JP2006308029A - Rotational force transmission device, rotational force generating device, and vehicle - Google Patents
Rotational force transmission device, rotational force generating device, and vehicle Download PDFInfo
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Abstract
Description
本発明は、高効率回転数でモータを駆動するとともに、駆動側と従動側間の振動，衝撃等を緩和等することができる回転力伝達装置、回転力発生装置および車両に関する。 The present invention relates to a rotational force transmission device, a rotational force generation device, and a vehicle that can drive a motor at a high-efficiency rotational speed and can reduce vibration, impact, and the like between a driving side and a driven side.
たとえば、電気自動車では、モータをいわゆるバネ下に設け、駆動軸を車輪に直結する（ホイールに直結する）ことで制御性能を高めている。
高効率で動作するモータの回転数は、ホイールの回転数よりも格段に高い。このため、モータがホイールに直結している電気自動車では、モータを効率良く動作させることができない。
For example, in an electric vehicle, a motor is provided under a so-called spring, and the control performance is improved by directly connecting the drive shaft to the wheel (directly connected to the wheel).
The rotational speed of a motor operating with high efficiency is much higher than the rotational speed of the wheel. For this reason, in an electric vehicle in which the motor is directly connected to the wheel, the motor cannot be operated efficiently.
また、モータをバネ下に設けているためバネ下重量が大きくなり（ずなわち、バネ下の運動エネルギーが大きくなり）、操縦性能が低下するし、乗り心地も悪くなる。しかも、モータをバネ下に設け、ホイールに直結する場合には、車輪の振動が直接モータに伝わるため、さらに乗り心地が悪くなる。 Further, since the motor is provided under the spring, the unsprung weight increases (that is, the kinetic energy under the spring increases), the steering performance is lowered, and the riding comfort is also deteriorated. In addition, when the motor is provided under the spring and directly connected to the wheel, the vibration of the wheel is directly transmitted to the motor, which further deteriorates the ride comfort.
モータを効率良く動作させるために、モータの駆動力をギヤを介してホイールに伝えている。このため、モータを効率良く動作させることができるものの、バネ下重量が大きいため、依然、操縦性能は低下したままだし、乗り心地も悪いままである。
本発明の目的は、高効率回転数でモータを駆動するとともに、駆動側と従動側間の振動，衝撃等を緩和等することができる回転力伝達装置、回転力発生装置および車両にを提供することにある。
In order to operate the motor efficiently, the driving force of the motor is transmitted to the wheel via a gear. For this reason, although the motor can be operated efficiently, the unsprung weight is large, so that the steering performance is still deteriorated and the riding comfort is still poor.
An object of the present invention is to provide a rotational force transmission device, a rotational force generation device, and a vehicle that can drive a motor at a high-efficiency rotational speed and reduce vibrations, impacts, and the like between a driving side and a driven side. There is.
本発明者は、バネ下の運動エネルギーの定常的な変化を弾性部材により吸収し、突発的な変化をモータのトルク変化により相殺し、加速時・減速時のトルク反動を前記弾性部材により吸収できるとの知見を得て、本発明をなすに至った。 The inventor can absorb a steady change of unsprung kinetic energy by an elastic member, cancel out a sudden change by a torque change of the motor, and absorb a torque reaction during acceleration / deceleration by the elastic member. As a result, the present invention has been made.
本発明の回転力伝達装置の第１態様は、（１）から（４）を要旨とする。
（１） 平行な第１回転軸と第２回転軸とを持つ回転伝達機構と、
前記回転伝達機構を内蔵するとともに前記第１回転軸を支持する第１ハウジング部と、
前記第１回転軸または前記第２回転軸を回転軸心として前記第１ハウジング部に対して相対回動するとともに前記第２回転軸を支持する第２ハウジング部と
とを備え、
前記第１ハウジング部と前記第２ハウジング部とには、
前記第１ハウジング部と前記第２ハウジング部との間に相対回動力が働いていないときに前記第１ハウジング部と前記第２ハウジング部とを相対基準位置に保持し、
前記第１ハウジング部と前記第２ハウジング部とが相対回動したときに前記第１ハウジング部と前記第２ハウジング部とを前記相対基準位置に対する位置を制御する回動力抑制機構が設けられている、
ことを特徴とする回転力伝達装置。
The first aspect of the rotational force transmission device of the present invention is summarized as (1) to (4).
(1) a rotation transmission mechanism having a parallel first rotation axis and a second rotation axis;
A first housing part containing the rotation transmission mechanism and supporting the first rotation shaft;
A second housing portion that rotates relative to the first housing portion with the first rotating shaft or the second rotating shaft as a rotation axis, and supports the second rotating shaft;
In the first housing part and the second housing part,
Holding the first housing part and the second housing part at a relative reference position when no relative rotational force is acting between the first housing part and the second housing part;
A turning force suppression mechanism is provided for controlling the position of the first housing part and the second housing part relative to the relative reference position when the first housing part and the second housing part are rotated relative to each other. ,
A rotational force transmission device characterized by that.
（２） 前記回動力抑制機構は、弾性部材により前記第１ハウジング部と前記第２ハウジング部とを前記相対基準位置に戻すように制御することを特徴とする（１）に記載の回転力伝達装置。 (2) The rotational force transmission according to (1), wherein the turning force suppression mechanism controls the elastic member to return the first housing part and the second housing part to the relative reference position. apparatus.
（３） 前記回動力抑制機構は、
前記第１ハウジング部に形成され、前記第１ハウジング部と前記第２ハウジング部との相対回動中心を中心に形成された第１扁平円筒部と、
前記第２ハウジング部に形成され、前記相対回動中心を中心に形成された前記第１扁平円筒部との間に空隙を有するように配置された第２扁平円筒部と、
前記第１扁平円筒部の前記第２扁平円筒部側に形成された複数の第１突起、および前記第２扁平円筒部の前記第１扁平円筒部側に形成された複数の第２突起とからなり、前記第１突起と前記第２突起とが交互に配置された突起群と、
隣接する前記第１突起と前記第２突起との間にそれぞれ配置された弾性部材と、
により構成されたことを特徴とする（１）または（２）に記載の回転力伝達装置。
(3) The turning force suppression mechanism is
A first flat cylindrical portion formed in the first housing portion and formed around a center of relative rotation between the first housing portion and the second housing portion;
A second flat cylindrical portion formed in the second housing portion and disposed so as to have a gap between the first flat cylindrical portion formed around the relative rotation center;
A plurality of first protrusions formed on the second flat cylindrical portion side of the first flat cylindrical portion, and a plurality of second protrusions formed on the first flat cylindrical portion side of the second flat cylindrical portion. A projection group in which the first projections and the second projections are alternately arranged;
Elastic members respectively disposed between the adjacent first protrusions and the second protrusions;
The rotational force transmission device according to (1) or (2), characterized in that:
（４） （１）から（３）の何れかに記載の回転力伝達装置を備えた回転力発生装置であって、
モータのハウジングが前記第１ハウジング部と一体に構成され、かつ前記モータの駆動軸が前記第１回転軸に連結され、
回転対象の支持体が前記第２ハウジング部と一体に構成され、かつ前記回転対象が前記第２回転軸に連結されていることを特徴とする回転力発生装置。
(4) A rotational force generator including the rotational force transmission device according to any one of (1) to (3),
A motor housing is integrally formed with the first housing portion, and a drive shaft of the motor is coupled to the first rotating shaft;
A rotational force generating apparatus, wherein a support body to be rotated is configured integrally with the second housing portion, and the rotation object is connected to the second rotation shaft.
本発明の第1態様の回転力伝達装置を利用した車両は、（５）および（６）を要旨とする。
（５） （４）に記載の回転力発生装置が搭載され、前記回転対象が前記車両の車輪である車両であって、
前記回転力伝達装置が２つの平歯車からなる歯車機構、または２つのプーリーにベルトが張設されてなるプーリー機構により構成されたことを特徴とする車両。
A vehicle using the torque transmission device according to the first aspect of the present invention is summarized in (5) and (6).
(5) The rotational force generation device according to (4) is mounted, and the rotation target is a vehicle that is a wheel of the vehicle,
A vehicle characterized in that the rotational force transmission device comprises a gear mechanism comprising two spur gears or a pulley mechanism in which a belt is stretched between two pulleys.
（６） 前記車両の所定個所に少なくとも１つ設けられた、垂直方向加速度および／または回転加速度を検出する加速度センサーと、
前記加速度センサーの検出信号に応じて、トルクを変動させる構制御装置と、
を備えたことを特徴とする（５）に記載の車両。
(6) an acceleration sensor for detecting vertical acceleration and / or rotational acceleration, provided at least one at a predetermined location of the vehicle;
A composition control device that varies torque according to a detection signal of the acceleration sensor;
(5) The vehicle according to (5).
本発明の回転力伝達装置の第２態様は、（７）から（９）を要旨とする。
（７） 平行な第１回転軸と第２回転軸とを持つ第１回転伝達機構と、
平行な前記第２回転軸と第３回転軸とを持つ第２回転伝達機構と、
前記第１回転伝達機構を内蔵するとともに前記第１回転軸を支持する第１ハウジング部と、
前記第２回転伝達機構を内蔵するとともに前記第１回転軸または前記第２回転軸を軸心として前記第１ハウジング部に対して相対回動しかつ前記第２回転軸を支持する第２ハウジング部と、
前記第２回転軸または前記第３回転軸を軸心として前記第２ハウジング部に対して相対回動しかつ前記第３回転軸を支持する第３ハウジング部と、
を備え、
前記第１ハウジング部と前記第２ハウジング部とには、
前記第１ハウジング部と前記第２ハウジング部との間に相対回動力が働いていないときに前記第１ハウジング部と前記第２ハウジング部とを相対基準位置に保持し、
前記第１ハウジング部と前記第２ハウジング部とが相対回動したときに前記第１ハウジング部と前記第２ハウジング部とを前記相対基準位置に対する位置を制御する第１回動力抑制機構が設けられ、
前記第２ハウジング部と前記第３ハウジング部とには、
前記第２ハウジング部と前記第３ハウジング部との間に相対回動力が働いていないときに前記第２ハウジング部と前記第３ハウジング部とを相対基準位置に保持し、
前記第２ハウジング部と前記第３ハウジング部とが相対回動したときに前記第２ハウジング部と前記第３ハウジング部とを前記相対基準位置に対する位置を制御する第２回動力抑制機構が設けられ、
ている、
ことを特徴とする回転力伝達装置。
The second aspect of the rotational force transmission device of the present invention is summarized from (7) to (9).
(7) a first rotation transmission mechanism having a parallel first rotating shaft and a second rotating shaft;
A second rotation transmission mechanism having the second rotation axis and the third rotation axis in parallel;
A first housing part containing the first rotation transmission mechanism and supporting the first rotation shaft;
A second housing part that incorporates the second rotation transmission mechanism and that rotates relative to the first housing part about the first rotating shaft or the second rotating shaft and supports the second rotating shaft. When,
A third housing part that rotates relative to the second housing part about the second rotating shaft or the third rotating shaft and supports the third rotating shaft;
With
In the first housing part and the second housing part,
Holding the first housing part and the second housing part at a relative reference position when no relative rotational force is acting between the first housing part and the second housing part;
A first power suppression mechanism is provided for controlling the position of the first housing part and the second housing part with respect to the relative reference position when the first housing part and the second housing part are relatively rotated. ,
In the second housing part and the third housing part,
Holding the second housing part and the third housing part at a relative reference position when no relative rotational force is acting between the second housing part and the third housing part;
A second power suppression mechanism is provided for controlling the position of the second housing part and the third housing part relative to the relative reference position when the second housing part and the third housing part are rotated relative to each other. ,
ing,
A rotational force transmission device characterized by that.
（８） 前記回動力抑制機構は、弾性部材により前記第１ハウジング部と前記第２ハウジング部とを前記相対基準位置に戻すように制御することを特徴とする（７）に記載の回転力伝達装置。 (8) The rotational force transmission according to (7), wherein the turning force suppressing mechanism controls the elastic member to return the first housing part and the second housing part to the relative reference position. apparatus.
（９） 前記第１回動力抑制機構は、
前記第１ハウジング部に形成され、前記第１ハウジング部と前記第２ハウジング部との相対回動中心を軸心とする第１扁平円筒部と、
前記第２ハウジング部に形成され、前記相対回動中心を軸心とする前記第１扁平円筒部との間に空隙を有するように配置された第２扁平円筒部と、
前記第１扁平円筒部の前記第２扁平円筒部側に形成された複数の第１突起、および前記第２扁平円筒部の前記第１扁平円筒部側に形成された複数の第２突起とからなり、前記第１突起と前記第２突起とが交互に配置された突起群と、
隣接する前記第１突起と前記第２突起との間にそれぞれ配置された弾性部材と、
により構成され、
前記第２回動力抑制機構は、
前記第２ハウジング部に形成され、前記第２ハウジング部と前記第３ハウジング部との相対回動中心を軸心とする第３扁平円筒部と、
前記第３ハウジング部に形成され、前記相対回動中心を軸心とする前記第３扁平円筒部との間に空隙を有するように配置された第４扁平円筒部と、
前記第３扁平円筒部の前記第４扁平円筒部側に形成された複数の第３突起、および前記第４扁平円筒部の前記第３扁平円筒部側に形成された複数の第４突起とからなり、前記第３突起と前記第４突起とが交互に配置された突起群と、
隣接する前記第３突起と前記第４突起との間にそれぞれ配置された弾性部材と、
により構成されたことを特徴とする（７）または（８）に記載の回転力伝達装置。
(9) The first power suppression mechanism is
A first flat cylindrical portion formed in the first housing portion and having a relative rotation center between the first housing portion and the second housing portion as an axis;
A second flat cylindrical portion formed on the second housing portion and disposed so as to have a gap between the first flat cylindrical portion having the relative rotation center as an axis;
A plurality of first protrusions formed on the second flat cylindrical portion side of the first flat cylindrical portion, and a plurality of second protrusions formed on the first flat cylindrical portion side of the second flat cylindrical portion. A projection group in which the first projections and the second projections are alternately arranged;
Elastic members respectively disposed between the adjacent first protrusions and the second protrusions;
Composed of
The second power suppression mechanism is
A third flat cylindrical portion formed in the second housing portion and having a relative rotation center between the second housing portion and the third housing portion as an axis;
A fourth flat cylindrical portion formed in the third housing portion and disposed so as to have a gap between the third flat cylindrical portion having the relative rotation center as an axis;
A plurality of third protrusions formed on the fourth flat cylindrical portion side of the third flat cylindrical portion, and a plurality of fourth protrusions formed on the third flat cylindrical portion side of the fourth flat cylindrical portion. A projection group in which the third projections and the fourth projections are alternately arranged;
Elastic members respectively disposed between the adjacent third protrusion and the fourth protrusion;
The rotational force transmitting device according to (7) or (8), characterized in that:
本発明の第２態様の回転力伝達装置を利用した車両は、（１０）および（１１）を要旨とする。
（１０） （７）から（９）の何れかに記載の回転力伝達装置を備えた回転力発生装置であって、
モータのハウジングが前記第１ハウジング部と一体に構成され、かつ前記モータの駆動軸が前記第１回転軸に連結され、
回転対象の支持体が前記第３ハウジング部と一体に構成され、かつ前記回転対象が前記第３回転軸に連結されていることを特徴とする回転力発生装置。
The gist of the vehicle using the torque transmission device of the second aspect of the present invention is (10) and (11).
(10) A rotational force generator including the rotational force transmission device according to any one of (7) to (9),
A motor housing is integrally formed with the first housing portion, and a drive shaft of the motor is coupled to the first rotating shaft;
A rotational force generating apparatus, wherein a support body to be rotated is configured integrally with the third housing portion, and the rotation object is connected to the third rotation shaft.
（１１） （１０）に記載の回転力発生装置が搭載され、前記回転対象が前記車両の車輪である車両であって、
前記第１回転力伝達装置および前記第２回転力伝達装置が２つの平歯車からなる歯車機構により構成され、前記第３回転軸が前記第2回転軸に対して前記第1回転軸と反対側に配置されていることを特徴とする車両。
(11) The rotational force generation device according to (10) is mounted, and the rotation target is a vehicle that is a wheel of the vehicle,
The first rotational force transmission device and the second rotational force transmission device are configured by a gear mechanism including two spur gears, and the third rotational shaft is opposite to the first rotational shaft with respect to the second rotational shaft. Vehicle characterized by being arranged in.
（１２） （１０）に記載の回転力発生装置が搭載され、前記回転対象が前記車両の車輪である車両であって、
前記第１回転力伝達装置および前記第２回転力伝達装置が２つのプーリにベルトが張設されてなるプーリー機構により構成され、前記第1回転軸が前記第2回転軸に対して前記第1回転軸側に配置されていることを特徴とする車両。
(12) The rotational force generator according to (10) is mounted, and the rotation target is a vehicle that is a wheel of the vehicle,
The first rotational force transmission device and the second rotational force transmission device are configured by a pulley mechanism in which a belt is stretched between two pulleys, and the first rotational shaft is the first rotational shaft with respect to the second rotational shaft. A vehicle characterized by being arranged on a rotating shaft side.
（１３） 前記車両の所定個所に少なくとも１つ設けられた、垂直方向加速度および／または回転加速度を検出する加速度センサーと、
前記加速度センサーの検出信号に応じて、前記モータのトルクを変動させる制御装置とを備えたことを特徴とする（１１）または（１２）に記載の車両。
(13) an acceleration sensor that detects at least one vertical acceleration and / or rotational acceleration provided at a predetermined location of the vehicle;
The vehicle according to (11) or (12), further comprising a control device that varies the torque of the motor in accordance with a detection signal of the acceleration sensor.
本発明の回転力伝達装置では、回動する２つのハウジング部に設けた回動力抑制機構により駆動側と従動側間の振動，衝撃等を弾性部材により抑制（制振、緩衝等）することができる。また、本発明の回転力伝達装置では、前記回動力抑制機構を、第１，第２扁平円筒部、複数の第１，第２突起からなる突起群、第１突起と第２突起との間に配置された弾性部材により構成する場合には、構造を簡素化することができる。 In the rotational force transmission device of the present invention, vibrations and shocks between the driving side and the driven side can be suppressed (damping, buffering, etc.) between the driving side and the driven side by the turning force suppressing mechanism provided in the two rotating housing parts. it can. Moreover, in the rotational force transmission device of the present invention, the rotational force suppressing mechanism includes the first and second flat cylindrical portions, a projection group including a plurality of first and second projections, and between the first projection and the second projection. In the case of being constituted by an elastic member disposed in the structure, the structure can be simplified.
本発明の回転力発生装置では、回転対象側で生じる振動，衝撃等を抑制、緩和等することができる。さらに、本発明の回転力発生装置では、駆動時に、弾性部材の機構部重量による圧縮が緩和されるトルクを生成できるので、弾性部材の圧縮が飽和することはない。また、本発明の回転力発生装置では、回転力伝達装置により駆動原回転数を高回転数にすることができるので、モータを高効率で動作させることができる。 In the rotational force generator of the present invention, vibrations, impacts, and the like generated on the rotation target side can be suppressed and reduced. Furthermore, in the rotational force generator according to the present invention, since the torque that reduces the compression due to the weight of the mechanism portion of the elastic member can be generated during driving, the compression of the elastic member does not saturate. Moreover, in the rotational force generator of this invention, since a drive original rotation speed can be made into a high rotation speed with a rotational force transmission apparatus, a motor can be operated with high efficiency.
本発明の車両では、モータの動作効率が高く、また、たとえば路面の凹凸を吸収、緩和等することができる。 In the vehicle of the present invention, the operation efficiency of the motor is high, and for example, unevenness on the road surface can be absorbed and reduced.
本発明の第１態様にかかる実施形態を図１から図４により説明する。
図１は第１実施形態の回転力発生装置１００を示す図である。回転力発生装置１００は、本発明にかかる回転力伝達装置１にモータ２と回転対象３（図１では一部のみを示す）が取り付けられて構成されている。また、図２（Ａ）は回転数変換機構の断面説明図（図１のａ−ａ断面の説明図）、図２（Ｂ）は図２（Ａ）の回転数変換機構に使用した弾性部材の例を示す図ある。弾性部材として、天然ゴム、ニトリルゴム、クロトブレンゴムブチルゴム、これらの複合体（積層あるいは結合体）を使用することができる。
An embodiment according to the first aspect of the present invention will be described with reference to FIGS.
FIG. 1 is a diagram illustrating a rotational force generator 100 according to the first embodiment. The rotational force generator 100 is configured by attaching a motor 2 and an object to be rotated 3 (only a part thereof is shown in FIG. 1) to the rotational force transmission device 1 according to the present invention. 2A is a cross-sectional explanatory view of the rotation speed conversion mechanism (description of the cross section aa in FIG. 1), and FIG. 2B is an elastic member used in the rotation speed conversion mechanism of FIG. FIG. As the elastic member, natural rubber, nitrile rubber, crotobrene rubber butyl rubber, or a composite (laminated or bonded) thereof can be used.
回転力伝達装置１は、第１ハウジング部１１１と、第２ハウジング部１１２とを備えている。なお、図１においては軸受け構造の図示は省略する。
第１ハウジング部１１１は、回転数変換機構１２を内蔵している。回転数変換機構１２は、２つの平歯車１２１，１２２により構成され、平行な第１回転軸１２３（平歯車１２１の回転軸）と第２回転軸１２４（平歯車１２２の回転軸）とを持っている。第１ハウジング部１１１は、第１回転軸１２３を支持している。
The rotational force transmission device 1 includes a first housing part 111 and a second housing part 112. In FIG. 1, the bearing structure is not shown.
The first housing part 111 incorporates the rotation speed conversion mechanism 12. The rotation speed conversion mechanism 12 includes two spur gears 121 and 122, and has a parallel first rotation shaft 123 (rotation shaft of the spur gear 121) and a second rotation shaft 124 (rotation shaft of the spur gear 122). ing. The first housing part 111 supports the first rotating shaft 123.
一方、第２ハウジング部１１２は、第２回転軸１２４を回転軸心として第１ハウジング部１１１に対して相対回動するように構成され、第２回転軸１２４を支持している。
第１ハウジング部１１１と第２ハウジング部１１２とには、回動力抑制機構１３が設けられている。回動力抑制機構１３は、第１ハウジング部１１１と第２ハウジング部１１２との間に相対回動力Ｔ１が働いていないときに第１ハウジング部１１１と第２ハウジング部１１２とを相対基準位置に保持する。また、第１ハウジング部１１１と第２ハウジング部１１２とが相対回動したときに第１ハウジング部１１１と第２ハウジング部１１２とを相対基準位置に戻す方向の相対回動力Ｔ２を発生する。
On the other hand, the second housing portion 112 is configured to rotate relative to the first housing portion 111 with the second rotation shaft 124 as a rotation axis, and supports the second rotation shaft 124.
The first housing portion 111 and the second housing portion 112 are provided with a rotational force suppressing mechanism 13. The rotational force suppression mechanism 13 holds the first housing portion 111 and the second housing portion 112 at a relative reference position when the relative rotational force T1 is not working between the first housing portion 111 and the second housing portion 112. To do. Further, when the first housing part 111 and the second housing part 112 are relatively rotated, a relative rotational force T2 is generated in a direction to return the first housing part 111 and the second housing part 112 to the relative reference position.
具体的には回動力抑制機構１３は、第１扁平円筒部１３１と第２扁平円筒部１３２と突起群１３３，１３４（図（Ａ）参照）と弾性部材１３５（図２（Ａ），（Ｂ）参照）とを有している。 Specifically, the rotational force suppressing mechanism 13 includes a first flat cylindrical portion 131, a second flat cylindrical portion 132, protrusion groups 133 and 134 (see FIG. (A)), and an elastic member 135 (see FIGS. 2A and 2B). ))).
第１扁平円筒部１３１は、第１ハウジング部１１１に形成され、第２扁平円筒部１３２は第２ハウジング部１１２に形成さている。第１扁平円筒部１３１と第２扁平円筒部１３２の中心軸は、第２回転軸１２４の軸心と同一である。 The first flat cylindrical part 131 is formed in the first housing part 111, and the second flat cylindrical part 132 is formed in the second housing part 112. The central axes of the first flat cylindrical portion 131 and the second flat cylindrical portion 132 are the same as the axis of the second rotating shaft 124.
第１扁平円筒部１３１と第２扁平円筒部１３２とは、相互間に空隙を有するように径を異ならせて構成されている。本実施形態では、第１扁平円筒部１３１は、第２扁平円筒部１３２の内側に位置するように構成されている。 The first flat cylindrical portion 131 and the second flat cylindrical portion 132 are configured with different diameters so as to have a gap therebetween. In the present embodiment, the first flat cylindrical portion 131 is configured to be positioned inside the second flat cylindrical portion 132.
突起群１３３は、図２（Ａ）（図１におけるａ−ａ断面の説明図）に示すように、複数の第１突起１３３１からなり、突起群１３４は複数の第２突起１３４１とからなる。第１突起１３３１と第２突起１３４１とは同数である。第１突起１３３１は、第１扁平円筒部１３１の第２扁平円筒部１３２側に形成され、第２突起１３４１は、第２扁平円筒部１３２の第１扁平円筒部１３１側に形成されており、これら第１突起１３３１と第２突起１３４１とは交互に配置されている。 The protrusion group 133 includes a plurality of first protrusions 1331 and the protrusion group 134 includes a plurality of second protrusions 1341, as shown in FIG. The first protrusion 1331 and the second protrusion 1341 are the same number. The first protrusion 1331 is formed on the second flat cylindrical portion 132 side of the first flat cylindrical portion 131, and the second protrusion 1341 is formed on the first flat cylindrical portion 131 side of the second flat cylindrical portion 132, The first protrusions 1331 and the second protrusions 1341 are alternately arranged.
弾性部材１３５は、図２（Ａ）に示すように、隣接する第１突起１３３１と第２突起１３４１との間にそれぞれ配置されている。本実施形態では、弾性部材１３５は、図２（Ｂ）に示すように、ゴム等の樹脂から構成されており、弾性部材１３５は第１突起１３３１と第２突起１３４１に端面が接着材等により接合することができる。通常、弾性部材１３５は第１突起１３３１と第２突起１３４１との間に圧縮した状態でセットされる。 As shown in FIG. 2A, the elastic member 135 is disposed between the adjacent first protrusion 1331 and the second protrusion 1341, respectively. In this embodiment, as shown in FIG. 2B, the elastic member 135 is made of a resin such as rubber, and the elastic member 135 has end faces formed by an adhesive or the like on the first protrusion 1331 and the second protrusion 1341. Can be joined. Usually, the elastic member 135 is set in a compressed state between the first protrusion 1331 and the second protrusion 1341.
本実施形態では、モータ２のハウジング２１は第１ハウジング部１１１と一体に構成され、かつモータ２の駆動軸は第１回転軸１２３に連結されている。また、回転対象３の支持体３１が第２ハウジング１１２と一体に構成され、かつ回転対象３が第２回転軸１２４に連結されている。 In the present embodiment, the housing 21 of the motor 2 is configured integrally with the first housing portion 111, and the drive shaft of the motor 2 is connected to the first rotating shaft 123. Further, the support 31 of the rotation target 3 is configured integrally with the second housing 112, and the rotation target 3 is connected to the second rotation shaft 124.
なお、本実施形態では、回動力抑制機構１３の弾性部材１３５としてゴム等の樹脂を使用したが、図３に示すようにコイルスプリングＳを使用することができる。この場合にも、弾性部材１３５（コイルスプリングＳ）は第１突起１３３１と第２突起１３４１との間に圧縮した状態でセットされる。 In the present embodiment, a resin such as rubber is used as the elastic member 135 of the rotational force suppressing mechanism 13, but a coil spring S can be used as shown in FIG. Also in this case, the elastic member 135 (coil spring S) is set in a compressed state between the first protrusion 1331 and the second protrusion 1341.
図４（Ａ），（Ｂ）により回転力発生装置１００の作用の一例を説明する。ここでは、モータ２の駆動軸が第１回転軸１２３に連結されていないときに、第１回転軸１２３と第２回転軸１２４とは水平位置にあるものとする。
図４（Ａ）は、モータ２の非駆動時における第１扁平円筒部１３１と第２扁平円筒部１３２との動作状態（弾性部材１３５の圧縮状態）を示しており、モータ２の駆動軸が第１回転軸１２３に連結されている場合には、モータ２の自重により第１扁平円筒部１３１と第２扁平円筒部１３２には相対回動力（トルクＴ１）が働き、角度α１だけ相対回動する。この角度α１により、第１ハウジング部１１１と第２ハウジング部１１２との相対基準位置が決まる。
An example of the operation of the rotational force generator 100 will be described with reference to FIGS. Here, it is assumed that when the drive shaft of the motor 2 is not connected to the first rotation shaft 123, the first rotation shaft 123 and the second rotation shaft 124 are in a horizontal position.
FIG. 4A shows the operating state (the compressed state of the elastic member 135) of the first flat cylindrical portion 131 and the second flat cylindrical portion 132 when the motor 2 is not driven, and the drive shaft of the motor 2 is When connected to the first rotating shaft 123, relative rotational force (torque T <b> 1) acts on the first flat cylindrical portion 131 and the second flat cylindrical portion 132 due to the weight of the motor 2, and the relative rotation is performed by an angle α <b> 1. To do. The relative reference position between the first housing part 111 and the second housing part 112 is determined by the angle α1.
図４（Ｂ）は、モータ２の駆動時における第１扁平円筒部１３１と第２扁平円筒部１３２との動作状態を示している。図４（Ｂ）では、第２回転軸１２４が、図面上で左回りに回転しているとき（図示はしないが、モータ２が第１回転軸１２３を右回りに回転させたとき）は、第１扁平円筒部１３１と第２扁平円筒部１３２とにはＴ１と逆向きに相対回動力（トルクＴ２）が働く。この結果、第１扁平円筒部１３１と第２扁平円筒部１３２とには、合計で相対回動力（Ｔ１−Ｔ２）が働き、相対回動する角度はα２となる。 FIG. 4B shows an operating state of the first flat cylindrical portion 131 and the second flat cylindrical portion 132 when the motor 2 is driven. In FIG. 4B, when the second rotating shaft 124 rotates counterclockwise on the drawing (not shown, but when the motor 2 rotates the first rotating shaft 123 clockwise), A relative rotational force (torque T2) acts on the first flat cylindrical portion 131 and the second flat cylindrical portion 132 in the direction opposite to T1. As a result, relative rotational power (T1-T2) acts on the first flat cylindrical portion 131 and the second flat cylindrical portion 132 in total, and the angle of relative rotation is α2.
これにより、弾性部材１３５は、図４（Ａ）に示したモータ２の非駆動時における圧縮状態とほぼ同じとなる。
すなわち、モータ２の駆動により、弾性部材１３５は、第１ハウジング部１１１と第２ハウジング部１１２とを、相対基準位置（相対回動角α１）に戻す方向の相対回動力Ｔ２を発生するので、弾性部材１３５の圧縮が飽和することはない。
Thereby, the elastic member 135 becomes substantially the same as the compressed state when the motor 2 is not driven shown in FIG.
That is, as the motor 2 is driven, the elastic member 135 generates a relative rotational force T2 in a direction to return the first housing part 111 and the second housing part 112 to the relative reference position (relative rotation angle α1). The compression of the elastic member 135 does not saturate.
本発明の第２態様にかかる実施形態を図５から図７により説明する。
図５は本実施形態の回転力発生装置を示す図である。回転力発生装置２００は、本発明にかかる回転力伝達装置４にモータ２と回転対象３（図５では一部のみを示す）が取り付けられて構成されている。
An embodiment according to the second aspect of the present invention will be described with reference to FIGS.
FIG. 5 is a diagram showing the rotational force generator of this embodiment. The rotational force generator 200 is configured by attaching a motor 2 and a rotation target 3 (only a part of which is shown in FIG. 5) to the rotational force transmission device 4 according to the present invention.
回転力伝達装置４は、第１ハウジング部４１１と、第２ハウジング部４１２と、第３ハウジング部４１３とを備えている。なお、図５においては軸受け構造の図示は省略する。
第１ハウジング部４１１は、第１回転数変換機構４２を内蔵している。第１回転数変換機構４２は、２つの平歯車４２１，４２２により構成され、平行な第１回転軸４２３（平歯車４２１の回転軸）と第２回転軸４２４（平歯車４２２の回転軸）とを持っている。第１ハウジング部４１１は、第１回転軸４２３を支持している。
The rotational force transmission device 4 includes a first housing part 411, a second housing part 412, and a third housing part 413. In addition, illustration of a bearing structure is abbreviate | omitted in FIG.
The first housing part 411 contains the first rotation speed conversion mechanism 42. The first rotation speed conversion mechanism 42 is constituted by two spur gears 421 and 422, and includes a parallel first rotation shaft 423 (a rotation shaft of the spur gear 421) and a second rotation shaft 424 (a rotation shaft of the spur gear 422). have. The first housing part 411 supports the first rotation shaft 423.
第２ハウジング部４１２は、第２回転数変換機構４４を内蔵している。第２回転数変換機構４４は、２つの平歯車４４１，４４２により構成され、平行な第２回転軸４２４と同一の回転軸（平歯車４４１の回転軸）と第３回転軸４４３（平歯車４４２の回転軸）とを持っている。 The second housing part 412 contains a second rotation speed conversion mechanism 44. The second rotation speed conversion mechanism 44 includes two spur gears 441 and 442, and the same rotation shaft (rotation shaft of the spur gear 441) and third rotation shaft 443 (spur gear 442) as the parallel second rotation shaft 424. Axis of rotation).
第３ハウジング部４１３は、第３回転軸４４３を回転軸心として第２ハウジング部４１２に対して相対回動するように構成され、第３回転軸４４３を支持している。
第１ハウジング部４１１と第２ハウジング部４１２とには、第１回動力抑制機構４３が設けられている。第１回動力抑制機構４３は、第１ハウジング部４１１と第２ハウジング部４１２との間に相対回動力Ｔ１が働いていないときに第１ハウジング部４１１と第２ハウジング部４１２とを相対基準位置に保持する。また、第１ハウジング部４１１と第２ハウジング部４１２とが相対回動したときに第１ハウジング部４１１と第２ハウジング部４１２とを相対基準位置に戻す方向の相対回動力Ｔ２を発生する。具体的には第１回動力抑制機構４３は、第１扁平円筒部４３１と第２扁平円筒部４３２と突起群４３３，４３４（図６参照）と弾性部材４３５（図６参照）とを有している。この弾性部材４３５は、図１（Ｂ）の弾性部材１３５と同一である。
The third housing portion 413 is configured to rotate relative to the second housing portion 412 with the third rotation shaft 443 as a rotation axis, and supports the third rotation shaft 443.
A first power suppression mechanism 43 is provided in the first housing part 411 and the second housing part 412. The first power suppression mechanism 43 moves the first housing portion 411 and the second housing portion 412 to a relative reference position when the relative rotational power T1 is not acting between the first housing portion 411 and the second housing portion 412. Hold on. Further, when the first housing part 411 and the second housing part 412 rotate relative to each other, a relative rotational force T2 in a direction to return the first housing part 411 and the second housing part 412 to the relative reference position is generated. Specifically, the first power suppression mechanism 43 includes a first flat cylindrical portion 431, a second flat cylindrical portion 432, protrusion groups 433 and 434 (see FIG. 6), and an elastic member 435 (see FIG. 6). ing. This elastic member 435 is the same as the elastic member 135 in FIG.
第１扁平円筒部４３１は、第１ハウジング部４１１に形成され、第２扁平円筒部４３２は第２ハウジング部４１２に形成さている。第１扁平円筒部４３１と第２扁平円筒部４３２の中心軸は、第２回転軸４２４の軸心と同一である。 The first flat cylindrical portion 431 is formed in the first housing portion 411, and the second flat cylindrical portion 432 is formed in the second housing portion 412. The central axes of the first flat cylindrical portion 431 and the second flat cylindrical portion 432 are the same as the axis of the second rotation shaft 424.
第１扁平円筒部４３１と第２扁平円筒部４３２とは、相互間に空隙を有するように径を異ならせて構成されている。本実施形態では、第１扁平円筒部４３１は、第２扁平円筒部４３２の内側に位置するように構成されている。 The first flat cylindrical portion 431 and the second flat cylindrical portion 432 are configured with different diameters so as to have a gap therebetween. In the present embodiment, the first flat cylindrical portion 431 is configured to be positioned inside the second flat cylindrical portion 432.
突起群４３３は、図６（図５におけるａ−ａ断面，ｂ−ｂ断面の説明図）に示すように、複数の第１突起４３３１および複数の第２突起４３３２とからなる。第１突起４３３１と第２突起４３３２とは同数である。第１突起４３３１は、第１扁平円筒部４３１の第２扁平円筒部４３２側に形成され、第２突起４３３２は、第２扁平円筒部４３２の第１扁平円筒部４３１側に形成されており、これら第１突起４３３１と第２突起４３３２とは交互に配置されている。 The protrusion group 433 includes a plurality of first protrusions 4331 and a plurality of second protrusions 4332 as shown in FIG. 6 (an explanatory diagram of the aa cross section and the bb cross section in FIG. 5). The first protrusion 4331 and the second protrusion 4332 are the same number. The first protrusion 4331 is formed on the second flat cylindrical portion 432 side of the first flat cylindrical portion 431, and the second protrusion 4332 is formed on the first flat cylindrical portion 431 side of the second flat cylindrical portion 432, The first protrusions 4331 and the second protrusions 4332 are alternately arranged.
弾性部材４３５は、図６に示すように、隣接する第１突起４３３１と第２突起４３３２との間にそれぞれ配置されている。本実施形態でも第１実施形態と同様、弾性部材４３５は、ゴム等の樹脂から構成されており、弾性部材４３５は第１突起４３３１と第２突起４３３２に端面を接着材等により接合することができ、通常、弾性部材４３は第１突起４３３１と第２突起４３４１との間に圧縮した状態でセットされる。 As shown in FIG. 6, the elastic member 435 is disposed between each of the adjacent first protrusion 4331 and the second protrusion 4332. In this embodiment as well, as in the first embodiment, the elastic member 435 is made of a resin such as rubber, and the elastic member 435 can join end faces of the first protrusion 4331 and the second protrusion 4332 with an adhesive or the like. In general, the elastic member 43 is set in a compressed state between the first protrusion 4331 and the second protrusion 4341.
第２ハウジング部４１２と第３ハウジング部４１３とには、第２回動力抑制機構４５が設けられている。第２回動力抑制機構４５は、第２ハウジング部４１２と第３ハウジング部４１３との間に相対回動力Ｔ３が働いていないときに第２ハウジング部４１２と第３ハウジング部４１３とを相対基準位置に保持する。また、第２ハウジング部４１２と第３ハウジング部４１３とが相対回動したときに第２ハウジング部４１２と第３ハウジング部４１３とを相対基準位置に戻す方向の相対回動力Ｔ４を発生する。具体的には第２回動力抑制機構４５は、第３扁平円筒部４５１と第４扁平円筒部４５２と突起群４５３，４５４（図６参照）と弾性部材４５５（図６参照）とを有している。この弾性部材４５５は、サイズが異なること以外は、弾性部材４３５と同一である。 A second power suppression mechanism 45 is provided in the second housing part 412 and the third housing part 413. The second power suppression mechanism 45 moves the second housing part 412 and the third housing part 413 to the relative reference position when the relative rotational power T3 is not acting between the second housing part 412 and the third housing part 413. Hold on. Further, when the second housing part 412 and the third housing part 413 are relatively rotated, a relative rotational force T4 is generated in a direction to return the second housing part 412 and the third housing part 413 to the relative reference position. Specifically, the second power suppression mechanism 45 includes a third flat cylindrical portion 451, a fourth flat cylindrical portion 452, protrusion groups 453 and 454 (see FIG. 6), and an elastic member 455 (see FIG. 6). ing. The elastic member 455 is the same as the elastic member 435 except that the size is different.
第３扁平円筒部４５１は、第２ハウジング部４１２に形成され、第４扁平円筒部４５２は第３ハウジング部４１３に形成さている。第３扁平円筒部４５１と第４扁平円筒部４５２の中心軸は、第３回転軸４４３の軸心と同一である。 The third flat cylindrical part 451 is formed in the second housing part 412, and the fourth flat cylindrical part 452 is formed in the third housing part 413. The central axes of the third flat cylindrical portion 451 and the fourth flat cylindrical portion 452 are the same as the axis of the third rotation shaft 443.
第３扁平円筒部４５１と第４扁平円筒部４５２とは、相互間に空隙を有するように径を異ならせて構成されている。本実施形態では、第３扁平円筒部４５１は、第４扁平円筒部４５２の内側に位置するように構成されている。 The third flat cylindrical portion 451 and the fourth flat cylindrical portion 452 are configured with different diameters so as to have a gap therebetween. In the present embodiment, the third flat cylindrical portion 451 is configured to be positioned inside the fourth flat cylindrical portion 452.
図６（図５におけるａ−ａ断面，ｂ−ｂ断面の説明図）に示すように、突起群４５３は、複数の第３突起４５３１とからなり、突起群４５４は複数の第４突起４５４１とからなる。第３突起４５３１と第４突起４５４１とは同数である。第３突起４５３１は、第３扁平円筒部４５１の第４扁平円筒部４５２側に形成され、第４突起４５４１は、第４扁平円筒部４５２の第３扁平円筒部４５１側に形成されており、これら第３突起４５３１と第４突起４５４１とは交互に配置されている。 As shown in FIG. 6 (an explanatory diagram of the aa cross section and the bb cross section in FIG. 5), the projection group 453 includes a plurality of third projections 4531, and the projection group 454 includes a plurality of fourth projections 4541. Consists of. The number of the third protrusions 4531 and the number of the fourth protrusions 4541 is the same. The third protrusion 4531 is formed on the fourth flat cylindrical portion 452 side of the third flat cylindrical portion 451, and the fourth protrusion 4541 is formed on the third flat cylindrical portion 451 side of the fourth flat cylindrical portion 452, The third protrusions 4531 and the fourth protrusions 4541 are alternately arranged.
弾性部材４５５は、図６に示すように、隣接する第３突起４５３１と第４突起４５４１との間にそれぞれ配置されている。弾性部材４５５は、弾性部材４３５と同様、ゴム等の樹脂から構成されており、弾性部材４５５は第３突起４５３１と第４突起４５４１に端面を接着材等により接合することができ、通常、弾性部材４５５は第３突起４５３１と第４突起４５４１との間に圧縮した状態でセットされる。
なお、第１回動力抑制機構４３と、第２回動力抑制機構４５は、図３に示した回動力抑制機構を用いることもできる。
As shown in FIG. 6, the elastic members 455 are respectively disposed between the adjacent third protrusions 4531 and fourth protrusions 4541. Similar to the elastic member 435, the elastic member 455 is made of a resin such as rubber, and the elastic member 455 can have end surfaces bonded to the third protrusion 4531 and the fourth protrusion 4541 by an adhesive or the like, and is usually elastic. The member 455 is set in a compressed state between the third protrusion 4531 and the fourth protrusion 4541.
In addition, the 1st power suppression mechanism 43 and the 2nd power suppression mechanism 45 can also use the power suppression mechanism shown in FIG.
図７（Ａ），（Ｂ）により回転力発生装置２００の作用の一例を説明する。ここでは、モータ２の駆動軸が第１回転軸４２３に連結されていないときに、第１回転軸４２３と第２回転軸４２４とは水平位置にあるものとする。
図７（Ａ）は、モータ２の非駆動時における第１扁平円筒部４３１と第２扁平円筒部４３２との動作状態（弾性部材４３５の圧縮状態）、および第３扁平円筒部４５１と第４扁平円筒部４５２との動作状態（弾性部材４５５の圧縮状態）を示しており、モータ２の駆動軸が第１回転軸４２３に連結されている場合には、モータ２の自重により第１扁平円筒部４３１と第２扁平円筒部４３２には相対回動力（トルクＴ１）が働き、角度α１だけ相対回動し、第３扁平円筒部４５１と第２扁平円筒部４５２には相対回動力（トルクＴ３）が働き、角度α３だけ相対回動する。この角度α１，α３により、第１ハウジング部４１１と第２ハウジング部４１２との相対基準位置が決まる。
An example of the operation of the rotational force generator 200 will be described with reference to FIGS. Here, when the drive shaft of the motor 2 is not connected to the first rotation shaft 423, the first rotation shaft 423 and the second rotation shaft 424 are in a horizontal position.
FIG. 7A shows the operating state of the first flat cylindrical portion 431 and the second flat cylindrical portion 432 (the compressed state of the elastic member 435) and the third flat cylindrical portion 451 and the fourth flat state when the motor 2 is not driven. The operation state (the compression state of the elastic member 455) with the flat cylindrical portion 452 is shown, and when the drive shaft of the motor 2 is coupled to the first rotating shaft 423, the first flat cylindrical portion is caused by the own weight of the motor 2. Relative power (torque T1) acts on the portion 431 and the second flat cylindrical portion 432 and rotates relative to the angle α1, and relative rotational power (torque T3) is applied to the third flat cylindrical portion 451 and the second flat cylindrical portion 452. ) Works and rotates relative to the angle α3. The relative reference positions of the first housing part 411 and the second housing part 412 are determined by the angles α1 and α3.
図７（Ｂ）は、モータ２の駆動時における第１扁平円筒部４３１と第２扁平円筒部４３２との動作状態および第３扁平円筒部４５１と第４扁平円筒部４５２との動作状態を示している。図７（Ｂ）では、第２回転軸４２４が図面上で右回りに回転し、第３回転軸４４３が図面上で左回りに回転しているとき（図示はしないが、モータ２が第１回転軸４２３を左回りに回転させたとき）は、第１扁平円筒部４３１と第２扁平円筒部４３２とにはＴ１と同じ向きに相対回動力（トルクＴ２）が働き、第３扁平円筒部４５１と第４扁平円筒部４５２とにはＴ３と逆回りに（図面上左回り）に相対回動力（トルクＴ４）が働く。この結果、第１扁平円筒部４３１と第２扁平円筒部４３２とには、合計で相対回動力（トルクＴ１＋Ｔ２）が働き相対回動角はα２となり、第３扁平円筒部４５１と第４扁平円筒部４５２とには合計で相対回動力（トルクＴ３＋Ｔ４）が働き相対回動角はα４となる。 FIG. 7B shows an operating state of the first flat cylindrical portion 431 and the second flat cylindrical portion 432 and an operating state of the third flat cylindrical portion 451 and the fourth flat cylindrical portion 452 when the motor 2 is driven. ing. In FIG. 7B, when the second rotating shaft 424 rotates clockwise in the drawing and the third rotating shaft 443 rotates counterclockwise in the drawing (not shown, the motor 2 is in the first position). When the rotation shaft 423 is rotated counterclockwise), relative rotational force (torque T2) acts in the same direction as T1 on the first flat cylindrical portion 431 and the second flat cylindrical portion 432, and the third flat cylindrical portion A relative rotational force (torque T4) acts on 451 and the fourth flat cylindrical portion 452 in the direction opposite to T3 (counterclockwise in the drawing). As a result, the total rotational force (torque T1 + T2) acts on the first flat cylindrical portion 431 and the second flat cylindrical portion 432, and the relative rotation angle becomes α2, so that the third flat cylindrical portion 451 and the fourth flat cylindrical portion. The total rotational force (torque T3 + T4) acts on the part 452, and the relative rotation angle is α4.
図７（Ｂ）では、弾性部材４３５，４５５は、図７（Ａ）に示したモータ２の非駆動時における圧縮状態とほぼ同じとなっている。
すなわち、モータ２の駆動により、弾性部材４３５には第１ハウジング部４１１と第２ハウジング部４１２とを、相対基準位置（相対回動角α１）に戻す方向の相対回動力Ｔ２が発生するので弾性部材４３５の圧縮が飽和することはないし、弾性部材４５５には第２ハウジング部４１２と第３ハウジング部４１３とを、相対基準位置（相対回動角α３）に戻す方向の相対回動力Ｔ４が発生するので弾性部材４５５の圧縮が飽和することはない。
In FIG. 7B, the elastic members 435 and 455 are substantially the same as the compressed state when the motor 2 is not driven shown in FIG.
That is, since the motor 2 is driven, the elastic member 435 generates a relative rotational force T2 in a direction to return the first housing portion 411 and the second housing portion 412 to the relative reference position (relative rotation angle α1). The compression of the member 435 does not saturate, and the elastic member 455 generates a relative rotational force T4 in a direction to return the second housing part 412 and the third housing part 413 to the relative reference position (relative rotation angle α3). Therefore, the compression of the elastic member 455 is not saturated.
ここで、弾性体４３５と４５５のそれぞれのバネ定数は、回転力伝達装置の総減速比と第1、第2、第3の各回転軸の軸間距離と、第1ハウジングおよび第2ハウジングの回転の変位量も考慮して設定することが好ましい。
具体的には、、モータトルクは第1、第2回転変換機構により増大されて第3回転機構に伝達されるので、弾性体４５５のバネ定数は、第1ハウジングおよび第2ハウジングの回転の変位量を考慮して、弾性体４３５のバネ定数に第1、第2回転変換機構の総減速比に応じて概略比例して高く設定することが好ましい。
Here, the respective spring constants of the elastic bodies 435 and 455 are the total reduction ratio of the rotational force transmitting device, the inter-axis distances of the first, second, and third rotating shafts, and the first housing and the second housing. It is preferable to set in consideration of the amount of rotation displacement.
Specifically, since the motor torque is increased by the first and second rotation conversion mechanisms and transmitted to the third rotation mechanism, the spring constant of the elastic body 455 is the rotational displacement of the first housing and the second housing. In consideration of the amount, it is preferable to set the spring constant of the elastic body 435 to be approximately proportional to the total reduction ratio of the first and second rotation conversion mechanisms.
図８（Ａ）は、上記した回転力発生装置３００（図１では符号「１００」で示し図５では「２００」で示す）を搭載した車両（電気自動車６（図８（Ａ）では４輪車））の動作を示す説明図である。 FIG. 8A shows a vehicle (electric vehicle 6 (four wheels in FIG. 8A)) on which the above-described rotational force generator 300 (shown by “100” in FIG. 1 and “200” in FIG. 5) is mounted. It is explanatory drawing which shows operation | movement of a car)).
図８（Ａ）の電気自動車６（バネ上を符号６３で示す）では、後輪６２に回転力発生装置３００が搭載されている。回転力発生装置３００の（回転力発生装置１００で第２ハウジング１１２、回転力発生装置２００では第３ハウジング４１３）は、図示しないホイール支持部に一体に構成されており、回転力発生装置３００の出力軸（回転力発生装置１００では第２回転軸１２４、回転力発生装置２００の場合には第２回転軸４４３）は後輪６２のホイールに直結されている。 In the electric vehicle 6 shown in FIG. 8A (the spring top is indicated by reference numeral 63), the rotational force generator 300 is mounted on the rear wheel 62. The rotational force generating device 300 (the second housing 112 in the rotational force generating device 100 and the third housing 413 in the rotational force generating device 200) is configured integrally with a wheel support (not shown). The output shaft (the second rotating shaft 124 in the rotational force generating device 100 and the second rotating shaft 443 in the rotational force generating device 200) is directly connected to the wheel of the rear wheel 62.
車重は、前輪６１および後輪６２にバネ６４，６５を介して分担されており、図８（Ｂ）の等価モデル図に示すように、回転力発生装置３００は荷重部分６６と弦巻バネ部分６７とダンパ部分６８に置き換えることができる。
通常、４輪車の固有振動数はせいぜい数Ｈｚであり、電気自動車６のバネ上固有振動数は２Ｈｚ程度である。回転力発生装置３００を含むバネ下の固有振動数は電気自動車６のバネ上固有振動数と干渉しない大きさ（たとえば、数倍から十数倍１０〜２０Ｈｚ）としてある。これにより、電気自動車６の垂直方向の加速度変化に対応するようにできる。
The vehicle weight is shared by the front wheel 61 and the rear wheel 62 via springs 64 and 65. As shown in the equivalent model diagram of FIG. 8B, the rotational force generator 300 includes a load portion 66 and a string spring portion. 67 and damper part 68 can be substituted.
Usually, the natural frequency of a four-wheel vehicle is at most several Hz, and the sprung natural frequency of the electric vehicle 6 is about 2 Hz. The unsprung natural frequency including the rotational force generator 300 is set to a magnitude that does not interfere with the sprung natural frequency of the electric vehicle 6 (for example, several to ten and several tens of times 10 to 20 Hz). Thereby, it can respond to the acceleration change of the vertical direction of the electric vehicle 6. FIG.
また、図９（Ａ）に示すように、電気自動車６に垂直方向の加速度を検出する加速度センサ（加速度センサ）Ｋ、および／またはヨーレートセンサを設けることができる。以下、加速度センサのみを設けた例を説明する。 Further, as shown in FIG. 9A, the electric vehicle 6 can be provided with an acceleration sensor (acceleration sensor) K and / or a yaw rate sensor that detect acceleration in the vertical direction. Hereinafter, an example in which only an acceleration sensor is provided will be described.
図９（Ａ）では加速度センサＫとして、Ｋ１，Ｋ２，・・・，Ｋ５を例示してあるが、少なくとも１つの加速度センサにより垂直方向の加速度検出を行うようにすることができる。
たとえば、図９（Ｂ）に示すように、加速度センサＫ（Ｋ１，Ｋ２，・・・，Ｋ５の少なくとも１つ）が、電気自動車６が凹凸を走行する場合において、凸部ｑ１に前輪６１がかかったこと検出したとき（時刻ｔ１）は、モータ６６が下向きに駆動されるようにトルクをδＴだけ増減させる。これにより、モータ６６は下方に力を受けるので、凸部ｑ１での衝撃が緩衝される。また、電気自動車６が凹凸を走行する場合において、凹部ｑ２に前輪６１がかかったこと検出したとき（時刻ｔ２）は、モータ６６が上向きに駆動されるようにトルクをδＴだけ増減させる。これにより、モータ６６は上方に力を受けるので、凹部ｑ２での衝撃が緩和される。このトルクδＴの変化は、走行速度に影響しない大きさとすることが好ましい。
In FIG. 9A, K1, K2,..., K5 are illustrated as the acceleration sensor K, but vertical acceleration detection can be performed by at least one acceleration sensor.
For example, as shown in FIG. 9B, when the acceleration sensor K (at least one of K1, K2,..., K5) is traveling on the uneven surface of the electric vehicle 6, the front wheel 61 is located on the convex portion q1. When it is detected (time t1), the torque is increased or decreased by δT so that the motor 66 is driven downward. As a result, the motor 66 receives a downward force, so that the impact at the convex portion q1 is buffered. Further, when the electric vehicle 6 travels on an uneven surface, when it is detected that the front wheel 61 is applied to the recess q2 (time t2), the torque is increased or decreased by δT so that the motor 66 is driven upward. Thereby, since the motor 66 receives force upwards, the impact in the recessed part q2 is relieved. The change in the torque δT is preferably set to a magnitude that does not affect the traveling speed.
トルクをδＴだけ増加させるか減少させるかは、回転力発生装置３００が図１の回転力発生装置１００であるか図５の回転力発生装置２００であるかにより異なるし、図８（Ａ）による態様で車輪に取り付けられているのか、図１０による態様で車輪に取り付けられているのかにより異なる。図９（Ａ），（Ｂ）の例では、凸部ｑ１や凹部ｑ２の検出とほぼ同時にトルクを変化させているが、この変化を所定時間（所定距離）遅らせることもできる。また、δＴの大きさは、駆動速度により変動させることができる。 Whether the torque is increased or decreased by δT depends on whether the rotational force generator 300 is the rotational force generator 100 of FIG. 1 or the rotational force generator 200 of FIG. 5, and depends on FIG. It is different depending on whether it is attached to the wheel in the aspect or attached to the wheel in the aspect according to FIG. In the examples of FIGS. 9A and 9B, the torque is changed almost simultaneously with the detection of the convex part q1 and the concave part q2, but this change can be delayed for a predetermined time (predetermined distance). Further, the magnitude of δT can be varied depending on the driving speed.
なお、図９（Ａ）や図１０では、前輪６１にもモータ６６を取り付けることができ、この場合にも、モータ６６に加速度センサＫを設けることもでき、適宜、トルクを変動させることにより凸部ｑ１や凹部ｑ２の衝撃を緩和することができる。 9A and 10, the motor 66 can also be attached to the front wheel 61, and in this case, the motor 66 can also be provided with an acceleration sensor K. The impact of the part q1 and the recessed part q2 can be relieved.
図１１に、図９（Ａ）に示した回転力発生装置３００の制御回路を示す。図１１では制御回路７は、バランストルク演算手段７１と、モータ制御手段７２と、現在トルク演算手段７３とを備えている。 FIG. 11 shows a control circuit of the rotational force generator 300 shown in FIG. In FIG. 11, the control circuit 7 includes balance torque calculation means 71, motor control means 72, and current torque calculation means 73.
図１１では、バランストルク演算手段７１は、モータ６６に備えられた回転速度検出器ＨＳからの回転速度情報と、加速度センサＫからの情報と、現在トルク演算手段７３からの情報とを取得してトルクδＴを演算し、演算結果をモータ制御手段７２に出力する。モータ制御手段７２は、バランストルク演算手段７１からのトルクδＴの情報、回転速度検出器ＨＳからの回転速度情報、その他図示しないモータ駆動電流、モータ駆動電圧等から最適な駆動トルクを演算しモータ６６を制御する。 In FIG. 11, the balance torque calculation means 71 acquires the rotation speed information from the rotation speed detector HS provided in the motor 66, the information from the acceleration sensor K, and the information from the current torque calculation means 73. Torque δT is calculated and the calculation result is output to the motor control means 72. The motor control means 72 calculates the optimum drive torque from the information of the torque δT from the balance torque calculation means 71, the rotation speed information from the rotation speed detector HS, other motor drive current (not shown), motor drive voltage, etc. To control.
図１の回転力発生装置１００では、回転力伝達装置１の回転数変換機構１２を２つの平歯車１２１，１２２により構成し、回転力伝達装置１の回転数変換機構１２を２つの平歯車１２１，１２２により構成した。この場合には、第３回転軸４４３が第２回転軸４２４に対して第1回転軸４２３と反対側に配置されていてもよい。 In the rotational force generator 100 of FIG. 1, the rotational speed conversion mechanism 12 of the rotational force transmission apparatus 1 is configured by two spur gears 121 and 122, and the rotational speed conversion mechanism 12 of the rotational force transmission apparatus 1 is configured by two spur gears 121. , 122. In this case, the third rotation shaft 443 may be disposed on the opposite side of the first rotation shaft 423 with respect to the second rotation shaft 424.
また、図５の回転力発生装置２００でも、平歯車に代えてローラを用いることもできるし、Ｖベルトとプーリーにより構成することもできる。この場合には、第３回転軸５２３が第２回転軸５２２に対して第1回転軸５２１と同じ側に配置されていてもよい。 5 can also use a roller instead of a spur gear, and can also be comprised with a V belt and a pulley. In this case, the third rotating shaft 523 may be disposed on the same side as the first rotating shaft 521 with respect to the second rotating shaft 522.
これにより、モータ２が回転したときに、第１ハウジング５３１と第２ハウジング５３２の相対回動角が増加する向きと、第２ハウジング５３２と第３ハウジング５３３が相対回動角が増加する向きとは逆向きとなるので、各弾性部材５４の圧縮が飽和することはない。 Thereby, when the motor 2 rotates, the direction in which the relative rotation angle between the first housing 531 and the second housing 532 increases, and the direction in which the relative rotation angle between the second housing 532 and the third housing 533 increases. Since the directions are opposite, the compression of each elastic member 54 does not saturate.
１ 回転力伝達装置
２ モータ
３ 回転対象
４ 回転力伝達装置
１２ 回転数変換機構
１３ 回動力抑制機構
４２ 第１回転数変換機構
４３ 第１回動力抑制機構
４４ 第２回転数変換機構
４５ 第２回動力抑制機構
１００ 回転力発生装置
１１１，４１１ 第１ハウジング部
１１２，４１２ 第２ハウジング部
１２１，１２２， ４２１，４２２，４４１，４４２ 平歯車
１２３，４２３ 第１回転軸
１２４，４２４ 第２回転軸
１３１，４３１ 第１扁平円筒部
１３２，４３２ 第２扁平円筒部
１３３，１３４，４５３，４５４ 突起群
１３５ 弾性部材
２００ 回転力発生装置
４１３ 第３ハウジング部
４３３，４３４ 突起群
４３５，４５５ 弾性部材
４４３ 第３回転軸
４５１ 第３扁平円筒部
４５２ 第４扁平円筒部
１３３１，４３３１ 第１突起
１３４１，４３３２ 第２突起
４５３１ 第３突起
４５４１ 第４突起
DESCRIPTION OF SYMBOLS 1 Rotational force transmission apparatus 2 Motor 3 Rotation object 4 Rotational force transmission apparatus 12 Rotation speed conversion mechanism 13 Rotation power suppression mechanism 42 1st rotation speed conversion mechanism 43 1st rotation motive power suppression mechanism 44 2nd rotation speed conversion mechanism 45 2nd time Power suppression mechanism 100 Rotational force generator 111,411 First housing part 112,412 Second housing part 121,122, 421,422,441,442 Spur gear 123,423 First rotating shaft 124,424 Second rotating shaft 131 , 431 First flat cylindrical portion 132, 432 Second flat cylindrical portion 133, 134, 453, 454 Protrusion group 135 Elastic member 200 Rotational force generator 413 Third housing portion 433, 434 Protrusion group 435, 455 Elastic member 443 Third Rotation shaft 451 Third flat cylindrical portion 452 Fourth flat cylindrical portion 1331, 4331 First protrusion 1 41,4332 second protrusion 4531 third protrusion 4541 fourth protrusion
Claims (13)
前記回転伝達機構を内蔵するとともに前記第１回転軸を支持する第１ハウジング部と、
前記第１回転軸または前記第２回転軸を回転軸心として前記第１ハウジング部に対して相対回動するとともに前記第２回転軸を支持する第２ハウジング部と
とを備え、
前記第１ハウジング部と前記第２ハウジング部とには、
前記第１ハウジング部と前記第２ハウジング部との間に相対回動力が働いていないときに前記第１ハウジング部と前記第２ハウジング部とを相対基準位置に保持し、
前記第１ハウジング部と前記第２ハウジング部とが相対回動したときに前記第１ハウジング部と前記第２ハウジング部とを前記相対基準位置に対する位置を制御する回動力抑制機構が設けられている、
ことを特徴とする回転力伝達装置。 A rotation transmission mechanism having a parallel first rotation axis and a second rotation axis;
A first housing part containing the rotation transmission mechanism and supporting the first rotation shaft;
A second housing portion that rotates relative to the first housing portion with the first rotating shaft or the second rotating shaft as a rotation axis, and supports the second rotating shaft;
In the first housing part and the second housing part,
Holding the first housing part and the second housing part at a relative reference position when no relative rotational force is acting between the first housing part and the second housing part;
A turning force suppression mechanism is provided for controlling the position of the first housing part and the second housing part relative to the relative reference position when the first housing part and the second housing part are rotated relative to each other. ,
A rotational force transmission device characterized by that.
前記第１ハウジング部に形成され、前記第１ハウジング部と前記第２ハウジング部との相対回動中心を中心に形成された第１扁平円筒部と、
前記第２ハウジング部に形成され、前記相対回動中心を中心に形成された前記第１扁平円筒部との間に空隙を有するように配置された第２扁平円筒部と、
前記第１扁平円筒部の前記第２扁平円筒部側に形成された複数の第１突起、および前記第２扁平円筒部の前記第１扁平円筒部側に形成された複数の第２突起とからなり、前記第１突起と前記第２突起とが交互に配置された突起群と、
隣接する前記第１突起と前記第２突起との間にそれぞれ配置された弾性部材と、
により構成されたことを特徴とする請求項１に記載の回転力伝達装置。 The rotation suppression mechanism is
A first flat cylindrical portion formed in the first housing portion and formed around a center of relative rotation between the first housing portion and the second housing portion;
A second flat cylindrical portion formed in the second housing portion and disposed so as to have a gap between the first flat cylindrical portion formed around the relative rotation center;
A plurality of first protrusions formed on the second flat cylindrical portion side of the first flat cylindrical portion, and a plurality of second protrusions formed on the first flat cylindrical portion side of the second flat cylindrical portion. A projection group in which the first projections and the second projections are alternately arranged;
Elastic members respectively disposed between the adjacent first protrusions and the second protrusions;
The rotational force transmission device according to claim 1, comprising:
モータのハウジングが前記第１ハウジング部と一体に構成され、かつ前記モータの駆動軸が前記第１回転軸に連結され、
回転対象の支持体が前記第２ハウジング部と一体に構成され、かつ前記回転対象が前記第２回転軸に連結されていることを特徴とする回転力発生装置。 A rotational force generator comprising the rotational force transmission device according to any one of claims 1 to 3,
A motor housing is integrally formed with the first housing portion, and a drive shaft of the motor is coupled to the first rotating shaft;
A rotational force generating apparatus, wherein a support body to be rotated is configured integrally with the second housing portion, and the rotation object is connected to the second rotation shaft.
前記回転力伝達装置が２つの平歯車からなる歯車機構、または２つのプーリーにベルトが張設されてなるプーリー機構により構成されたことを特徴とする車両。 A turning force generating device according to claim 4 is mounted, and the rotation target is a vehicle that is a wheel of the vehicle,
A vehicle characterized in that the rotational force transmission device comprises a gear mechanism comprising two spur gears or a pulley mechanism in which a belt is stretched between two pulleys.
前記加速度センサーの検出信号に応じて、トルクを変動させる構制御装置と、
を備えたことを特徴とする請求項５に記載の車両。 An acceleration sensor that detects vertical acceleration and / or rotational acceleration, provided at least one at a predetermined location of the vehicle;
A composition control device that varies torque according to a detection signal of the acceleration sensor;
The vehicle according to claim 5, further comprising:
平行な前記第２回転軸と第３回転軸とを持つ第２回転伝達機構と、
前記第１回転伝達機構を内蔵するとともに前記第１回転軸を支持する第１ハウジング部と、
前記第２回転伝達機構を内蔵するとともに前記第１回転軸または前記第２回転軸を軸心として前記第１ハウジング部に対して相対回動しかつ前記第２回転軸を支持する第２ハウジング部と、
前記第２回転軸または前記第３回転軸を軸心として前記第２ハウジング部に対して相対回動しかつ前記第３回転軸を支持する第３ハウジング部と、
を備え、
前記第１ハウジング部と前記第２ハウジング部とには、
前記第１ハウジング部と前記第２ハウジング部との間に相対回動力が働いていないときに前記第１ハウジング部と前記第２ハウジング部とを相対基準位置に保持し、
前記第１ハウジング部と前記第２ハウジング部とが相対回動したときに前記第１ハウジング部と前記第２ハウジング部とを前記相対基準位置に対する位置を制御する第１回動力抑制機構が設けられ、
前記第２ハウジング部と前記第３ハウジング部とには、
前記第２ハウジング部と前記第３ハウジング部との間に相対回動力が働いていないときに前記第２ハウジング部と前記第３ハウジング部とを相対基準位置に保持し、
前記第２ハウジング部と前記第３ハウジング部とが相対回動したときに前記第２ハウジング部と前記第３ハウジング部とを前記相対基準位置に対する位置を制御する第２回動力抑制機構が設けられ、
ている、
ことを特徴とする回転力伝達装置。 A first rotation transmission mechanism having a parallel first rotation axis and a second rotation axis;
A second rotation transmission mechanism having the second rotation axis and the third rotation axis in parallel;
A first housing part containing the first rotation transmission mechanism and supporting the first rotation shaft;
A second housing part that incorporates the second rotation transmission mechanism and that rotates relative to the first housing part about the first rotating shaft or the second rotating shaft and supports the second rotating shaft. When,
A third housing part that rotates relative to the second housing part about the second rotating shaft or the third rotating shaft and supports the third rotating shaft;
With
In the first housing part and the second housing part,
Holding the first housing part and the second housing part at a relative reference position when no relative rotational force is acting between the first housing part and the second housing part;
A first power suppression mechanism is provided for controlling the position of the first housing part and the second housing part with respect to the relative reference position when the first housing part and the second housing part are relatively rotated. ,
In the second housing part and the third housing part,
Holding the second housing part and the third housing part at a relative reference position when no relative rotational force is acting between the second housing part and the third housing part;
A second power suppression mechanism is provided for controlling the position of the second housing part and the third housing part relative to the relative reference position when the second housing part and the third housing part are rotated relative to each other. ,
ing,
A rotational force transmission device characterized by that.
前記第１ハウジング部に形成され、前記第１ハウジング部と前記第２ハウジング部との相対回動中心を軸心とする第１扁平円筒部と、
前記第２ハウジング部に形成され、前記相対回動中心を軸心とする前記第１扁平円筒部との間に空隙を有するように配置された第２扁平円筒部と、
前記第１扁平円筒部の前記第２扁平円筒部側に形成された複数の第１突起、および前記第２扁平円筒部の前記第１扁平円筒部側に形成された複数の第２突起とからなり、前記第１突起と前記第２突起とが交互に配置された突起群と、
隣接する前記第１突起と前記第２突起との間にそれぞれ配置された弾性部材と、
により構成され、
前記第２回動力抑制機構は、
前記第２ハウジング部に形成され、前記第２ハウジング部と前記第３ハウジング部との相対回動中心を軸心とする第３扁平円筒部と、
前記第３ハウジング部に形成され、前記相対回動中心を軸心とする前記第３扁平円筒部との間に空隙を有するように配置された第４扁平円筒部と、
前記第３扁平円筒部の前記第４扁平円筒部側に形成された複数の第３突起、および前記第４扁平円筒部の前記第３扁平円筒部側に形成された複数の第４突起とからなり、前記第３突起と前記第４突起とが交互に配置された突起群と、
隣接する前記第３突起と前記第４突起との間にそれぞれ配置された弾性部材と、
により構成されたことを特徴とする請求項７または８に記載の回転力伝達装置。 The first power suppression mechanism is
A first flat cylindrical portion formed in the first housing portion and having a relative rotation center between the first housing portion and the second housing portion as an axis;
A second flat cylindrical portion formed on the second housing portion and disposed so as to have a gap between the first flat cylindrical portion having the relative rotation center as an axis;
A plurality of first protrusions formed on the second flat cylindrical portion side of the first flat cylindrical portion, and a plurality of second protrusions formed on the first flat cylindrical portion side of the second flat cylindrical portion. A projection group in which the first projections and the second projections are alternately arranged;
Elastic members respectively disposed between the adjacent first protrusions and the second protrusions;
Composed of
The second power suppression mechanism is
A third flat cylindrical portion formed in the second housing portion and having a relative rotation center between the second housing portion and the third housing portion as an axis;
A fourth flat cylindrical portion formed in the third housing portion and disposed so as to have a gap between the third flat cylindrical portion having the relative rotation center as an axis;
A plurality of third protrusions formed on the fourth flat cylindrical portion side of the third flat cylindrical portion, and a plurality of fourth protrusions formed on the third flat cylindrical portion side of the fourth flat cylindrical portion. A projection group in which the third projections and the fourth projections are alternately arranged;
Elastic members respectively disposed between the adjacent third protrusion and the fourth protrusion;
The rotational force transmission device according to claim 7 or 8, wherein
モータのハウジングが前記第１ハウジング部と一体に構成され、かつ前記モータの駆動軸が前記第１回転軸に連結され、
回転対象の支持体が前記第３ハウジング部と一体に構成され、かつ前記回転対象が前記第３回転軸に連結されていることを特徴とする回転力発生装置。 A rotational force generation device comprising the rotational force transmission device according to any one of claims 7 to 9,
A motor housing is integrally formed with the first housing portion, and a drive shaft of the motor is coupled to the first rotating shaft;
A rotational force generating apparatus, wherein a support body to be rotated is configured integrally with the third housing portion, and the rotation object is connected to the third rotation shaft.
前記第１回転力伝達装置および前記第２回転力伝達装置が２つの平歯車からなる歯車機構により構成され、前記第３回転軸が前記第2回転軸に対して前記第1回転軸と反対側に配置されていることを特徴とする車両。 A turning force generating device according to claim 10 is mounted, and the rotation target is a vehicle that is a wheel of the vehicle,
The first rotational force transmission device and the second rotational force transmission device are configured by a gear mechanism including two spur gears, and the third rotational shaft is opposite to the first rotational shaft with respect to the second rotational shaft. Vehicle characterized by being arranged in.
前記第１回転力伝達装置および前記第２回転力伝達装置が２つのプーリにベルトが張設されてなるプーリー機構により構成され、前記第1回転軸が前記第2回転軸に対して前記第1回転軸側に配置されていることを特徴とする車両。 A turning force generating device according to claim 10 is mounted, and the rotation target is a vehicle that is a wheel of the vehicle,
The first rotational force transmission device and the second rotational force transmission device are configured by a pulley mechanism in which a belt is stretched between two pulleys, and the first rotational shaft is the first rotational shaft with respect to the second rotational shaft. A vehicle characterized by being arranged on a rotating shaft side.
前記加速度センサーの検出信号に応じて、前記モータのトルクを変動させる制御装置とを備えたことを特徴とする請求項１１または１２に記載の車両。
An acceleration sensor that detects vertical acceleration and / or rotational acceleration, provided at least one at a predetermined location of the vehicle;
The vehicle according to claim 11, further comprising a control device that varies the torque of the motor in accordance with a detection signal of the acceleration sensor.
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| JPWO2013008694A1 (en) * | 2011-07-08 | 2015-02-23 | 日本電産株式会社 | Wheel unit |
| CN104989781A (en) * | 2015-06-08 | 2015-10-21 | 朱德仲 | Fixing device for rotating shaft of printing ink decolorization testing machine |
| CN109720193A (en) * | 2017-10-31 | 2019-05-07 | 丰田自动车株式会社 | Wheel for vehicle built-in motor driving device |
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| CN104989781A (en) * | 2015-06-08 | 2015-10-21 | 朱德仲 | Fixing device for rotating shaft of printing ink decolorization testing machine |
| CN109720193A (en) * | 2017-10-31 | 2019-05-07 | 丰田自动车株式会社 | Wheel for vehicle built-in motor driving device |
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