56 for detecting the tilt amount of each power roller 7 is provided, the tilt of each power roller 7 obtained based on the detection signal of each tilt sensor 56 is provided. From the amount of rolling, it is determined whether or not the amount of tilting of each power roller 7 is appropriate. For this reason, in the case of the present embodiment, a comparison means for comparing the tilt amounts of the respective power rollers 7 obtained by the respective tilt sensors 56 is provided. Such a comparison means is incorporated in a controller 30 or the like, which will be described later, and determines whether there is an abnormality in the amount of tilt of each power roller 7 as necessary. That is, when there is a difference between the tilt amounts of the power rollers 7 that exceeds a preset threshold, the tilt amount of at least one of the power rollers 7 is different from that of the power rollers 7. It is determined that there is an excessive slip at the rolling contact portion (traction portion) between the peripheral surface of the power roller 7 and the side surface of each of the input side and output side disks 4 and 5 due to a mismatch with the tilting amount of the power roller 7. To do. Based on this determination result, appropriate measures for reducing excessive friction based on this excessive slip, for example, reducing the pressing force of the pressing device 27, stopping the speed change operation by the actuator 35, etc. If it carries out, the excessive friction based on the said excessive slip can be reduced, and the shortening of the lifetime based on this excessive friction can be prevented.

又、上述の様な傾転センサ５６を備えた本実施例の場合、上記制御器３０は、上述の様な各パワーローラ７の傾転量の異常を判定する機能の他、次の様な機能も備える。
先ず、入力側回転センサ２８により求められる上記入力側ディスク４の回転速度ＮID及び出力側回転センサ２９により求められる上記出力側ディスク５の回転速度ＮODに基づいて、上記トロイダル型無段変速機１の変速比ＮOD／ＮIDを算出する機能｛請求項５の（１）の機能｝を備える。この機能は、前述した先発明で、トロイダル型無段変速機１の変速比を調節する際に行なう、このトロイダル型無段変速機１の変速比を算出する機能と同様である。 In the case of the present embodiment provided with the tilt sensor 56 as described above, the controller 30 has the following function in addition to the function of determining the tilt amount of each power roller 7 as described above. It also has functions.
First, based on the rotational speed N ID of the input side disk 4 obtained by the input side rotation sensor 28 and the rotational speed N OD of the output side disk 5 obtained by the output side rotation sensor 29, the toroidal continuously variable transmission is obtained. 1 has a function {function (1) of claim 5} for calculating a gear ratio N OD / N ID of 1. This function is the same as the function of calculating the gear ratio of the toroidal continuously variable transmission 1 performed when adjusting the gear ratio of the toroidal continuously variable transmission 1 in the above-described prior invention.

又、上記各傾転センサ５６により求められる上記各パワーローラ７の傾転量（各パワーローラ７の平均傾転量）と、予め求めたこの傾転量と上記トロイダル型無段変速機１の変速比との関係とに基づいて、このトロイダル型無段変速機１の変速比を算出する機能｛請求項５の（２）の機能｝を備える。この様に変速比を算出する為に予め求める、上記傾転量と上記変速比との関係は、計算により、或は実際にトロイダル型無段変速機１を運転する事により求められる。即ち、このトロイダル型無段変速機１の最小減速状態から最大増速状態まで運転しつつ、上記各傾転センサ５６により求められる上記各パワーローラ７の傾転量と、上記入力側、出力側各回転センサ２８、２９により求められる上記入力側、出力側各ディスク４、５の回転速度ＮID、ＮODに基づいて算出される上記トロイダル型無段変速機１の変速比ＮOD／ＮIDとを、例えば数式或はマップ等に互いに対応させて記憶させる事で、予め求めておく。この様にして求める上記傾転量と上記変速比ＮOD／ＮIDとの関係は、工場出荷の際に予め初期設定として上記制御器３０等に記憶させておく他、イグニッションスイッチをＯＮする都度、上記トロイダル型無段変速機１を最小減速状態から最大増速状態まで運転する事により再設定しても良い。 Further, the tilt amount of each power roller 7 (average tilt amount of each power roller 7) obtained by each tilt sensor 56, the tilt amount obtained in advance, and the toroidal type continuously variable transmission 1 A function {function (2) of claim 5} for calculating the speed ratio of the toroidal-type continuously variable transmission 1 based on the relationship with the speed ratio is provided. In this way, the relationship between the tilt amount and the gear ratio, which is obtained in advance for calculating the gear ratio, is obtained by calculation or by actually operating the toroidal continuously variable transmission 1. That is, while the toroidal continuously variable transmission 1 is operated from the minimum deceleration state to the maximum acceleration state, the tilt amount of each power roller 7 determined by each tilt sensor 56, the input side, and the output side The transmission ratio N OD / N ID of the toroidal continuously variable transmission 1 calculated based on the rotational speeds N ID and N OD of the input and output disks 4 and 5 obtained by the rotation sensors 28 and 29. Are obtained in advance by storing them in correspondence with each other in, for example, mathematical formulas or maps. The relationship between the tilt amount thus obtained and the gear ratio N OD / N ID is stored in the controller 30 as an initial setting in advance at the time of shipment from the factory, and each time the ignition switch is turned on. The toroidal continuously variable transmission 1 may be reset by operating from the minimum deceleration state to the maximum acceleration state.

更に本実施例の場合は、上述の様な機能と共に、上記入力側、出力側各回転センサ２８、２９の検出信号に基づいて算出される上記変速比ＮOD／ＮIDと、上記各傾転センサ５６の検出信号に基づいて算出される変速比とを比較し、これら各変速比同士の間に予め設定した閾値を超えるずれがある場合に、何れかの変速比が正常な値でないと判定する機能｛請求項５の（３）の機能｝を備える。そして、これと共に、何れかの変速比が正常な値でないと判定された場合に、正常な値の変速比に基づいてトロイダル型無段変速機の変速比の調節を行なう機能｛請求項５の（４）の機能｝を備える。これらの機能に就いて、図３のフローチャートを参照しつつ説明する。尚、本実施例は、入力側、出力側各回転センサ２８、２９に異常がない事を条件とし、上記各傾転センサ５６の検出信号に基づいて算出される変速比が正常な値か否かの判定を行なう場合を説明する。但し、上記各傾転センサ５６に異常がない事を条件に、上記入力側、出力側各回転センサ２８、２９の検出信号に基づいて算出する変速比が正常な値か否かの判定を行なう事もできる。 Further, in the case of the present embodiment, the transmission ratio N OD / N ID calculated on the basis of the detection signals of the input side and output side rotation sensors 28 and 29, and the tilts as well as the functions described above. It compares with the gear ratio calculated based on the detection signal of the sensor 56, and when there is a deviation exceeding a preset threshold value between these gear ratios, it is determined that any gear ratio is not a normal value. Function {function (3) of claim 5}. Along with this, when it is determined that one of the gear ratios is not a normal value, the function of adjusting the gear ratio of the toroidal-type continuously variable transmission based on the gear ratio having the normal value {claim 5 (4) function}. These functions will be described with reference to the flowchart of FIG. In this embodiment, on the condition that there is no abnormality in each of the input side and output side rotation sensors 28 and 29, whether or not the gear ratio calculated based on the detection signal of each tilt sensor 56 is a normal value. A case where such determination is performed will be described. However, on the condition that there is no abnormality in each tilt sensor 56, it is determined whether or not the gear ratio calculated based on the detection signals from the input side and output side rotation sensors 28 and 29 is a normal value. You can also do things.

先ず、本実施例の場合、トロイダル型無段変速機１の変速動作の開始に先だって、上記入力側、出力側各回転センサ２８、２９に異常がない事を確認する。この為に、例えば、これら入力側、出力側各回転センサ２８、２９の検出する回転速度ＮID、ＮODが正常運転では生じ得ない様な急変動をしていない事や、アイドリング回転時にクラッチ装置３１の接続を断つ如く、各部の回転速度（出力側では０）が推定できる様な、所定の条件の下で、上記各回転センサ２８、２９の検出する回転速度ＮID、ＮODが所定の値である事を、予め確認しておく。そして、ステップ１で、アクセルセンサ５０（図１参照）により検出されるアクセル開度や図示しない車速センサ等から得られる車両の運転状況に応じて、必要とするトロイダル型無段変速機１の変速比（目標変速比）、即ち、調節すべき変速比となる目標値（所望値）を算出する。又、これと共に、この目標値を実現する為に必要な、各パワーローラ７の傾転量（傾転角）の目標値（目標傾転量）を算出する。尚、このパワーローラ７の傾転量の目標値は、前述の様にして予め求めた、この傾転量と上記トロイダル型無段変速機１の変速比との関係とに基づいて算出できる。 First, in the case of this embodiment, prior to the start of the shifting operation of the toroidal type continuously variable transmission 1, it is confirmed that there is no abnormality in the rotation sensors 28 and 29 on the input side and the output side. For this reason, for example, the rotational speeds N ID and N OD detected by the input side and output side rotation sensors 28 and 29 are not suddenly changed such that they cannot occur during normal operation. The rotational speeds N ID and N OD detected by the rotational sensors 28 and 29 are predetermined under predetermined conditions such that the rotational speed of each part (0 on the output side) can be estimated so as to disconnect the device 31. It is confirmed beforehand that the value is. Then, in step 1, depending on the accelerator opening detected by the accelerator sensor 50 (see FIG. 1), the vehicle operating condition obtained from a vehicle speed sensor (not shown), etc., the required shift of the toroidal continuously variable transmission 1 is performed. A ratio (target gear ratio), that is, a target value (desired value) that is a gear ratio to be adjusted is calculated. At the same time, a target value (target tilt amount) of the tilt amount (tilt angle) of each power roller 7 necessary to realize this target value is calculated. The target value of the tilt amount of the power roller 7 can be calculated based on the relationship between the tilt amount and the gear ratio of the toroidal-type continuously variable transmission 1 obtained in advance as described above.

次いで、ステップ２〜３で、上記トロイダル型無段変速機１の変速比を目標値に調節すべく、上記各傾転センサ５６により上記各パワーローラ７の傾転量を求めつつ、制御弁装置３６をフィードバック制御（ＰＩＤ制御）する。即ち、上記各傾転センサ５６から実際の傾転量を求めつつ、この傾転量と目標値との差が所定の値よりも小さくなるまで（例えば１度未満となるまで）、アクチュエータ３５によりトラニオン６（６ａ）を枢軸３４、３４の軸方向に変位させる。そして、ステップ３で、実際の傾転量と目標値との差が所定の値よりも小さくなったと判定したら、即ち、上記各傾転センサ５６により求められる上記傾転量に基づいて、上記トロイダル型無段変速機１の変速比が目標値まで調節されたと判定したら、次のステップ４で、上記入力側回転センサ２８及び出力側回転センサ２９の検出信号から求められる入力側ディスク４の回転速度ＮID及び出力側ディスク５の回転速度ＮOD基づいて、実際のトロイダル型無段変速機の変速比ＮOD／ＮIDを求める。 Next, in steps 2 to 3, the control valve device is used while obtaining the tilt amounts of the power rollers 7 by the tilt sensors 56 in order to adjust the gear ratio of the toroidal-type continuously variable transmission 1 to a target value. 36 is subjected to feedback control (PID control). That is, while the actual amount of tilt is obtained from each of the tilt sensors 56, until the difference between the amount of tilt and the target value becomes smaller than a predetermined value (for example, less than 1 degree), the actuator 35 The trunnion 6 (6a) is displaced in the axial direction of the pivots 34, 34. When it is determined in step 3 that the difference between the actual tilt amount and the target value has become smaller than a predetermined value, that is, based on the tilt amounts obtained by the tilt sensors 56, the toroidal If it is determined that the gear ratio of the continuously variable transmission 1 has been adjusted to the target value, the rotational speed of the input side disk 4 obtained from the detection signals of the input side rotation sensor 28 and the output side rotation sensor 29 in the next step 4. Based on N ID and the rotational speed N OD of the output side disk 5, the actual transmission ratio N OD / N ID of the toroidal type continuously variable transmission is obtained.

そして、続くステップ５で、この実際の変速比ＮOD／ＮIDと上記目標値とを比較し、これら変速比同士の間に予め設定した閾値を超えるずれがあるか否かを判定する。この場合に、上記実際の変速比ＮOD／ＮIDと目標値とが一致していれば、変速動作を終了する。これに対して、上記変速比同士の間に予め設定した閾値を超えるずれがある場合は、上記各傾転センサ５６により算出される変速比が正常な値でない、即ち、これら各傾転センサ５６に何らかの異常が発生したと判定し、ステップ６で、上記アクチュエータ３５を制御する為の制御ユニットを構成するステッピングモータ４４の出力部材を１ステップずつ移動させる。そして、この出力部材の移動を、上記実際の変速比ＮOD／ＮIDと目標値とが一致するまで行なう事により、トロイダル型無段変速機１の変速比を補正する。そして、これら実際の変速比ＮOD／ＮIDと目標値とが一致した状態で、変速動作を終了する。尚、この様に変速比の補正を行なった場合には、上記各パワーローラ７の傾転量とトロイダル型無段変速機１の変速比との関係を再学習し、更に記憶したり、その補正した変速比と上記ステッピングモータ４４の出力部材の位置（ステッピングモータ４４のステップ数）とを対応させて学習し、更に記憶させる。 Then, in the subsequent step 5, the actual gear ratio N OD / N ID is compared with the target value, and it is determined whether or not there is a deviation exceeding a preset threshold value between these gear ratios. In this case, if the actual speed ratio N OD / N ID matches the target value, the speed change operation is terminated. On the other hand, if there is a deviation exceeding a preset threshold value between the gear ratios, the gear ratios calculated by the tilt sensors 56 are not normal values. In step 6, the output member of the stepping motor 44 constituting the control unit for controlling the actuator 35 is moved step by step. Then, by moving this output member until the actual gear ratio N OD / N ID matches the target value, the gear ratio of the toroidal continuously variable transmission 1 is corrected. Then, the speed change operation is finished in a state where these actual speed ratios N OD / N ID and the target value coincide. When the gear ratio is corrected in this way, the relationship between the tilt amount of each power roller 7 and the gear ratio of the toroidal-type continuously variable transmission 1 is relearned and further stored. The corrected gear ratio and the position of the output member of the stepping motor 44 (the number of steps of the stepping motor 44) are learned in correspondence with each other and further stored.

尚、上記傾転センサ５６の異常を判定する為の上記閾値の値は、必要に応じて調節したり、或は複数の閾値を設定しておく等により、この傾転センサ５６の異常が、検出信号にノイズが混入する等の検出誤差に基づくもの（上述の様な修正可能なもの）であるか、破損等の修理・交換等を要するもの（傾転センサ５６の検出信号を使用できなもの）であるかの判定を行なう。そして、上記傾転センサ５６の異常が、検出信号にノイズが混入する等の検出誤差に基づくものであれば、上述の様に変速比の補正を行なう。そして、この様な補正を行なった場合には、上記傾転量と上記変速比との関係を再学習したり、この変速比と上記ステッピングモータ４４の出力部材の位置とを対応させて学習、記憶する等により、上記検出誤差を修正する作業を必要に応じて行なう。   It should be noted that the value of the threshold value for determining the abnormality of the tilt sensor 56 is adjusted as necessary, or a plurality of threshold values are set. The detection signal is based on a detection error such as noise mixed in (can be corrected as described above) or needs to be repaired / replaced due to breakage (the detection signal of the tilt sensor 56 cannot be used) It is judged whether it is a thing). If the abnormality of the tilt sensor 56 is based on a detection error such as noise in the detection signal, the gear ratio is corrected as described above. When such a correction is performed, the relationship between the tilt amount and the gear ratio is relearned, or the gear ratio is learned in correspondence with the position of the output member of the stepping motor 44. The operation of correcting the detection error is performed as necessary by storing it.

この様な修正作業を行なえば、上述の様な誤差を生じたまま上記ステッピングモータ４４の出力部材の位置等を学習する事がなくなり、上記傾転センサ５６の検出信号に基づく上記変速比制御を常に正確且つ安定して行なえる。又、上記傾転センサ５６の異常が、破損等の修理・交換等を要するものであっても、上記入力側、出力側各回転センサ２８、２９により変速比制御を継続して行なえる。この場合に使用者等に修理を促す為の警報を発すれば、車両を修理工場まで自走できなくなる程の故障に至る事を未然に防止する事ができ、信頼性の向上を図れる。   If such correction work is performed, the position of the output member of the stepping motor 44 and the like will not be learned while the above-described error occurs, and the speed ratio control based on the detection signal of the tilt sensor 56 is performed. It can always be performed accurately and stably. Even if the abnormality of the tilt sensor 56 requires repair / replacement such as damage, the speed ratio control can be continuously performed by the input side and output side rotation sensors 28 and 29. In this case, if a warning is issued to prompt the user or the like to repair the vehicle, it is possible to prevent the vehicle from being brought to a repair factory so that the vehicle can no longer run to the repair shop, thereby improving the reliability.

尚、上記各傾転センサ５６により求められる上記パワーローラ７の最大傾転量（パワーローラ７の最大傾斜位置）と、上記ステッピングモータ４４の出力部材の位置（ステッピングモータ４４のステップ数）とを対応させて前記制御器３０に記憶させておけば、上記ステッピングモータの脱調の有無を判定できる。
又、本実施例は、所謂ギヤード・ニュートラルと呼ばれる、入力軸を一方向に回転させたまま、出力軸の回転状態を、停止状態を挟んで正転、逆転に切り換えられる無段変速装置に適用した場合に就いて説明した。但し、この様な構造に限定されず、所謂パワー・スプリットと呼ばれる、トロイダル型無段変速機と差動ユニットと組み合わせて成る無段変速装置に適用する事もできる。 The maximum tilt amount of the power roller 7 (the maximum tilt position of the power roller 7) obtained by each tilt sensor 56 and the position of the output member of the stepping motor 44 (the number of steps of the stepping motor 44) are obtained. If it is stored in the controller 30 in correspondence, it can be determined whether or not the stepping motor is out of step.
Also, this embodiment is applied to a so-called geared neutral, continuously variable transmission that can switch the rotation state of the output shaft between forward rotation and reverse rotation with the input shaft rotated in one direction, with the stop state interposed therebetween. I explained the case. However, the present invention is not limited to such a structure, and can be applied to a continuously variable transmission that is a combination of a toroidal type continuously variable transmission and a differential unit, so-called power split.

本発明の実施例を示す、無段変速装置のブロック図。The block diagram of the continuously variable transmission which shows the Example of this invention. 傾転センサを設けた部分の具体的構造を示す要部断面図。The principal part sectional drawing which shows the specific structure of the part which provided the tilt sensor. 実施例の特徴となる動作を示すフローチャート。The flowchart which shows the operation | movement used as the characteristic of an Example. 従来から知られている無段変速装置の１例を示す略断面図。FIG. 6 is a schematic cross-sectional view showing an example of a conventionally known continuously variable transmission. この無段変速装置に組み込んだトロイダル型無段変速機（ＣＶＵ）の変速比と、この無段変速装置（Ｔ／Ｍ）全体としての速度比との関係を示す線図。The diagram which shows the relationship between the transmission ratio of the toroidal type continuously variable transmission (CVU) incorporated in this continuously variable transmission, and the speed ratio as this whole continuously variable transmission (T / M). 先発明に係る無段変速装置のブロック図。The block diagram of the continuously variable transmission which concerns on a prior invention. この無段変速装置に組み込むトロイダル型無段変速機の変速比を調節する為の機構を示す油圧回路図。The hydraulic circuit diagram which shows the mechanism for adjusting the gear ratio of the toroidal type continuously variable transmission integrated in this continuously variable transmission.

符号の説明Explanation of symbols

１ トロイダル型無段変速機
２ 遊星歯車変速機
３ 入力軸
４ 入力側ディスク
５ 出力側ディスク
６ トラニオン
７ パワーローラ
８ キャリア
９ 第一の遊星歯車
１０ 第二の遊星歯車
１１ａ、１１ｂ 遊星歯車素子
１２ａ、１２ｂ 遊星歯車素子
１３ 中空回転軸
１４ 伝達軸
１５ 第一の太陽歯車
１６ 第二の太陽歯車
１７ リング歯車
１８ 第三の太陽歯車
１９ 第二のキャリア
２０ａ、２０ｂ 遊星歯車素子
２１ 第二のリング歯車
２２ 低速用クラッチ
２３ 高速用クラッチ
２４ 出力軸
２５ エンジン
２６ ダンパ
２７ 押圧装置
２８ 入力側回転センサ
２９ 出力側回転センサ
３０ 制御器
３１ クラッチ装置
３２ 出力軸回転センサ
３３ オイルポンプ
３４ 枢軸
３５ アクチュエータ
３６ 制御弁装置
３７ 制御弁
３８ 差圧シリンダ
３９ａ、３９ｂ 補正用制御弁
４０ 高速用切換弁
４１ 低速用切換弁
４２ａ、４２ｂ 油圧室
４３ 油圧センサ
４４ ステッピングモータ
４５ ライン圧制御用電磁開閉弁
４６ 電磁弁
４７ シフト用電磁弁
４８ 油温センサ
４９ ポジションスイッチ
５０ アクセルセンサ
５１ ブレーキスイッチ
５２ 手動油圧切換弁
５３ エンジンコントローラ
５４ 油溜
５５ａ、５５ｂ 調圧弁
５６ 傾転センサ
５７ 揺動フレーム
５８ ラジアルニードル軸受
５９ スラストニードル軸受
６０ 支持軸
６１ カム面
６２ スプール
６３ａ、６３ｂ 端板
６４ ロータ DESCRIPTION OF SYMBOLS 1 Toroidal type continuously variable transmission 2 Planetary gear transmission 3 Input shaft 4 Input side disk 5 Output side disk 6 Trunnion 7 Power roller 8 Carrier 9 First planetary gear 10 Second planetary gear 11a, 11b Planetary gear element 12a, 12b Planetary gear element 13 Hollow rotating shaft 14 Transmission shaft 15 First sun gear 16 Second sun gear 17 Ring gear 18 Third sun gear 19 Second carrier 20a, 20b Planetary gear element 21 Second ring gear 22 Low speed clutch 23 High speed clutch 24 Output shaft 25 Engine 26 Damper 27 Press device 28 Input side rotation sensor 29 Output side rotation sensor 30 Controller 31 Clutch device 32 Output shaft rotation sensor 33 Oil pump 34 Axis 35 Actuator 36 Control valve device 37 Control valve 38 Differential pressure cylinder 39a, 3 9b Correction valve 40 High-speed switching valve 41 Low-speed switching valve 42a, 42b Hydraulic chamber 43 Hydraulic sensor 44 Stepping motor 45 Line pressure control electromagnetic switching valve 46 Solenoid valve 47 Shifting solenoid valve 48 Oil temperature sensor 49 Position switch 50 Accelerator sensor 51 Brake switch 52 Manual oil pressure switching valve 53 Engine controller 54 Oil reservoir 55a, 55b Pressure regulating valve 56 Tilt sensor 57 Oscillating frame 58 Radial needle bearing 59 Thrust needle bearing 60 Support shaft 61 Cam surface 62 Spool 63a, 63b End plate 64 rotor

Claims (10)

それぞれが断面円弧形の凹面である互いの側面同士を対向させた状態で、互いに同心に、且つ互いに独立した回転自在に支持された入力側ディスク及び出力側ディスクと、これら入力側ディスク及び出力側ディスクの中心軸に対し捻れの位置にある枢軸を中心として揺動する複数の支持部材と、これら各支持部材に支持された状態で上記入力側ディスク及び出力側ディスク同士の間に挟持された、その周面を球状凸面とした複数のパワーローラとを備えたトロイダル型無段変速機に於いて、これら各パワーローラの傾転量を検出する為の傾転センサを、それぞれのパワーローラ毎に備えた事を特徴とするトロイダル型無段変速機。   An input side disk and an output side disk that are supported concentrically and independently of each other with the side surfaces facing each other, each of which is a concave surface having an arcuate cross section, and these input side disk and output A plurality of support members that swing around a pivot that is twisted with respect to the center axis of the side disk, and are sandwiched between the input side disk and the output side disk while being supported by each of the support members. In a toroidal continuously variable transmission having a plurality of power rollers having a spherical convex surface, a tilt sensor for detecting the tilt amount of each power roller is provided for each power roller. A toroidal-type continuously variable transmission characterized by the 各傾転センサにより求められる各パワーローラの傾転量を相互に比較する為の比較手段を備え、この比較手段は、これら各パワーローラの傾転量同士の間に予め設定した閾値を超えるずれが存在する場合に、上記各パワーローラのうちの少なくとも何れか１個のパワーローラの傾転量に異常ありと判定する、請求項１に記載したトロイダル型無段変速機。   Comparing means for comparing the tilt amounts of the respective power rollers obtained by the respective tilt sensors is provided, and this comparing means includes a deviation exceeding a preset threshold value between the tilt amounts of the respective power rollers. 2. The toroidal continuously variable transmission according to claim 1, wherein when there is, a determination is made that there is an abnormality in a tilt amount of at least one of the power rollers. 入力側ディスクの回転速度を検出する為の入力側回転センサと、出力側ディスクの回転速度を検出する為の出力側回転センサとを備えると共に、これら入力側、出力側各回転センサにより求められる入力側、出力側各ディスクの回転速度と、各傾転センサにより求められる各パワーローラの傾転量とを比較する為の比較手段を備え、この比較手段は、上記各ディスクの回転速度から算出されるこれら両ディスク同士の間の変速比と、予め求めたこの変速比と上記各パワーローラの傾転量との関係から算出される当該傾転量でのこの変速比とを比較するものであり、これら２通りの方法で求めた変速比同士の間に予め設定した閾値を超える差が存在する場合に、上記入力側回転センサと出力側回転センサと傾転センサとのうちの何れかに異常ありと判定する、請求項１〜２の何れかに記載したトロイダル型無段変速機。   An input side rotation sensor for detecting the rotation speed of the input side disk and an output side rotation sensor for detecting the rotation speed of the output side disk, and inputs required by these input side and output side rotation sensors Comparison means for comparing the rotational speed of each disk on the side and output side with the amount of tilt of each power roller determined by each tilt sensor, which is calculated from the rotational speed of each disk. The speed ratio between the two disks is compared with the speed ratio at the tilt amount calculated from the relationship between the speed ratio determined in advance and the tilt amount of each power roller. If there is a difference exceeding a preset threshold between the gear ratios obtained by these two methods, any of the input side rotation sensor, the output side rotation sensor, and the tilt sensor is abnormal. Ah And determining, toroidal type continuously variable transmission as set forth in any one of claims 1-2. 傾転センサが、支持部材の枢軸を中心とする揺動量を検出する為の回転検出センサであり、この回転検出センサにより求められるこの支持部材の揺動量を、パワーローラの傾転量とする、請求項１〜３の何れかに記載したトロイダル型無段変速機。   The tilt sensor is a rotation detection sensor for detecting a swing amount around the pivot axis of the support member, and the swing amount of the support member obtained by the rotation detection sensor is set as the tilt amount of the power roller. The toroidal type continuously variable transmission according to any one of claims 1 to 3. 入力軸と、出力軸と、トロイダル型無段変速機と、複数の歯車を組み合わせて成る歯車式の差動ユニットと、このトロイダル型無段変速機の変速比の変更を制御する為の制御器とを備え、
このトロイダル型無段変速機は、上記差動ユニットの第一の入力部と共に上記入力軸により回転駆動される入力側ディスクと、この入力側ディスクと同心に、且つ、この入力側ディスクに対する相対回転を自在として支持され、上記差動ユニットの第二の入力部に接続された出力側ディスクと、これら両ディスク同士の間に挟持された複数個のパワーローラと、これら各パワーローラを回転自在に支持した複数個の支持部材と、これら各支持部材を変位させて上記入力側ディスクと上記出力側ディスクとの間の変速比を変えるアクチュエータと、上記入力側ディスクの回転速度を検出する為の入力側回転センサと、上記出力側ディスクの回転速度を検出する為の出力側回転センサと、上記各パワーローラの傾転量を検出する為の傾転センサとを備えたものであり、
上記差動ユニットは、上記第一、第二の入力部同士の間の速度差に応じた回転を取り出して上記出力軸に伝達するものであり、
上記制御器は、次の（１）〜（４）の機能を有するものである無段変速装置。
（１）上記入力側回転センサにより求められる上記入力側ディスクの回転速度と、上記出力側回転センサにより求められる上記出力側ディスクの回転速度とに基づいて、上記トロイダル型無段変速機の変速比を算出する機能。
（２）上記各傾転センサにより求められる上記各パワーローラの傾転量と、予め求めたこの傾転量と上記トロイダル型無段変速機の変速比との関係とに基づいて、このトロイダル型無段変速機の変速比を算出する機能。
（３）上記（１）の機能により算出される変速比と上記（２）の機能により算出される変速比とを比較し、これら各変速比同士の間に予め設定した閾値を超えるずれがある場合に、上記（１）の機能と（２）の機能とのうちの何れかの機能により算出される変速比が正常な値でないと判定する機能。
（４）上記（３）の機能により何れかの変速比が正常な値でないと判定された場合に、正常な値の変速比に基づいてトロイダル型無段変速機の変速比の調節を行なう機能。 An input shaft, an output shaft, a toroidal continuously variable transmission, a gear-type differential unit formed by combining a plurality of gears, and a controller for controlling a change in the gear ratio of the toroidal continuously variable transmission And
The toroidal continuously variable transmission includes an input side disk that is rotationally driven by the input shaft together with the first input portion of the differential unit, a concentric with the input side disk, and a relative rotation with respect to the input side disk. And an output side disk connected to the second input portion of the differential unit, a plurality of power rollers sandwiched between these disks, and each of these power rollers can be rotated freely. A plurality of supporting members supported, an actuator for displacing each of the supporting members to change a gear ratio between the input side disk and the output side disk, and an input for detecting the rotational speed of the input side disk A side rotation sensor, an output side rotation sensor for detecting the rotation speed of the output side disk, and a tilt sensor for detecting the tilt amount of each power roller; It is those with,
The differential unit takes out rotation according to the speed difference between the first and second input units and transmits the rotation to the output shaft.
The controller is a continuously variable transmission having the following functions (1) to (4).
(1) The transmission ratio of the toroidal continuously variable transmission based on the rotational speed of the input-side disk determined by the input-side rotation sensor and the rotational speed of the output-side disk determined by the output-side rotation sensor. The function to calculate
(2) Based on the tilt amount of each power roller determined by each tilt sensor and the relationship between the tilt amount determined in advance and the gear ratio of the toroidal continuously variable transmission, the toroidal type A function that calculates the gear ratio of a continuously variable transmission.
(3) The gear ratio calculated by the function (1) is compared with the gear ratio calculated by the function (2), and there is a deviation exceeding a preset threshold value between the gear ratios. In this case, a function for determining that the gear ratio calculated by any one of the functions (1) and (2) is not a normal value.
(4) A function for adjusting the gear ratio of the toroidal continuously variable transmission based on the gear ratio having a normal value when it is determined by the function (3) that the gear ratio is not a normal value. . 入力側、出力側各回転センサに異常がない事を条件に、（２）の機能により算出される変速比に基づいて、トロイダル型無段変速機の変速比を所望値に調節した状態で、（１）の機能により算出される変速比と所望値とを比較し、この変速比と所望値との間に予め設定した閾値を超えるずれがある場合に、上記（２）の機能により算出される変速比が正常な値でないと判定する、請求項５に記載した無段変速装置。   On the condition that there is no abnormality in each of the input side and output side rotation sensors, the speed ratio of the toroidal continuously variable transmission is adjusted to a desired value based on the speed ratio calculated by the function (2). The gear ratio calculated by the function (1) is compared with a desired value, and when there is a deviation exceeding a preset threshold between the gear ratio and the desired value, the gear ratio is calculated by the function (2). The continuously variable transmission according to claim 5, wherein the transmission gear ratio is determined not to be a normal value. （２）の機能により算出される変速比が正常な値でないと判定した場合に、（１）の機能により算出される変速比が所望値になるまで、アクチュエータを制御する為の制御ユニットを構成するステッピングモータの出力部材を移動させる事により、トロイダル型無段変速機の変速比を所望値に補正する、請求項６に記載した無段変速装置。   When it is determined that the speed ratio calculated by the function (2) is not a normal value, a control unit is configured to control the actuator until the speed ratio calculated by the function (1) reaches a desired value. The continuously variable transmission according to claim 6, wherein the gear ratio of the toroidal type continuously variable transmission is corrected to a desired value by moving an output member of the stepping motor. トロイダル型無段変速機の変速比を補正した場合に、パワーローラの傾転量とトロイダル型無段変速機の変速比との関係を再学習し、更に記憶する機能を有する、請求項７に記載した無段変速装置。   8. The function of re-learning and storing the relationship between the tilt amount of the power roller and the transmission ratio of the toroidal continuously variable transmission when the transmission ratio of the toroidal continuously variable transmission is corrected. The continuously variable transmission described. トロイダル型無段変速機の変速比を補正した場合に、その補正した変速比とステッピングモータの出力部材の位置とを対応させて学習し、更に記憶する機能を有する、請求項７〜８の何れかに記載した無段変速装置。   9. The device according to claim 7, wherein when the transmission gear ratio of the toroidal type continuously variable transmission is corrected, the corrected transmission gear ratio and the position of the output member of the stepping motor are learned in correspondence with each other, and further stored. A continuously variable transmission as described above. トロイダル型無段変速機の変速比を調節して差動ユニットを構成する複数の歯車の相対的変位速度を変化させる事により、入力軸を一方向に回転させた状態のまま出力軸の回転状態を、停止状態を挟んで正転及び逆転に変換する機能を有する、請求項５〜９の何れかに記載した無段変速装置。   By adjusting the gear ratio of the toroidal-type continuously variable transmission and changing the relative displacement speed of the gears that make up the differential unit, the output shaft rotates while the input shaft rotates in one direction. The continuously variable transmission according to any one of claims 5 to 9, which has a function of converting forward rotation and reverse rotation with a stop state interposed therebetween.
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JP2007170496A (en) * 2005-12-20 2007-07-05 Toyota Motor Corp Control system and adjusting method for toroidal type continuously-variable transmission
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CN103261752A (en) * 2011-01-14 2013-08-21 日本精工株式会社 Contiuously variable transmission device
CN103270347A (en) * 2011-01-14 2013-08-28 日本精工株式会社 Continuously variable transmission device
JP5560350B2 (en) * 2011-01-14 2014-07-23 日本精工株式会社 Continuously variable transmission
JP5560349B2 (en) * 2011-01-14 2014-07-23 日本精工株式会社 Continuously variable transmission
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