JP2023111777A - Drive unit for personally-driven vehicle - Google Patents

Abstract

To provide a drive unit for a personally-driven vehicle, which can increase the degree of freedom in design.SOLUTION: A drive unit for a personally-driven vehicle comprises a housing, a motor, and a speed reducer. The motor includes a motor output shaft. The speed reducer includes a first variable speed part and a second variable speed part. The first variable speed part includes a first input rotor into which a drive force is input from the motor, a first output rotor, a first endless annular member, and an intermediate shaft. The second variable speed part includes a second input rotor into which a drive force is input via the first output rotor, a second output rotor, and a second endless annular member. One of the first input rotor and the first output rotor and one of the second input rotor and the second output rotor are provided in a mutually and relatively rotatable manner for the motor output shaft or the intermediate shaft.SELECTED DRAWING: Figure 6

Description

The present disclosure relates to drive units for human powered vehicles.

For example, US Pat. No. 6,200,000 discloses a drive unit for a human powered vehicle that includes a transmission that is connected to a motor. A transmission portion of a drive unit for a manpower-driven vehicle in Patent Document 1 includes a speed reducer composed of a plurality of sprockets and a plurality of chains.

WO2011/013109

One of the objects of the present disclosure is to provide a drive unit for a human powered vehicle that can improve the degree of design freedom.

A drive unit according to a first aspect of the present disclosure is a drive unit for a manpowered vehicle, comprising: a housing; a motor provided in the housing and configured to impart propulsion to the manpowered vehicle; a speed reducer to which a driving force is input from the motor; and an output unit provided in the housing and configured to be rotatable and to which the driving force is input via the speed reducer; The motor includes a motor output shaft, the speed reducer includes a first transmission section and a second transmission section, and the first transmission section is a first input rotor to which the driving force is input from the motor. a first output rotor having a diameter different from that of the first input rotor; a first endless annular member wound around the first input rotor and the first output rotor; the motor output shaft; an intermediate shaft arranged offset from the output section and arranged substantially parallel to the motor output shaft, wherein the second transmission section receives the driving force through the first output rotor; A second input rotor to which is input is different in diameter from the second input rotor, a second output rotor arranged coaxially with the output part, the second input rotor and the second output a second endless annular member wound around a rotating body, wherein one of the first input rotating body and the first output rotating body and one of the second input rotating body and the second output rotating body , are provided on the motor output shaft or the intermediate shaft so as to be rotatable relative to each other.
According to the drive unit of the first aspect, the motor output shaft or the intermediate shaft is provided with one of the first input rotor and the first output rotor and one of the second input rotor and the second output rotor. This improves the degree of freedom in design.

In the drive unit of the second aspect according to the first aspect of the present disclosure, said one of said first input rotor and said first output rotor and said one of said second input rotor and said second output rotor are: at least one of said one of said first input rotor and said first output rotor and said one of said second input rotor and said second output rotor provided on said intermediate shaft; It is configured to be rotatable relative to the intermediate shaft.
According to the drive unit of the second aspect, at least one of the first input rotator and the first output rotator and one of the second input rotator and the second output rotator are arranged with respect to the intermediate shaft It can rotate properly.

In the drive unit of the third aspect according to the first aspect of the present disclosure, the first output rotator and the second input rotator are provided on the intermediate shaft and configured to be non-rotatable relative to the intermediate shaft.
According to the drive unit of the third aspect, the first output rotator and the second input rotator are configured so as not to rotate relative to the intermediate shaft. can preferably be rotated integrally with the

In the drive unit of the fourth aspect according to the second or third aspect of the present disclosure, the speed reducer further includes a third transmission portion provided in the housing, the first output rotor and the second input rotor. is provided on the intermediate shaft, and the third transmission section includes a third input rotor, a third output rotor having a diameter different from that of the third input rotor, the third input rotor and the third a third endless annular member wound around three output rotors, wherein one of the third input rotor and the third output rotor is provided on the intermediate shaft and the second input rotor and It is configured to be relatively rotatable.
According to the drive unit of the fourth aspect, since one of the third input rotor and the third output rotor is provided on the intermediate shaft, it is possible to suppress an increase in size of the drive unit.

In the drive unit of the fifth aspect according to the fourth aspect of the present disclosure, the speed reducer further includes a fourth transmission portion provided on the housing, the third output rotor is provided on the intermediate shaft, and the fourth speed changer is provided on the intermediate shaft. The transmission unit includes a fourth input rotor, a fourth output rotor having a diameter different from that of the fourth input rotor, and a fourth endless ring wound around the fourth input rotor and the fourth output rotor. and a member, wherein the fourth input rotor is integrally formed with the third output rotor.
According to the drive unit of the fifth aspect, the fourth input rotor is integrally formed with the third output rotor, so the number of parts can be reduced.

In the drive unit of the sixth aspect according to any one of the first through fifth aspects of the present disclosure, the first input rotor includes a first sprocket, the first output rotor includes a second sprocket, and The first endless annular member includes a chain.
According to the drive unit on the sixth side, the first transmission section including the first sprocket, the second sprocket, and the chain can suitably shift gears.

In the drive unit of the seventh aspect according to any one of the first through fifth aspects of the present disclosure, the first input rotor includes a first pulley, the first output rotor includes a second pulley, and The first endless annular member includes a belt.
According to the drive unit of the seventh side, the first transmission section including the first pulley, the second pulley, and the belt can suitably change the speed.

In the drive unit of the eighth aspect according to any one of the first to seventh aspects of the present disclosure, an input portion provided in the housing and configured to receive the driving force, a first one-way clutch; , wherein the first one-way clutch is arranged in the transmission path of the driving force between the input section and the output section.
According to the drive unit of the eighth aspect, it is possible to suppress the driving force from being input from the output section to the input section.

The drive unit of the ninth aspect according to any one of the first to eighth aspects of the present disclosure, further comprising an input rotation shaft provided in the housing to which a human driving force is input, an input rotation center of the input rotation shaft The axis is provided coaxially with the output rotation center axis of the output section.
According to the drive unit of the ninth aspect, it is possible to improve the degree of freedom in designing the drive unit having the input rotary shaft.

In the tenth aspect of the drive unit according to the ninth aspect of the present disclosure, at least a portion of the input rotation shaft is housed in the housing, and at least a portion of the input rotation shaft housed in the housing is the input rotation shaft. is 50 mm or more and 70 mm or less in the axial direction.
According to the drive unit of the tenth aspect, for example, when crank arms are connected to both ends of the input rotary shaft, the distance between each crank arm can be shortened.

The drive unit of the eleventh aspect according to the ninth or tenth aspect of the present disclosure further includes a second one-way clutch, wherein the second one-way clutch connects the input rotary shaft and the output section in the transmission path of the human power drive force. provided between
According to the drive unit of the eleventh aspect, it is possible to suppress the driving force from being input from the output section to the input rotary shaft.

According to the drive unit for a manpowered vehicle of the present disclosure, the degree of freedom in design can be improved.

1 is a perspective view of a drive unit for a manpowered vehicle according to a first embodiment; Figure 2 is a first side view of the drive unit for the manpowered vehicle of Figure 1; Figure 2 is a second side view of the drive unit for the manpowered vehicle of Figure 1; FIG. 3 is a view showing the arrangement of the speed reducer inside the housing, with the second housing omitted from FIG. 2; FIG. 4 is a view showing the arrangement of the reduction gears inside the housing, with the first housing omitted from FIG. 3; FIG. 3 is a schematic view of the interior of the drive unit for the manpowered vehicle viewed in the direction of arrow V in a state in which the housing is cut along line D6-D6 of FIG. 2; 7 is a schematic diagram showing the motor, speed reducer, input rotating shaft, and output section of FIG. 6. FIG. FIG. 8 is a schematic diagram showing the intermediate shaft, the first rotating member, the third rotating member, and the periphery thereof in FIG. 7; FIG. 7 is a schematic diagram showing the cross-sectional structure of the input rotary shaft, the output section, the first one-way clutch, and the periphery thereof in FIG. 6 ; 4 is a plan view of the first chain in the first embodiment; FIG. FIG. 11 is a side view of the first chain of FIG. 10; FIG. 4 is a plan view of a second chain in the first embodiment; FIG. 13 is a side view of the second chain of FIG. 12; FIG. 10 is a schematic diagram showing a first pitch width of a first belt in the second embodiment; FIG. 9 is a schematic diagram showing a second pitch width of a second belt in the second embodiment; FIG. 10 is a schematic diagram showing a driving force of a motor in a drive unit for a manpower-driven vehicle according to a third embodiment and transmission paths of the manpower-driven force; It is a 1st schematic diagram which shows the arrangement|positioning of the reduction gear of the 1st modification. FIG. 11 is a second schematic diagram showing the arrangement of reduction gears of the first modified example; It is a schematic diagram which shows the motor of a 2nd modification, a reduction gear, an input rotating shaft, and an output part. It is a schematic diagram which shows the intermediate shaft of a 3rd modification, a 1st rotating member, a 3rd rotating member, and its periphery.

<First embodiment>
1 to 13, a drive unit 10 for a human powered vehicle will be described. The drive unit 10 for the manpowered vehicle is hereinafter referred to simply as the drive unit 10 . A manpowered vehicle is a vehicle that has at least one wheel and can be driven by at least manpower. Human-powered vehicles include various types of bicycles, such as mountain bikes, road bikes, city bikes, cargo bikes, hand bikes, and recumbents. The number of wheels that a manpowered vehicle has is not limited. Manpowered vehicles also include, for example, one-wheeled vehicles and vehicles having two or more wheels. Manpowered vehicles are not limited to vehicles that can be driven solely by manpower. Human-powered vehicles include E-bikes that utilize electric motor drive power for propulsion as well as human power drive power. E-bikes include electrically assisted bicycles whose propulsion is assisted by an electric motor. In the following embodiments, the human-powered vehicle will be described as an electrically assisted bicycle.

For example, a human-powered vehicle includes a crank, wheels, and a vehicle body to which human-powered driving force is input. For example, wheels include rear wheels and front wheels. For example, a vehicle body includes a frame, front forks, handlebars, and a stem. The vehicle body may further include at least one of a suspension and a bed. A front wheel is attached to the frame via a front fork. A handlebar is connected to the front fork via a stem. The rear wheels are driven by the rotation of the crank. A rear wheel is supported by the frame.

For example, a manpowered vehicle includes an input axle 12 that is rotatable with respect to the frame. The input rotating shaft 12 receives a human power driving force. The input rotating shaft 12 is configured to rotate by an input human power driving force. The crank is composed of an input rotary shaft 12 and crank arms provided at axial ends of the input rotary shaft 12 . A pedal is connected to each crank arm. In this embodiment, the input rotating shaft 12 is a crankshaft.

The crank is connected to the rear wheels by a drive mechanism. The drive mechanism includes a first drive rotator, a second drive rotator, and a connecting member. The first drive rotor is connected to the input rotary shaft 12 . The first drive rotor includes a sprocket, pulley or bevel gear. The first drive rotor rotates corresponding to the input rotary shaft 12 . The second drive rotor is connected to the rear wheels. The second drive rotor includes a sprocket, pulley or bevel gear. The connecting member transmits the rotational force of the first drive rotor to the second drive rotor. Coupling members include, for example, chains, belts, or shafts.

A one-way clutch is provided between the second drive rotor and the rear wheels. The one-way clutch rotates the rear wheels forward when the second drive rotor rotates forward, and allows relative rotation between the second drive rotor and the rear wheels when the second drive rotor rotates backward. configured as In this embodiment, the rear wheels are connected to the cranks by the drive mechanism. At least one of the rear and front wheels may be connected to the crank by a drive mechanism.

For example, a human powered vehicle includes a battery. A battery is disposed in at least one of the frame of the manpowered vehicle and the carrier of the manpowered vehicle. For example, a battery includes one or more battery elements. For example, battery devices include rechargeable batteries. For example, a battery is configured to power the drive unit 10 . For example, the battery is communicably connected to the drive unit 10 by wire or wirelessly. The battery can communicate with the drive unit 10 by, for example, power line communication (PLC), CAN (Controller Area Network), or UART (Universal Asynchronous Receiver/Transmitter).

The drive unit 10 has a housing 14 . For example, housing 14 includes a first housing 14A and a second housing 14B. The first housing 14A and the second housing 14B are arranged side by side in the axial direction of the input rotary shaft 12 to form an internal space SA. For example, the drive unit 10 has an input rotary shaft 12 . For example, housing 14 includes at least one mounting portion 14C. The housing 14 is detachably attached to the frame of the manpowered vehicle by at least one attachment portion 14C. At least one attachment portion 14C is provided on the housing 14 and is configured to be attached to a frame of a manpowered vehicle. For example, at least one attachment portion 14C includes female threads, and a threaded member including male threads is threaded to attach the housing 14 to the frame of the manpowered vehicle.

For example, the first housing 14A and the second housing 14B are connected to each other by a connecting member 14D. The connecting members 14D are, for example, bolts or rivets. One of the first housing 14A and the second housing 14B is provided with, for example, a through hole into which the shaft of a bolt is inserted, and the other of the first housing 14A and the second housing 14B is, for example, engaged with the bolt. A female threaded portion is provided.

For example, the drive unit 10 further comprises a motor 16 configured to provide propulsion to the manpowered vehicle. For example, the motor 16 is arranged in the internal space SA of the housing 14 . For example, the motor 16 includes a rotor 16A and a stator 16B. For example, the motor 16 is configured such that the rotor 16A rotates when power is supplied from a battery of a manpowered vehicle.

A motor 16 is provided in the housing 14 and is configured to provide propulsion to the manpowered vehicle. For example, motor 16 includes motor output shaft 18 . For example, drive unit 10 includes a first bearing 20 and motor output shaft 18 is supported by housing 14 via first bearing 20 . For example, the first bearing 20 may be a ball bearing, a roller bearing, or a slide bearing.

For example, the motor 16 includes a rotating mechanism section 16X including a rotor 16A and a stator 16B, and a motor output shaft 18. For example, the rotation mechanism section 16X is configured in a circular shape when viewed from the first direction X1. For example, rotor 16A is arranged inside stator 16B. For example, the motor 16 is an inner rotor type motor. For example, the rotor 16A is configured to rotate when power is supplied to the stator 16B. For example, the motor output shaft 18 is connected to the rotor 16A and configured to rotate together with the rotor 16A. For example, in the first direction X1, the motor output shaft 18 is configured to extend from the inside of the rotor 16A to the outside. For example, the motor rotation center axis C1 of the motor output shaft 18 is equal to the rotation center axis of the rotor 16A. The motor 16 may be an outer rotor type motor or an axial gap type motor.

For example, the drive unit 10 has a controller that controls the motor 16 . The control unit includes an arithmetic processing unit that executes a predetermined control program. The arithmetic processing unit includes, for example, a CPU (Central Processing Unit) or an MPU (Micro Processing Unit). The controller may include one or more microcomputers. The controller may include multiple processing units that are remotely located at multiple locations. For example, the control unit further includes a storage unit. The storage unit stores various control programs and information used for various control processes. The storage unit includes, for example, non-volatile memory and volatile memory. The non-volatile memory includes, for example, at least one of ROM (Read-Only Memory), EPROM (Erasable Programmable Read Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), and flash memory. Volatile memory includes, for example, RAM (Random Access Memory).

For example, at least part of the controller is mounted on the first circuit board arranged in the internal space SA. For example, the controller includes an inverter circuit that powers the motor 16 . For example, the inverter circuit is mounted on the first circuit board. The controller is configured to control the motor 16 by controlling power supplied to the motor 16 from the inverter circuit.

For example, the drive unit 10 further includes an input section 22 . For example, the input section 22 is provided in the housing 14 and configured to receive driving force. For example, the input unit 22 is configured to receive driving force from the motor 16 . For example, the input unit 22 inputs the driving force of the motor 16 to the speed reducer 24 . For example, input 22 includes motor output shaft 18 .

For example, the drive unit 10 further comprises an output section 26 . For example, the output section 26 is provided in the housing 14 and configured to be rotatable, and receives driving force through the speed reducer 24 . For example, the output section 26 is configured to be connected to the first driving rotator and rotate together with the first driving rotator. For example, the output unit 26 outputs at least one of the driving force of the motor 16 and the human-powered driving force input to the input rotary shaft 12 to the first driving rotor as the driving force of the human-powered vehicle. Configured. In the present embodiment, the output unit 26 is configured to output a combined driving force of the driving force of the motor 16 and the human-powered driving force input to the input rotary shaft 12 to the first driving rotor.

For example, at least part of the output section 26 is housed in the internal space SA of the housing 14 . For example, the housing 14 is formed with a first hole 14X. For example, the drive unit 10 includes a second bearing 28, and the output portion 26 is supported in the first hole 14X of the housing 14 via the second bearing 28. For example, the second bearing 28 may be a ball bearing, a roller bearing, or a slide bearing. For example, the output portion 26 includes a connection portion 26A located outside the housing 14 . For example, when splines are formed on the inner peripheral surface of the first drive rotor, splines that engage with the splines of the first drive rotor are formed on the outer peripheral surface of the connecting portion 26A.

For example, drive unit 10 further includes first one-way clutch 30 . For example, the first one-way clutch 30 is arranged in a driving force transmission path between the input portion 22 and the output portion 26 . For example, the first one-way clutch 30 suppresses transmission of the rotational force of the output section 26 to the motor 16 when the direction of rotation of the output section 26 corresponds to the direction opposite to the direction in which the manpowered vehicle moves forward. are arranged as follows. For example, the first one-way clutch 30 is accommodated in the internal space SA of the housing 14. As shown in FIG. For example, the first one-way clutch 30 includes any one of a roller clutch, a pawl ratchet type clutch, and a sprag type clutch.

For example, the first one-way clutch 30 is arranged at the coupling portion between the speed reducer 24 and the output portion 26 . For example, the first one-way clutch 30 includes an inner ring, an outer ring, and an engagement member arranged between the inner ring and the outer ring. For example, when the first one-way clutch 30 includes a roller clutch, the engaging members include rolling elements. For example, the rotation center axis of the first one-way clutch 30 is provided coaxially with the output portion rotation center axis C2 of the output portion 26 . For example, the inner ring of the first one-way clutch 30 is configured to rotate integrally with the output portion 26 . For example, the inner ring of the first one-way clutch 30 is provided on the outer peripheral portion of the output portion 26 . The inner ring of the first one-way clutch 30 may be press-fitted into the output portion 26 or may be formed integrally with the output portion 26 . For example, the outer ring of the first one-way clutch 30 is provided on the inner circumference of the rotor included in the speed reducer 24 . For example, the outer ring of the first one-way clutch 30 is configured to rotate integrally with the rotating body included in the speed reducer 24 .

For example, the drive unit 10 further includes an input rotary shaft 12 provided in a housing 14 and to which human power driving force is input. For example, the housing 14 is formed with a second hole 14Y that faces the first hole 14X in the axial direction of the input rotary shaft 12 . For example, the drive unit 10 includes a third bearing 32, and the input rotary shaft 12 is supported in the second hole 14Y of the housing 14 via the third bearing 32. For example, the third bearing 32 may be a ball bearing, a roller bearing, or a slide bearing.

For example, the input rotation center axis C3 of the input rotation shaft 12 is provided coaxially with the output section rotation center axis C2 of the output section 26 . For example, the input rotary shaft 12 is configured to rotate integrally with the output unit 26 when a human-powered driving force is input to the input rotary shaft 12 in the forward direction of the manpowered vehicle. For example, the input rotary shaft 12 is supported by the first hole 14X of the housing 14 via the output portion 26. As shown in FIG.

For example, at least part of the input rotary shaft 12 is housed in the housing 14 . In the present embodiment, a portion of the input rotary shaft 12 where a part of the speed reducer 24 is provided is accommodated in the housing 14 . For example, at least part of the input rotary shaft 12 housed in the housing 14 has a length L of 50 mm or more and 70 mm or less in the axial direction of the input rotary shaft 12 . For example, at least part of the input rotary shaft 12 housed in the housing 14 has a length L of 55 mm or more and 65 mm or less in the axial direction of the input rotary shaft 12 . For example, the length in the axial direction of the input rotary shaft 12 of the portion of the housing 14 where the input rotary shaft 12 is arranged is substantially equal to the length L.

For example, at least part of the input rotating shaft 12 is arranged between the first plane A1 and the second plane A2. For example, the first plane A1 includes the first end face B1 of the rotation mechanism portion 16X in the first direction X1 substantially parallel to the motor rotation center axis C1 of the motor output shaft 18 and perpendicular to the first direction X1. It is an aspect. For example, the first end face B1 is, of the end faces of the rotation mechanism portion 16X in the first direction X1, the end face on the side from which the motor output shaft 18 protrudes. For example, the second plane A2 is a plane that includes the second end face B2 of the rotation mechanism section 16X in the first direction X1 and is perpendicular to the first direction X1. For example, the second end face B2 is the end face on the opposite side of the first end face B1 in the first direction X1.

For example, drive unit 10 further includes second one-way clutch 34 . For example, the second one-way clutch 34 is arranged between the input rotary shaft 12 and the output portion 26 in the transmission path of the human-powered driving force. For example, the second one-way clutch 34 transmits the driving force of the input rotary shaft 12 to the output portion 26 when the input rotary shaft 12 rotates in the first direction of rotation corresponding to the direction in which the manpowered vehicle moves forward. It is configured so that the rotation of the output portion 26 is not transmitted to the input rotating shaft 12 . For example, the second one-way clutch 34 transmits the driving force of the input rotating shaft 12 to the output portion 26 when the input rotating shaft 12 rotates in the first rotating direction, and the input rotating shaft 12 rotates in the first rotating direction. The driving force of the input rotary shaft 12 is not transmitted to the output portion 26 when rotating in the opposite second direction of rotation. For example, the second one-way clutch 34 is accommodated in the internal space SA of the housing 14. For example, the second one-way clutch 34 includes any one of a roller clutch, a pawl ratchet type clutch, and a sprag type clutch.

For example, the second one-way clutch 34 is arranged between the outer peripheral portion of the input rotary shaft 12 and the inner peripheral portion of the output portion 26 . For example, the second one-way clutch 34 includes an inner ring, an outer ring, and an engagement member arranged between the inner ring and the outer ring. For example, when the second one-way clutch 34 includes a roller clutch, the engaging members include rolling elements. For example, the rotation center axis of the second one-way clutch 34 is provided coaxially with the output portion rotation center axis C2 of the output portion 26 . For example, the inner ring of the second one-way clutch 34 is configured to rotate integrally with the input rotary shaft 12 . For example, the inner ring of the second one-way clutch 34 is provided on the outer peripheral portion of the input rotating shaft 12 . For example, the inner ring of the second one-way clutch 34 may be formed integrally with the outer peripheral portion of the input rotating shaft 12 or may be press-fitted to the outer peripheral portion of the input rotating shaft 12 . For example, the outer ring of the second one-way clutch 34 is configured to rotate integrally with the output portion 26 . For example, the outer ring of the second one-way clutch 34 may be formed integrally with the inner peripheral portion of the output portion 26 or may be press-fitted into the inner peripheral portion of the output portion 26 .

For example, the speed reducer 24 is provided in the housing 14 and receives driving force from the motor 16 . For example, the speed reducer 24 is at least partially housed in the internal space SA of the housing 14 . For example, the speed reducer 24 is entirely housed in the internal space SA of the housing 14 . For example, the speed reducer 24 reduces the input rotational speed and outputs it. For example, speed reducer 24 is coupled to motor output shaft 18 and coupled to output 26 . For example, the speed reducer 24 outputs the driving force of the motor 16 input to the input section 22 from the output section 26 .

For example, speed reducer 24 includes multiple transmissions. For example, one transmission includes a reduction mechanism that performs one-step reduction. For example, the speed reducer 24 reduces and outputs the input rotational speed at a stage corresponding to the number of transmissions included in the speed reducer 24 . For example, reduction gear 24 includes intermediate shaft 36 , first transmission 38 , second transmission 40 , third transmission 42 , and fourth transmission 44 . For example, at least one of first transmission 38, second transmission 40, third transmission 42, and fourth transmission 44 includes a predetermined speed reducer. The predetermined reducer includes at least one of a chain reducer and a belt reducer. In this embodiment, first transmission 38, second transmission 40, third transmission 42, and fourth transmission 44 each include a predetermined speed reducer.

For example, the driving force is input to the output section 26 from the input section 22 via the reduction gear 24 . For example, the driving force of the input section 22 is transmitted in the order of the first transmission 38, the second transmission 40, the third transmission 42, and the fourth transmission 44, and from the fourth transmission 44 to the output section 26. output.

For example, at least one of a portion of the first transmission 38, a portion of the second transmission 40, a portion of the third transmission 42, and a portion of the fourth transmission 44 are disposed on the intermediate shaft 36. be done. For example, the intermediate shaft 36 is arranged in the internal space SA of the housing 14 such that the central axis is arranged substantially parallel to the first direction X1. For example, the intermediate shaft 36 is arranged offset from the motor output shaft 18 and the output portion 26 in a direction perpendicular to the first direction X1 and arranged substantially parallel to the motor output shaft 18 . For example, the intermediate shaft 36 is supported by the housing 14 at both ends in the first direction X1.

For example, the first transmission 38 is arranged in the internal space SA of the housing 14 and provided in the housing 14 . For example, the first transmission 38 includes an input rotor 38A, an output rotor 38B, and an endless annular member 38C. When the first transmission 38 includes a chain speed reducer, the input rotor 38A and the output rotor 38B include sprockets, and the endless annular member 38C includes a chain. When the first transmission 38 includes a belt-type speed reducer, the input rotor 38A and the output rotor 38B include pulleys, and the endless annular member 38C includes a belt. In this embodiment, the first transmission 38 includes a chain speed reducer. For example, the first transmission 38 changes the rotation speed of the input rotor 38A to rotate the output rotor 38B. The input rotor 38A is a rotor arranged coaxially with the motor output shaft 18 and to which driving force is input from the motor 16 . For example, the input rotor 38A is provided on the outer peripheral surface of the motor output shaft 18 and configured to rotate integrally with the motor output shaft 18 .

The output rotor 38B is a rotor provided on the intermediate shaft 36 and has a diameter different from that of the input rotor 38A. For example, the diameter of the output rotor 38B is larger than the diameter of the input rotor 38A. For example, the output rotor 38B is arranged on the outer peripheral surface of the intermediate shaft 36 and configured to be relatively rotatable with the intermediate shaft 36 . The endless annular member 38C is a member wound around the input rotor 38A and the output rotor 38B. The input rotor 38A and the output rotor 38B are connected to rotate together by an endless annular member 38C.

For example, the endless annular member 38C engages with the input rotator 38A and the output rotator 38B, respectively, and includes a plurality of engaging portions in the extending direction of the endless annular member 38C. For example, the plurality of engaging portions are arranged side by side for each predetermined pitch width. For example, input rotor 38A and output rotor 38B include teeth that engage a plurality of engagements. The dimension of the teeth of the input rotor 38A in the direction parallel to the motor rotation center axis C1 is smaller than the dimension in the radial direction of the motor rotation center axis C1. The dimension of the teeth of the output rotor 38B in the direction parallel to the intermediate shaft center axis C4 is smaller than the dimension in the radial direction of the intermediate shaft center axis C4.

For example, the second transmission 40 is arranged in the internal space SA of the housing 14 and provided in the housing 14 . For example, the second transmission 40 includes an input rotor 40A, an output rotor 40B, and an endless annular member 40C. When the second transmission 40 includes a chain speed reducer, the input rotor 40A and the output rotor 40B include sprockets, and the endless annular member 40C includes a chain. When the second transmission 40 includes a belt-type speed reducer, the input rotor 40A and the output rotor 40B include pulleys, and the endless annular member 40C includes a belt. In this embodiment, the second transmission 40 includes a chain speed reducer. For example, the second transmission 40 changes the rotation speed of the input rotor 40A to rotate the output rotor 40B. The input rotor 40A is a rotor that is provided coaxially with the intermediate shaft 36 and to which a driving force is input via the output rotor 38B. For example, the input rotor 40A is configured to rotate integrally with the output rotor 38B. For example, the input rotor 40A is arranged on the outer peripheral surface of the intermediate shaft 36 and configured to be relatively rotatable with the intermediate shaft 36 .

The output rotor 40B is a rotor that has a diameter different from that of the input rotor 40A and is provided coaxially with the output section 26 . For example, the diameter of the output rotor 40B is larger than the diameter of the input rotor 40A. For example, the output rotating body 40B is arranged on the outer peripheral surface of the input rotating shaft 12 and configured to be relatively rotatable with the input rotating shaft 12 . The endless annular member 40C is a member wound around the input rotor 40A and the output rotor 40B. The input rotor 40A and the output rotor 40B are connected by an endless annular member 40C so as to rotate together.

For example, the endless annular member 40C engages with the input rotary member 40A and the output rotary member 40B, respectively, and includes a plurality of engaging portions in the extending direction of the endless annular member 40C. For example, the plurality of engaging portions are arranged side by side for each predetermined pitch width. For example, the input rotator 40A and the output rotator 40B include teeth that engage a plurality of engagement portions. The dimension of the teeth of the input rotor 40A in the direction parallel to the intermediate shaft center axis C4 is smaller than the dimension in the radial direction of the intermediate shaft center axis C4. The dimension of the teeth of the output rotor 40B in the direction parallel to the input rotation center axis C3 is smaller than the dimension in the radial direction of the input rotation center axis C3.

For example, the third transmission 42 is arranged in the internal space SA of the housing 14 and provided in the housing 14 . For example, the third transmission 42 includes an input rotor 42A, an output rotor 42B, and an endless annular member 42C. When the third transmission 42 includes a chain speed reducer, the input rotor 42A and the output rotor 42B include sprockets, and the endless annular member 42C includes a chain. When the third transmission 42 includes a belt-type speed reducer, the input rotor 42A and the output rotor 42B include pulleys, and the endless annular member 42C includes a belt. In this embodiment, the third transmission 42 includes a chain speed reducer. For example, the third transmission 42 changes the rotation speed of the input rotor 42A to rotate the output rotor 42B. The input rotating body 42A is a rotating body that is provided coaxially with the output section 26 and to which driving force is input via the output rotating body 40B. For example, the input rotor 42A is configured to rotate integrally with the output rotor 40B. For example, the input rotating body 42A is arranged on the outer peripheral surface of the input rotating shaft 12 and configured to be relatively rotatable with the input rotating shaft 12 .

The output rotor 42B is a rotor provided on the intermediate shaft 36 and has a diameter different from that of the input rotor 42A. For example, the diameter of the output rotor 42B is larger than the diameter of the input rotor 42A. For example, the output rotor 42B is arranged on the outer peripheral surface of the intermediate shaft 36 and configured to be relatively rotatable with the intermediate shaft 36 . The endless annular member 42C is a member wound around the input rotor 42A and the output rotor 42B. The input rotor 42A and the output rotor 42B are connected by an endless annular member 42C so as to rotate together.

For example, the endless annular member 42C engages with the input rotor 42A and the output rotor 42B, respectively, and includes a plurality of engaging portions in the extending direction of the endless annular member 42C. For example, the plurality of engaging portions are arranged side by side for each predetermined pitch width. For example, the input rotator 42A and the output rotator 42B include teeth that engage a plurality of engagements. The dimension of the teeth of the input rotor 42A in the direction parallel to the input rotation center axis C3 is smaller than the dimension in the radial direction of the input rotation center axis C3. The dimension of the teeth of the output rotor 42B in the direction parallel to the intermediate shaft center axis C4 is smaller than the dimension in the radial direction of the intermediate shaft center axis C4.

For example, the fourth transmission 44 is arranged in the internal space SA of the housing 14 and provided in the housing 14 . For example, the fourth transmission 44 includes an input rotor 44A, an output rotor 44B, and an endless annular member 44C. When the fourth transmission 44 includes a chain speed reducer, the input rotor 44A and the output rotor 44B include sprockets, and the endless annular member 44C includes a chain. When the fourth transmission 44 includes a belt-type speed reducer, the input rotor 44A and the output rotor 44B include pulleys, and the endless annular member 44C includes a belt. In this embodiment, the fourth transmission 44 includes a chain speed reducer. For example, the fourth transmission 44 changes the rotation speed of the input rotor 44A to rotate the output rotor 44B. The input rotor 44A is a rotor that is provided on the intermediate shaft 36 and receives driving force through the output rotor 42B. For example, the input rotor 44A is configured to rotate integrally with the output rotor 42B. For example, the input rotor 44A is arranged on the outer peripheral surface of the intermediate shaft 36 and configured to be relatively rotatable with the intermediate shaft 36 .

The output rotor 44B is a rotor that has a diameter different from that of the input rotor 44A and is provided coaxially with the output section 26 . For example, the diameter of the output rotor 44B is larger than the diameter of the input rotor 44A. For example, the output rotor 44B is arranged on the outer peripheral surface of the output portion 26 via the first one-way clutch 30 . The endless annular member 44C is a member wound around the input rotor 44A and the output rotor 44B. The input rotor 44A and the output rotor 44B are connected by an endless annular member 44C so as to rotate together.

For example, the endless annular member 44C engages with the input rotor 44A and the output rotor 44B, respectively, and includes a plurality of engaging portions in the extending direction of the endless annular member 44C. For example, the plurality of engaging portions are arranged side by side for each predetermined pitch width. For example, input rotor 44A and output rotor 44B include teeth that engage a plurality of engagements. The dimension of the teeth of the input rotor 44A in the direction parallel to the intermediate shaft center axis C4 is smaller than the dimension in the radial direction of the intermediate shaft center axis C4. The dimension of the teeth of the output rotor 44B in the direction parallel to the output portion rotation center axis C2 is smaller than the dimension in the radial direction of the output portion rotation center axis C2.

For example, the speed reducer 24 includes a first rotating member 50 . The first rotating member 50 is provided with an output rotating body 38B and an input rotating body 40A. For example, the first rotating member 50 is configured to rotate integrally with the output rotating body 38B and the input rotating body 40A. For example, the output rotor 38B and the input rotor 40A are integrally formed with the first rotating member 50 . The first rotating member 50 is arranged on the outer peripheral portion of the intermediate shaft 36 . For example, the rotation axis of the first rotating member 50 is provided coaxially with the intermediate shaft center axis C4 of the intermediate shaft 36 . For example, the first rotating member 50 is provided on the outer peripheral surface of the intermediate shaft 36 so as to rotate relative to the intermediate shaft 36 . For example, the drive unit 10 includes a pair of fourth bearings 56 and the first rotary member 50 is supported by the intermediate shaft 36 via the pair of fourth bearings 56 . For example, the fourth bearing 56 may be a ball bearing, a roller bearing, or a slide bearing.

For example, the speed reducer 24 includes a second rotating member 52 . For example, the second rotating member 52 is provided with an output rotating body 40B and an input rotating body 42A. For example, the second rotating member 52 is configured to rotate integrally with the output rotating body 40B and the input rotating body 42A. For example, the output rotor 40B and the input rotor 42A are integrally formed with the second rotating member 52 . The second rotating member 52 is arranged on the outer peripheral portion of the input rotating shaft 12 . For example, the rotation axis of the second rotating member 52 is provided coaxially with the input rotation center axis C3 of the input rotation shaft 12 . For example, the second rotating member 52 is provided on the outer peripheral surface of the input rotating shaft 12 so as to rotate relative to the input rotating shaft 12 . For example, the drive unit 10 includes a pair of fifth bearings, and the second rotating member 52 is supported by the input rotating shaft 12 via the pair of fifth bearings. For example, the fifth bearing may be a ball bearing, a roller bearing, or a slide bearing.

For example, the speed reducer 24 includes a third rotating member 54 . For example, the third rotating member 54 is provided with an output rotating body 42B and an input rotating body 44A. For example, the third rotating member 54 is configured to rotate integrally with the output rotating body 42B and the input rotating body 44A. For example, the output rotor 42B and the input rotor 44A are integrally formed with the third rotating member 54 . The third rotating member 54 is arranged on the outer peripheral portion of the intermediate shaft 36 . For example, the rotation axis of the third rotating member 54 is provided coaxially with the intermediate shaft central axis C4 of the intermediate shaft 36 . For example, the third rotating member 54 is provided on the outer peripheral surface of the intermediate shaft 36 so as to rotate relative to the intermediate shaft 36 . For example, the drive unit 10 includes a pair of sixth bearings 58 and the third rotating member 54 is supported by the intermediate shaft 36 via the pair of sixth bearings 58 . For example, the sixth bearing 58 may be a ball bearing, a roller bearing, or a slide bearing.

The drive unit 10 of this embodiment includes a motor output shaft 18, an intermediate shaft 36, an input rotary shaft 12, and an output section 26, which are connected to a first transmission 38, a second transmission 40, and a third transmission 42. , and a fourth transmission 44 are provided. The input rotary shaft 12 and the output section 26 are provided coaxially. Therefore, the speed reducer 24 can perform speed reduction in four stages by using shaft members that rotate about substantially three axes.

For example, at least part of the first rotating member 50 is arranged between the first plane A1 and the second plane A2. In this embodiment, the portion of the first rotating member 50 where the input rotating body 40A is formed is arranged between the first plane A1 and the second plane A2. For example, the second rotating member 52 and the third rotating member 54 are arranged between the first plane A1 and the second plane A2.

For example, the output rotor 38B is arranged so as to overlap the output rotor 40B when viewed in the first direction X1. For example, the output rotor 42B is arranged so as to overlap the output rotor 44B when viewed in the first direction X1. For example, the output rotors 38B, 40B, 42B, and 44B are arranged so as not to overlap the motor 16 when viewed in the first direction X1. For example, the input rotors 40A, 42A, 44A are arranged so as not to overlap the motor 16 when viewed in the first direction X1.

In the drive unit 10 of this embodiment, at least part of the speed reducer 24 is arranged between the first plane A1 and the second plane A2, so the dimension of the drive unit 10 in the first direction X1 can be reduced. For example, by arranging at least part of the speed reducer 24 between the first plane A1 and the second plane A2, the axial direction of the input rotary shaft 12 of the portion of the housing 14 where the input rotary shaft 12 is arranged The length can be 70 mm or less. For example, by arranging at least part of the speed reducer 24 between the first plane A1 and the second plane A2, the axial direction of the input rotary shaft 12 of the portion of the housing 14 where the input rotary shaft 12 is arranged The length can be 65 mm or less.

In this embodiment, the radii of the input rotors 38A, 40A, 42A, 44A are all equal. At least one of the radii of the input rotors 38A, 40A, 42A, 44A may be different than the others. For example, the radii of the input rotors 38A, 40A, 42A, 44A may be arbitrarily selected depending on the reduction ratio desired for each transmission 38,40,42,44.

In this embodiment, the radii of the output rotors 38B, 40B, 42B and 44B are all equal. At least one of the radii of the output rotors 38B, 40B, 42B, 44B may be different than the others. For example, the radii of the output rotors 38B, 40B, 42B, 44B may be arbitrarily selected depending on the reduction ratio desired for each transmission 38, 40, 42, 44.

For example, the endless annular members 38C, 40C, 42C, 44C are configured by the first chain 46 or the second chain 48.

For example, the first chain 46 includes a first inner link 46A, a second inner link 46B, a first outer link 46C, a second outer link 46D, a plurality of pins 46E, and rollers 46F. For example, the first inner link 46A is configured to face the second inner link 46B in the second direction X2. For example, the second direction X2 is a direction perpendicular to the driving direction Y1 of the chain. The first inner link 46A includes a first inner link hole 46AX and a second inner link hole 46AY. The second inner link 46B includes a third inner link hole 46BX facing the first inner link hole 46AX and a fourth inner link hole 46BY facing the second inner link hole 46AY.

For example, the first outer link 46C is configured to face the second outer link 46D in the second direction X2. The first outer link 46C includes a first outer link hole 46CX and a second outer link hole 46CY. The second outer link 46D includes a third outer link hole 46DX facing the first outer link hole 46CX and a fourth outer link hole 46DY facing the second outer link hole 46CY.

One of the plurality of pins 46E is configured to pass through the second outer link hole 46CY, the first inner link hole 46AX, the third inner link hole 46BX, and the fourth outer link hole 46DY. One of the plurality of pins 46E is configured to pass through the first outer link hole 46CX, the second inner link hole 46AY, the fourth inner link hole 46BY, and the third outer link hole 46DX.

The roller 46F is configured to cover at least a portion of the pin 46E in the second direction X2. For example, the roller 46F is configured to cover from the portion of the pin 46E located in the first inner link hole 46AX to the portion located in the third inner link hole 46BX in the second direction X2. For example, the roller 46F is configured to cover from the portion of the pin 46E arranged in the second inner link hole 46AY to the portion arranged in the fourth inner link hole 46BY in the second direction X2.

For example, the first chain 46 includes a pair of joint pins 46G and clips 46H. One of the pair of joint pins 46G is configured to pass through the second outer link hole 46CY, the first inner link hole 46AX, the third inner link hole 46BX, and the fourth outer link hole 46DY. The other of the pair of joint pins 46G is configured to pass through the first outer link hole 46CX, the second inner link hole 46AY, the fourth inner link hole 46BY, and the third outer link hole 46DX.

For example, in the clip 46H, one of the pair of joint pins 46G passes through the second outer link hole 46CY, the first inner link hole 46AX, the third inner link hole 46BX, and the fourth outer link hole 46DY. For example, the clip 46H is configured such that the other of the pair of joint pins 46G penetrates the first outer link hole 46CX, the second inner link hole 46AY, the fourth inner link hole 46BY, and the third outer link hole 46DX. It is configured to be detachable from a pair of joint pins 46G. The roller 46F is configured to cover at least part of the joint pin 46G in the second direction X2. For example, the roller 46F is configured to cover from the portion of the joint pin 46G located in the first inner link hole 46AX to the portion of the joint pin 46G located in the third inner link hole 46BX in the second direction X2. For example, the roller 46F is configured to cover from the portion of the joint pin 46G located in the second inner link hole 46AY to the portion of the joint pin 46G located in the fourth inner link hole 46BY in the second direction X2.

For example, the first chain 46 includes multiple engaging portions 46J. The multiple engaging portions 46J include multiple sliding surfaces formed on the rollers 46F. For example, the first chain 46 is configured to engage the input sprocket and the output sprocket at multiple sliding surfaces. The plurality of engaging portions 46J correspond to the plurality of engaging portions of the endless annular members 38C, 40C, 42C and 44C. The plurality of engaging portions 46J are arranged side by side for each predetermined pitch width P1.

For example, the second chain 48 includes a first inner link 48A, a second inner link 48B, a first outer link 48C, a second outer link 48D, a plurality of pins 48E and rollers 48F. For example, the first inner link 48A is configured to face the second inner link 48B in the second direction X2. The first inner link 48A includes a first inner link hole 48AX and a second inner link hole 48AY. The second inner link 48B includes a third inner link hole 48BX facing the first inner link hole 48AX and a fourth inner link hole 48BY facing the second inner link hole 48AY.

For example, the first outer link 48C is configured to face the second outer link 48D in the second direction X2. The first outer link 48C includes a first outer link hole 48CX and a second outer link hole 48CY. The second outer link 48D includes a third outer link hole 48DX facing the first outer link hole 48CX and a fourth outer link hole 48DY facing the second outer link hole 48CY.

One of the plurality of pins 48E is configured to pass through the second outer link hole 48CY, the first inner link hole 48AX, the third inner link hole 48BX, and the fourth outer link hole 48DY. One of the plurality of pins 48E is configured to pass through the first outer link hole 48CX, the second inner link hole 48AY, the fourth inner link hole 48BY and the third outer link hole 48DX.

The roller 48F is configured to cover at least a portion of the pin 48E in the second direction X2. For example, the roller 48F is configured to cover from the portion of the pin 48E located in the first inner link hole 48AX to the portion located in the third inner link hole 48BX in the second direction X2. For example, the roller 48F is configured to cover the portion of the pin 48E located in the second inner link hole 48AY to the portion located in the fourth inner link hole 48BY in the second direction X2.

For example, the second chain 48 includes a pair of joint pins 48G and clips 48H. One of the pair of joint pins 48G is configured to pass through the second outer link hole 48CY, the first inner link hole 48AX, the third inner link hole 48BX, and the fourth outer link hole 48DY. The other of the pair of joint pins 48G is configured to pass through a first outer link hole 48CX, a second inner link hole 48AY, a fourth inner link hole 48BY, and a third outer link hole 48DX.

For example, in the clip 48H, one of the pair of joint pins 48G penetrates the second outer link hole 48CY, the first inner link hole 48AX, the third inner link hole 48BX, and the fourth outer link hole 48DY. For example, the clip 48H is configured such that the other of the pair of joint pins 48G penetrates the first outer link hole 48CX, the second inner link hole 48AY, the fourth inner link hole 48BY, and the third outer link hole 48DX. It is configured to be detachable from a pair of joint pins 48G. The roller 48F is configured to cover at least part of the joint pin 48G in the second direction X2. For example, the roller 48F is configured to cover from the portion of the joint pin 48G located in the first inner link hole 48AX to the portion of the joint pin 48G located in the third inner link hole 48BX in the second direction X2. For example, the roller 48F is configured to cover a portion of the joint pin 48G that is arranged in the second inner link hole 48AY and a portion that is arranged in the fourth inner link hole 48BY in the second direction X2.

For example, the second chain 48 includes multiple engaging portions 48J. The multiple engaging portions 48J include multiple sliding surfaces formed on the rollers 48F. For example, the first chain 46 is configured to engage the input sprocket and the output sprocket at multiple sliding surfaces. For example, the plurality of engaging portions 48J of the second chain 48 correspond to the plurality of engaging portions of the endless annular members 38C, 40C, 42C and 44C. The plurality of engaging portions 48J are arranged side by side for each predetermined pitch width P2.

For example, the pitch width P1 of the first chain 46 and the pitch width P2 of the second chain 48 are 4.0 mm or more and 8.0 mm or less. For example, the pitch width P1 is the distance between the axes of the pins 46E in the direction perpendicular to the second direction X2. For example, the pitch width P2 is the distance between the axes of the pins 48E in the direction perpendicular to the second direction X2. For example, the pitch width P2 is larger than the pitch width P1. For example, the pitch width P1 is 4.7625 mm. For example, the pitch width P2 is 6.35 mm. For example, pitch width P1 and pitch width P2 correspond to predetermined pitch widths of endless annular members 38C, 40C, 42C, and 44C.

For example, the inner link width L1 of the first chain 46 and the inner link width L2 of the second chain 48 are 2.0 mm or more and 3.3 mm or less. For example, the inner link width L1 is the distance from the first inner link 46A to the second inner link 46B. For example, the inner link width L2 is the distance from the first inner link 48A to the second inner link 48B. For example, inner link width L2 is smaller than inner link width L1. For example, the inner link width L1 is 2.38 mm. For example, the inner link width L2 is 3.18 mm. The inner link width L1 is less than or equal to the inner link width L2. For example, the inner link width L1 is in the range of 50% or more and 80% or less of the inner link width L2.

For example, the diameter PD1 of the pin 46E of the first chain 46 and the diameter PD2 of the pin 48E of the second chain 48 are 1.5 mm or more and 3.66 mm or less. For example, diameter PD2 is larger than diameter PD1. For example, the diameter PD1 is 1.62 mm. For example, the diameter PD2 is 2.31 mm.

For example, the diameter RD1 of the rollers 46F of the first chain 46 and the diameter RD2 of the rollers 48F of the second chain 48 are 2.0 mm or more and 7.8 mm or less. For example, diameter RD2 is larger than diameter RD1. For example, diameter RD1 is 2.48 mm. For example, diameter RD2 is 3.3 mm.

For example, the first chain 46 and the second chain 48 are surface-treated by vanadizing or chromizing. For example, one of the first chain 46 and the second chain 48 may be vanadized, and the other of the first chain 46 and the second chain 48 may be chromized.

In the first embodiment, the drive unit 10 may be configured in any one of the first configuration example, the second configuration example, the third configuration example, the fourth configuration example, and the fifth configuration example.

<First configuration example>
The drive unit 10 of the first configuration example will be described below.
The drive unit 10 of the first configuration example includes a housing 14 , an input portion 22 , a first transmission portion, a second transmission portion, and an output portion 26 . The first transmission portion is provided in the housing 14 and receives driving force through the input portion 22 . The first transmission section includes a first input rotor, a first output rotor having a diameter different from that of the first input rotor, and a first endless annular member wound around the first input rotor and the first output rotor. and including. The first endless annular member includes a plurality of first engaging portions that engage with the first input rotor and the first output rotor and have a first pitch width in the extending direction of the first endless annular member.

The second transmission portion is provided in the housing 14 and receives driving force through the first transmission portion. The second transmission section includes a second input rotor, a second output rotor having a diameter different from that of the second input rotor, and a second endless annular member wound around the second input rotor and the second output rotor. and including. The second endless annular member includes a plurality of second engaging portions that engage with the second input rotor and the second output rotor and have a second pitch width in the extending direction of the second endless annular member. The output portion 26 is provided in the housing 14, is configured to be rotatable, and receives driving force through the second transmission portion.

The first pitch width is different from the second pitch width. For example, the second pitch width is larger than the first pitch width. For example, the first pitch width is 4 mm or more and 10 mm or less. For example, the first pitch width is 4.5 mm or more and 8 mm or less. For example, the second pitch width is 4 mm or more, 10 mm or less, and larger than the first pitch width. For example, the second pitch width is 4.5 mm or more, 8 mm or less, and larger than the first pitch width. For example, the first endless annular member is the first chain 46 and the second endless annular member is the second chain 48 .

For example, the first transmission section and the second transmission section each constitute the speed reducer 24 . For example, the first output rotor is configured to rotate integrally with the second input rotor. For example, the first output rotor is integrally formed with the second input rotor. For example, the first input rotor includes a first sprocket, the first output rotor includes a second sprocket, and the first endless annular member includes a chain. The first input rotor includes a plurality of teeth on its outer periphery about the axis of rotation. The first output rotor includes a plurality of teeth on its outer circumference about the rotation axis. The second input rotor includes a plurality of teeth on its outer periphery about the axis of rotation. The second output rotor includes a plurality of teeth on the outer periphery about the rotation axis.

For example, the drive unit 10 further includes a third transmission section provided in the housing 14 and receiving driving force through the second transmission section. For example, the third endless annular member includes a plurality of third engaging portions that engage with the third input rotator and the third output rotator respectively and have a third pitch width in the direction in which the third endless annular member extends. . For example, the third transmission section includes a third input rotor, a third output rotor having a diameter different from that of the third input rotor, and a third endless rotor wound around the third input rotor and the third output rotor. and an annular member. For example, the driving force is input to the output section 26 via the third transmission section. For example, the third input rotor includes a sprocket, the third output rotor includes a sprocket, and the third endless annular member includes a chain. For example, the third transmission section constitutes the speed reducer 24 . The third input rotor includes a plurality of teeth on the outer periphery about the rotation axis. The third output rotor includes a plurality of teeth on its outer circumference about the rotation axis.

For example, the third pitch width is different than at least one of the first pitch width and the second pitch width. In this configuration example, the third pitch width is at least different from the first pitch width. For example, the third pitch width is greater than at least one of the first pitch width and the second pitch width. In this configuration example, the third pitch width is at least greater than the first pitch width. For example, the third pitch width is 4 mm or more, 10 mm or less, and larger than the first pitch width. For example, the third pitch width is 4.5 mm or more, 8 mm or less, and larger than the first pitch width. For example, the first endless annular member is the first chain 46 , the second endless annular member is the second chain 48 , and the third endless annular member is the second chain 48 . The first endless annular member may be the first chain 46 , the second endless annular member may be the first chain 46 , and the third endless annular member may be the second chain 48 .

For example, the drive unit 10 further includes a fourth transmission section provided in the housing 14 and receiving driving force through the third transmission section. For example, the fourth endless annular member includes a plurality of fourth engaging portions that engage with the fourth input rotor and the fourth output rotor and have a fourth pitch width in the direction in which the fourth endless annular member extends. . For example, the fourth transmission section includes a fourth input rotor, a fourth output rotor having a diameter different from that of the fourth input rotor, and a fourth endless rotor wound around the fourth input rotor and the fourth output rotor. and an annular member. For example, the driving force is input to the output section 26 via the fourth transmission section. For example, the fourth transmission section constitutes the speed reducer 24 . For example, the fourth input rotor includes a sprocket, the fourth output rotor includes a sprocket, and the fourth endless annular member includes a chain. For example, the driving force is input to the output section 26 via the first transmission section. The fourth input rotator includes a plurality of teeth on the outer periphery about the axis of rotation. The fourth output rotor includes a plurality of teeth on the outer periphery about the rotation axis.

For example, the fourth pitch width is different from at least one of the first pitch width, the second pitch width, and the third pitch width. In this configuration example, the fourth pitch width is at least different from the first pitch width. For example, the fourth pitch width is greater than at least one of the first pitch width, the second pitch width, and the third pitch width. In this configuration example, the fourth pitch width is at least greater than the first pitch width. For example, the fourth pitch width is 4 mm or more, 10 mm or less, and larger than the first pitch width. For example, the fourth pitch width is 4.5 mm or more, 8 mm or less, and larger than the first pitch width.

For example, the first endless annular member in this configuration example is the first chain 46, the second endless annular member is the second chain 48, the third endless annular member is the second chain 48, and the fourth endless annular member. is the second chain 48 . The first endless annular member is the first chain 46, the second endless annular member is the first chain 46, the third endless annular member is the second chain 48, and the fourth endless annular member is the second chain 48. There may be. For example, the first endless annular member in this configuration example is the first chain 46, the second endless annular member is the first chain 46, the third endless annular member is the first chain 46, and the fourth endless annular member. may be the second chain 48 .

In this configuration example, the first endless annular member, the second endless annular member, the third endless annular member, and the fourth endless annular member are arranged in the driving force transmission path such that the first endless annular member, the second endless annular member, The third endless annular member and the fourth endless annular member are arranged in this order. For example, the first endless annular member, the second endless annular member, the third endless annular member, and the fourth endless annular member are configured such that the closer they are to the output portion 26, the greater the pitch width in the driving force transmission path. be done. For example, the first endless annular member, the second endless annular member, the third endless annular member, and the fourth endless annular member are arranged so that the pitch width does not become small when heading toward the input portion 22 in the driving force transmission path. Configured.

For example, the first transmission section in this configuration example corresponds to the first transmission 38 and the second transmission section corresponds to the second transmission 40 . In this configuration example, the first input rotor corresponds to the input rotor 38A, the first output rotor corresponds to the output rotor 38B, and the first endless annular member corresponds to the endless annular member 38C. For example, the plurality of first engaging portions in this configuration example correspond to the plurality of engaging portions of the endless annular member 38C. For example, the second input rotor in this configuration example corresponds to the input rotor 40A, the second output rotor corresponds to the output rotor 40B, and the second endless annular member corresponds to the endless annular member 40C. For example, the second input rotor of this configuration example includes a sprocket, the second output rotor includes a sprocket, and the second endless annular member includes a chain. For example, the plurality of second engaging portions in this configuration example correspond to the plurality of engaging portions of the endless annular member 40C.

For example, the third transmission section in this configuration example corresponds to the third transmission 42 . For example, the third input rotor in this configuration example corresponds to the input rotor 42A, the third output rotor corresponds to the output rotor 42B, and the third endless annular member corresponds to the endless annular member 42C.

For example, the fourth transmission section in this configuration example corresponds to the fourth transmission 44 . For example, the fourth input rotor in this configuration example corresponds to the input rotor 44A, the fourth output rotor corresponds to the output rotor 44B, and the fourth endless annular member corresponds to the endless annular member 44C.

<Second configuration example>
The drive unit 10 of the second configuration example will be described below.
The drive unit 10 of the second configuration example includes a housing 14 , a motor 16 , a speed reducer 24 and an output section 26 . Reduction gear 24 includes a first transmission section, a second transmission section, and an intermediate shaft 36 .

The first transmission section is arranged coaxially with the motor output shaft 18 , the first input rotor to which the driving force is input from the motor 16 and the first input rotor have different diameters. One output rotor and a first endless annular member wound around the first input rotor and the first output rotor. For example, the first input rotor includes a first sprocket, the first output rotor includes a second sprocket, and the first endless annular member includes a chain.

The second transmission portion is provided on the intermediate shaft 36, and the second input rotor to which the driving force is input via the first output rotor has a different diameter from the second input rotor and is coaxial with the output portion 26. and a second endless annular member wound around the second input rotor and the second output rotor. For example, the second input rotor includes a first sprocket, the second output rotor includes a second sprocket, and the second endless annular member includes a chain.

For example, the first output rotor is configured to rotate integrally with the second input rotor. For example, the first output rotor is integrally formed with the second input rotor.

For example, the speed reducer 24 further includes a third transmission section provided in the housing 14 and receiving driving force through the second transmission section. For example, the third transmission section includes a third input rotor, a third output rotor having a diameter different from that of the third input rotor, and a third endless rotor wound around the third input rotor and the third output rotor. and an annular member. For example, the third input rotor includes a first sprocket, the third output rotor includes a second sprocket, and the third endless annular member includes a chain. For example, the third input rotor is arranged coaxially with the output section 26 . For example, the third output rotor is arranged coaxially with the intermediate shaft 36 .

For example, the speed reducer 24 further includes a fourth transmission section provided in the housing 14 and receiving driving force through the third transmission section. For example, the fourth transmission section includes a fourth input rotor, a fourth output rotor having a diameter different from that of the fourth input rotor, and a fourth endless rotor wound around the fourth input rotor and the fourth output rotor. and an annular member. For example, the fourth input rotor includes a first sprocket, the fourth output rotor includes a second sprocket, and the fourth endless annular member includes a chain. For example, the fourth input rotor is arranged coaxially with the intermediate shaft 36 . For example, the fourth output rotor is arranged coaxially with the output section 26 .

For example, the output section 26 is provided in the housing 14, is configured to be rotatable, and receives driving force through the first transmission section and the second transmission section. For example, the driving force is input to the output section 26 via the third transmission section. For example, the driving force is input to the output section 26 via the fourth transmission section.

A motor rotation center axis C1 of the motor output shaft 18, an intermediate shaft center axis C4 of the intermediate shaft 36, and an output portion rotation center axis C2 of the output portion 26 extend substantially parallel to the first direction X1. For example, the motor rotation center axis C1, the intermediate shaft center axis C4, and the output section rotation center axis C2 are arranged so as to be positioned at the vertices of a triangle when viewed in the first direction X1.

For example, a triangular shape can be arbitrarily configured. In this configuration example, the length from the motor rotation center axis C1 to the intermediate shaft center axis C4 is greater than the sum of the radius of the first end surface B1 of the rotation mechanism 16X and the radius of the first output rotor. In this configuration example, the length from the motor rotation center axis C1 to the intermediate shaft center axis C4 is greater than the sum of the radius of the first end surface B1 of the rotation mechanism 16X and the radius of the third output rotor. In this configuration example, the length from the intermediate shaft center axis C4 to the output section rotation center axis C2 is smaller than the sum of the radius of the first output rotor and the second output rotor. In this configuration example, the length from the intermediate shaft center axis C4 to the output section rotation center axis C2 is smaller than the sum of the radius of the third output rotor and the fourth output rotor. In this configuration example, the length from the output section rotation center axis C2 to the motor rotation center axis C1 is greater than the sum of the radius of the first output rotor and the radius of the first end surface B1 of the rotation mechanism section 16X. . In this configuration example, the length from the output section rotation center axis C2 to the motor rotation center axis C1 is greater than the sum of the radius of the fourth output rotor and the radius of the second end surface B2 of the rotation mechanism section 16X. .

For example, the first transmission section in this configuration example corresponds to the first transmission 38 and the second transmission section corresponds to the second transmission 40 . For example, the first input rotor in this configuration example corresponds to the input rotor 38A, the first output rotor corresponds to the output rotor 38B, and the first endless annular member corresponds to the endless annular member 38C. For example, the second input rotor in this configuration example corresponds to the input rotor 40A, the second output rotor corresponds to the output rotor 40B, and the second endless annular member corresponds to the endless annular member 40C. For example, the third transmission section in this configuration example corresponds to the third transmission 42 . For example, the third input rotor in this configuration example corresponds to the input rotor 42A, the third output rotor corresponds to the output rotor 42B, and the third endless annular member corresponds to the endless annular member 42C. For example, the fourth transmission section in this configuration example corresponds to the fourth transmission 44 . For example, the fourth input rotor in this configuration example corresponds to the input rotor 44A, the fourth output rotor corresponds to the output rotor 44B, and the fourth endless annular member corresponds to the endless annular member 44C. For example, the motor rotation center axis C1 of the motor output shaft 18, the intermediate shaft center axis C4 of the intermediate shaft 36, and the output section rotation center axis C2 of the output section 26 of this configuration example are parallel to the first direction X1. extends to

<Third configuration example>
The drive unit 10 of the third configuration example will be described below.
The drive unit 10 of the third configuration example includes a housing 14 , a motor 16 , a speed reducer 24 and an output section 26 . The speed reducer 24 includes a first transmission section and a second transmission section. The first transmission section includes a first input rotor to which driving force is input from the motor 16, a first output rotor having a diameter different from that of the first input rotor, the first input rotor and the first output rotor. and an intermediate shaft 36 positioned offset from the motor output shaft 18 and the output section 26 and positioned substantially parallel to the motor output shaft 18 . For example, the first input rotor includes a first sprocket, the first output rotor includes a second sprocket, and the first endless annular member includes a chain.

The second transmission section has a second input rotor to which driving force is input via the first output rotor, and a second input rotor having a different diameter, and a second output disposed coaxially with the output section 26. A rotating body and a second endless annular member wound around the second input rotating body and the second output rotating body.

One of the first input rotator and first output rotator and one of the second input rotator and second output rotator are provided on the motor output shaft 18 or the intermediate shaft 36 so as to be rotatable relative to each other. In this configuration example, the first output rotor and the second input rotor are configured to be rotatable relative to the intermediate shaft 36 . In this configuration example, the first input rotor is provided on the motor output shaft 18 and configured to be relatively rotatable with respect to the motor output shaft 18 . For example, one of the first input rotator and first output rotator and one of the second input rotator and second output rotator are provided on the intermediate shaft 36 . For example, at least one of the first input rotator and first output rotator and one of the second input rotator and second output rotator is configured to be rotatable relative to the intermediate shaft 36. be. In this configuration example, the first output rotor and the second input rotor are provided on the intermediate shaft 36 . In this configuration example, the second output rotating body is provided on the input rotating shaft 12 and configured to be relatively rotatable with respect to the input rotating shaft 12 .

For example, the speed reducer 24 further includes a third transmission section provided in the housing 14 . For example, the third transmission section includes a third input rotor, a third output rotor having a diameter different from that of the third input rotor, and a third endless rotor wound around the third input rotor and the third output rotor. and an annular member.

For example, one of the third input rotator and the third output rotator is provided on the intermediate shaft 36 and configured to be rotatable relative to the second input rotator. In this configuration example, the third output rotator is provided on the intermediate shaft 36, and the third output rotator is configured to be rotatable relative to the second input rotator.

For example, the speed reducer 24 further includes a fourth transmission section provided in the housing 14 . For example, the fourth transmission section includes a fourth input rotor, a fourth output rotor having a diameter different from that of the fourth input rotor, and a fourth endless rotor wound around the fourth input rotor and the fourth output rotor. and an annular member. For example, the fourth input rotor includes a first sprocket, the fourth output rotor includes a second sprocket, and the fourth endless annular member includes a chain. In this configuration example, the third output rotor is provided on the intermediate shaft 36 . In this configuration example, the fourth input rotor is formed integrally with the third output rotor.

For example, the first transmission section in this configuration example corresponds to the first transmission 38 and the second transmission section corresponds to the second transmission 40 . For example, the first input rotor in this configuration example corresponds to the input rotor 38A, the first output rotor corresponds to the output rotor 38B, and the first endless annular member corresponds to the endless annular member 38C. For example, the second input rotor in this configuration example corresponds to the input rotor 40A, the second output rotor corresponds to the output rotor 40B, and the second endless annular member corresponds to the endless annular member 40C.

For example, the third transmission section in this configuration example corresponds to the third transmission 42 . For example, the third input rotor in this configuration example corresponds to the input rotor 42A, the third output rotor corresponds to the output rotor 42B, and the third endless annular member corresponds to the endless annular member 42C. For example, the fourth transmission section in this configuration example corresponds to the fourth transmission 44 . For example, the fourth input rotor in this configuration example corresponds to the input rotor 44A, the fourth output rotor corresponds to the output rotor 44B, and the fourth endless annular member corresponds to the endless annular member 44C.

In this configuration example, the transmissions corresponding to the first transmission section, the second transmission section, the third transmission section, and the fourth transmission section are the first transmission 38, the second transmission 40, and the third transmission 42. , and the fourth transmission 44 . For example, the combination of the first transmission section, the second transmission section, the third transmission section, and the fourth transmission section can be any of the selection examples E11 to E18 in Table 1.

In selection examples E11 and E12, the first input rotor and the second input rotor are provided on the intermediate shaft 36 so as to be rotatable relative to the intermediate shaft 36 . In selection example E11, the third output rotator and the fourth output rotator are provided on the intermediate shaft 36 so as to be rotatable relative to the intermediate shaft 36 . In selection example E12, the third output rotor and the fourth output rotor are provided on the intermediate shaft 36 so as to be rotatable relative to the intermediate shaft 36 .

In selection examples E13 and E14, the first input rotor and the second output rotor are provided on the intermediate shaft 36 so as to be rotatable relative to the intermediate shaft 36 . In selection example E13, the third input rotor and the fourth output rotor are provided on the intermediate shaft 36 so as to be rotatable relative to the intermediate shaft 36 . In selection example E14, the third output rotor and the fourth input rotor are provided on the intermediate shaft 36 so as to be rotatable relative to the intermediate shaft 36 .

In selection examples E15 and E16, the first output rotor and the second input rotor are provided on the intermediate shaft 36 so as to be rotatable relative to the intermediate shaft 36 . In selection example 5, the third output rotor and the fourth input rotor are provided on the intermediate shaft 36 so as to be relatively rotatable with respect to the intermediate shaft 36 . In selection example E16, a third input rotor and a fourth output rotor are provided on the intermediate shaft 36 so as to be rotatable relative to the intermediate shaft 36 .

In selection examples E17 and E18, the first output rotor and the second output rotor are provided on the intermediate shaft 36 so as to be rotatable relative to the intermediate shaft 36 . In selection example E17, a third input rotor and a fourth input rotor are provided on the intermediate shaft 36 so as to be rotatable relative to the intermediate shaft 36 . In selection example E<b>18 , a third input rotor and a fourth input rotor are provided on the intermediate shaft 36 so as to be rotatable relative to the intermediate shaft 36 .

<Fourth configuration example>
The drive unit 10 of the fourth configuration example will be described below.
The drive unit 10 of this configuration example includes a housing 14 , a motor 16 , a first transmission section, and an output section 26 . For example, the driving force is input to the output section 26 via the second transmission section.

For example, the first transmission section constitutes the speed reducer 24 . The first transmission portion is provided in the housing 14 and receives driving force from the motor 16 . The first transmission section includes a first input rotor, a first output rotor having a diameter different from that of the first input rotor, and a first endless annular member wound around the first input rotor and the first output rotor. and including. For example, the first input rotor includes a first sprocket, the first output rotor includes a second sprocket, and the first endless annular member includes a chain.

At least part of the first transmission portion is arranged between the first plane A1 and the second plane A2. For example, at least part of the first endless annular member of the first transmission portion is arranged between the first plane A1 and the second plane A2. In this configuration example, the entire first endless annular member is arranged between the first plane A1 and the second plane A2. For example, the first endless annular member is configured to drive in a direction parallel to the first plane A1 and the second plane A2 between the first plane A1 and the second plane A2.

For example, the first input rotation center axis of the first input rotor and the first output rotation center axis of the first output rotor are arranged substantially parallel to the first direction X1. In this configuration example, the first input rotation center axis of the first input rotor and the first output rotation center axis of the first output rotor are arranged parallel to the first direction X1. For example, the first input rotor and the first output rotor are arranged between the first plane A1 and the second plane A2 so as to be aligned in the direction perpendicular to the first direction X1.

For example, the drive unit 10 further includes a second transmission section provided in the housing 14 and receiving driving force through the first transmission section. For example, the second transmission section constitutes the speed reducer 24 . The second transmission section includes a second input rotor, a second output rotor having a diameter different from that of the second input rotor, and a second endless annular member wound around the second input rotor and the second output rotor. and including. For example, the second input rotor includes a first sprocket, the second output rotor includes a second sprocket, and the third endless annular member includes a chain.

For example, at least part of the second transmission section is arranged between the first plane A1 and the second plane A2. For example, at least part of the second endless annular member of the second transmission portion is arranged between the first plane A1 and the second plane A2. In this configuration example, the entire second endless annular member is arranged between the first plane A1 and the second plane A2. For example, the second endless annular member is configured to drive in a direction horizontal to the first plane A1 and the second plane A2 between the first plane A1 and the second plane A2.

For example, the second input rotation center axis of the second input rotor and the second output rotation center axis of the second output rotor are arranged substantially parallel to the first direction X1. In this configuration example, the second input rotation center axis of the second input rotor and the second output rotation center axis of the second output rotor are arranged parallel to the first direction X1. For example, the second input rotor and the second output rotor are arranged between the first plane A1 and the second plane A2 so as to be aligned in the direction perpendicular to the first direction X1.

For example, the first output rotor is arranged coaxially with the second input rotor and the diameter of the first output rotor differs from the diameter of the second input rotor. In this configuration example, the diameter of the first output rotor is larger than the diameter of the second input rotor. For example, the first output rotor is configured to rotate integrally with the second input rotor. For example, the first output rotor is integrally formed with the second input rotor.

For example, the drive unit 10 further includes a third transmission provided on the housing 14 . For example, driving force is input to the first transmission via the third transmission. For example, the third transmission section constitutes the speed reducer 24 . For example, the third transmission section includes a third input rotor, a third output rotor having a diameter different from that of the third input rotor, and a third endless rotor wound around the third input rotor and the third output rotor. and an annular member. For example, the third input rotor includes a first sprocket, the third output rotor includes a second sprocket, and the third endless annular member includes a chain.

For example, the third input rotation center axis of the third input rotor and the third output rotation center axis of the third output rotor are arranged substantially parallel to the first direction X1. In this configuration example, the third input rotation center axis of the third input rotor and the third output rotation center axis of the third output rotor are arranged parallel to the first direction X1. For example, the third input rotor and the third output rotor are arranged side by side in the direction perpendicular to the first direction X1. For example, the third input rotator and the third output rotator are arranged at a position closer to the first plane A1 than the second plane A2 and farther from the second plane A2 than the first plane A1.

For example, the third output rotor is arranged coaxially with the first input rotor and the diameter of the third output rotor is different than the diameter of the first input rotor. In this configuration example, the diameter of the third output rotor is larger than the diameter of the first input rotor. For example, the third output rotor is configured to rotate integrally with the first input rotor. For example, the third output rotor is integrally formed with the first input rotor.

For example, at least part of the third transmission portion is arranged to overlap at least one of the rotor 16A and the stator 16B when viewed in the first direction X1. In this configuration example, the third input rotor is arranged so as to overlap the rotor 16A and the stator 16B when viewed in the first direction X1. In this configuration example, the third endless annular member is arranged so as to overlap the rotor 16A and the stator 16B when viewed in the first direction X1.

For example, at least part of the third transmission section is arranged so as to overlap at least part of the first transmission section when viewed in the first direction X1. In this configuration example, the third output rotor is arranged so as to overlap the first input rotor when viewed in the first direction X1.

For example, the drive unit 10 further includes a fourth transmission section provided on the housing 14 . For example, the driving force is input to the fourth transmission section via the first transmission section. For example, the fourth transmission section constitutes the speed reducer 24 . For example, the fourth transmission section includes a fourth input rotor, a fourth output rotor having a diameter different from that of the fourth input rotor, and a fourth endless rotor wound around the fourth input rotor and the fourth output rotor. and an annular member. For example, the fourth input rotor includes a first sprocket, the fourth output rotor includes a second sprocket, and the fourth endless annular member includes a chain.

For example, at least part of the fourth transmission section is arranged between the first plane A1 and the second plane A2. For example, at least part of the fourth endless annular member of the fourth transmission portion is arranged between the first plane A1 and the second plane A2. In this configuration example, the entire fourth endless annular member is arranged between the first plane A1 and the second plane A2. For example, the fourth endless annular member is configured to drive between the first plane A1 and the second plane A2 in a direction horizontal to the first plane A1 and the second plane A2.

For example, the fourth input rotation center axis of the fourth input rotor and the fourth output rotation center axis of the fourth output rotor are arranged substantially parallel to the first direction X1. In this configuration example, the fourth input rotation center axis of the fourth input rotor and the fourth output rotation center axis of the fourth output rotor are arranged parallel to the first direction X1. For example, the fourth input rotor and the fourth output rotor are arranged between the first plane A1 and the second plane A2 so as to be aligned in the direction perpendicular to the first direction X1.

For example, the first output rotator is arranged coaxially with the fourth output rotator, and the first input rotator is arranged coaxially with the fourth input rotator. For example, the second input rotator is arranged coaxially with the fourth output rotator, and the second output rotator is arranged coaxially with the fourth input rotator. For example, the third output rotor is arranged coaxially with the fourth input rotor.

For example, the first transmission section in this configuration example corresponds to the second transmission 40 . For example, the first input rotor in this configuration example corresponds to the input rotor 40A, the first output rotor corresponds to the output rotor 40B, and the first endless annular member corresponds to the endless annular member 40C. For example, the second transmission section in this configuration example corresponds to the third transmission 42 . For example, the second input rotor in this configuration example corresponds to the input rotor 42A, the second output rotor corresponds to the output rotor 42B, and the second endless annular member corresponds to the endless annular member 42C. For example, the third transmission section in this configuration example corresponds to the first transmission 38 . For example, the third input rotor in this configuration example corresponds to the input rotor 38A, the third output rotor corresponds to the output rotor 38B, and the third endless annular member corresponds to the endless annular member 38C. For example, the fourth transmission section in this configuration example corresponds to the fourth transmission 44 . For example, the fourth input rotor in this configuration example corresponds to the input rotor 44A, the fourth output rotor corresponds to the output rotor 44B, and the fourth endless annular member corresponds to the endless annular member 44C.

<Fifth configuration example>
The drive unit 10 of the fifth configuration example will be described below.
The drive unit 10 includes a housing 14 , an input section 22 , a first transmission section, and an output section 26 . For example, the driving force is input to the output section 26 via the second transmission section.

For example, the first transmission section constitutes the speed reducer 24 . The first transmission portion is provided in the housing 14 and receives driving force through the input portion 22 . The first transmission section includes a first input rotor, a first output rotor having a diameter different from that of the first input rotor, and a first endless annular member wound around the first input rotor and the first output rotor. and including. For example, the first input rotor includes a first sprocket, the first output rotor includes a second sprocket, and the first endless annular member includes a chain. The first endless annular member includes a plurality of first engaging portions that engage with the first input rotor and the first output rotor and have a first pitch width in the extending direction of the first endless annular member.

The first pitch width is 4 mm or more and 10 mm or less. For example, the first pitch width is 5 mm or more and 8 mm or less. For example, the first endless annular member includes a first chain 46 .

For example, the drive unit 10 further includes a second transmission section provided in the housing 14 and receiving driving force through the first transmission section. For example, the second transmission section constitutes the speed reducer 24 . The second transmission section includes a second input rotor, a second output rotor having a diameter different from that of the second input rotor, and a second endless annular member wound around the second input rotor and the second output rotor. and including. For example, the second input rotor includes a first sprocket, the second output rotor includes a second sprocket, and the second endless annular member includes a chain. The second endless annular member includes a plurality of second engaging portions that engage with the second input rotor and the second output rotor and have a second pitch width in the extending direction of the second endless annular member.

For example, the second pitch width is 4 mm or more and 10 mm or less. For example, the second pitch width is 5 mm or more and 8 mm or less. For example, the second endless annular member includes first chain 46 or second chain 48 .

For example, the drive unit 10 further includes a third transmission section provided in the housing 14 and receiving driving force through the second transmission section. For example, the third transmission section constitutes the speed reducer 24 . In this configuration example, the third transmission section corresponds to the third transmission 42 . For example, the third transmission section includes a third input rotor, a third output rotor having a diameter different from that of the third input rotor, and a third endless rotor wound around the third input rotor and the third output rotor. and an annular member. In this configuration example, the third input rotor corresponds to the input rotor 42A, the third output rotor corresponds to the output rotor 42B, and the third endless annular member corresponds to the endless annular member 42C. For example, the third input rotor includes a first sprocket, the third output rotor includes a second sprocket, and the third endless annular member includes a chain. For example, the third endless annular member includes a plurality of third engaging portions that engage with the third input rotator and the third output rotator respectively and have a third pitch width in the direction in which the third endless annular member extends. .

For example, the third pitch width is 4 mm or more and 10 mm or less. For example, the third pitch width is 5 mm or more and 8 mm or less. For example, the third endless annular member includes first chain 46 or second chain 48 . When the second endless annular member is the second chain 48 , the third endless annular member includes the second chain 48 .

For example, the drive unit 10 further includes a fourth transmission section provided in the housing 14 and receiving driving force through the third transmission section. In this configuration example, the fourth transmission section corresponds to the fourth transmission 44 . For example, the fourth transmission section constitutes the speed reducer 24 . For example, the fourth transmission section includes a fourth input rotor, a fourth output rotor having a diameter different from that of the fourth input rotor, and a fourth endless rotor wound around the fourth input rotor and the fourth output rotor. and an annular member.

In this configuration example, the fourth input rotor corresponds to the input rotor 44A, the fourth output rotor corresponds to the output rotor 44B, and the fourth endless annular member corresponds to the endless annular member 44C. For example, the fourth input rotor includes a first sprocket, the fourth output rotor includes a second sprocket, and the fourth endless annular member includes a chain. For example, the fourth endless annular member includes a plurality of fourth engaging portions that engage with the fourth input rotor and the fourth output rotor and have a fourth pitch width in the direction in which the fourth endless annular member extends. .

For example, the fourth pitch width is 4 mm or more and 10 mm or less. For example, the fourth pitch width is 5 mm or more and 8 mm or less. For example, the fourth endless annular member includes second chain 48 . When the third endless annular member is the second chain 48 , the fourth endless annular member includes the second chain 48 .

For example, the first input rotation center axis of the first input rotor, the first output rotation center axis of the first output rotor, the second input rotation center axis of the second input rotor, and the second output rotation. A second output rotation center axis of the body is arranged substantially parallel to the first direction X1. In this configuration example, the first input rotation center axis of the first input rotor, the first output rotation center axis of the first output rotor, the second input rotation center axis of the second input rotor, and the second input rotation center axis of the first output rotor. The second output rotation center axis of the two-output rotor is arranged parallel to the first direction X1. For example, the first output rotation center axis of the first output rotor is arranged coaxially with the second input rotation center axis of the second input rotor.

For example, the first output rotator is offset relative to the second input rotator in the first direction X1 and coaxial with the second input rotator. For example, the first output rotator is offset in the first direction X1 relative to the second input rotator farther than the first plane A1. For example, the first output rotor is configured to rotate integrally with the second input rotor. For example, the first output rotor is integrally formed with the second input rotor. For example, the first output rotor constitutes the second input rotor and the first rotating member 50 .

For example, the second transmission section is arranged between the first transmission section and the output section 26 in the first direction X1. For example, in the first direction X1, the second transmission section is arranged between the first transmission section and the third transmission section. For example, the drive unit 10 is arranged in the order of the first transmission section, the second transmission section, the third transmission section, the fourth transmission section, and the output section 26 in the first direction X1.

For example, the first transmission section in this configuration example corresponds to the first transmission 38 . For example, the first input rotor in this configuration example corresponds to the input rotor 38A, the first output rotor corresponds to the output rotor 38B, and the first endless annular member corresponds to the endless annular member 38C. For example, the plurality of first engaging portions in this configuration example correspond to the plurality of engaging portions 46J. For example, the second transmission section in this configuration example corresponds to the second transmission 40 . In this configuration example, the second input rotor corresponds to the input rotor 40A, the second output rotor corresponds to the output rotor 40B, and the second endless annular member corresponds to the endless annular member 40C. For example, the plurality of second engaging portions in this configuration example correspond to the plurality of engaging portions 48J.

<Second embodiment>
A drive unit 10 according to the second embodiment will be described with reference to FIGS. 14 and 15. FIG. The drive unit 10 of the second embodiment is the same as the drive unit 10 of the first embodiment except for the configuration of the reduction gear 24, so the same reference numerals as in the first embodiment are assigned to the configurations common to the first embodiment. and omit redundant description.

The speed reducer 24 of the drive unit 10 of this embodiment includes a belt type speed reducer. For example, at least one of first transmission 38, second transmission 40, third transmission 42, and fourth transmission 44 includes a belt speed reducer. The speed reducer 24 of the present embodiment is a first transmission, except that at least one of the first transmission 38, the second transmission 40, the third transmission 42, and the fourth transmission 44 includes a belt-type speed reducer. It is configured similarly to the embodiment.

For example, at least one of the input rotors 38A, 40A, 42A, 44A includes an input pulley, at least one of the output rotors 38B, 40B, 42B, 44B includes an output pulley, and endless annular members 38C, 40C, 42C. , 44C includes a first belt 60 or a second belt 62 . For example, when the first transmission 38 includes a belt-type speed reducer, the input rotor 38A includes an input pulley, the output rotor 38B includes an output pulley, and the endless annular member 38C includes either the first belt 60 or the second belt. 62 included. For example, when the second transmission 40 includes a belt-type speed reducer, the input rotor 40A includes an input pulley, the output rotor 40B includes an output pulley, and the endless annular member 40C includes the first belt 60 or the second belt. 62 included. For example, when the third transmission 42 includes a belt-type speed reducer, the input rotor 42A includes an input pulley, the output rotor 42B includes an output pulley, and the endless annular member 42C includes the first belt 60 or the second belt. 62 included. For example, when the fourth transmission 44 includes a belt-type speed reducer, the input rotor 44A includes an input pulley, the output rotor 44B includes an output pulley, and the endless annular member 44C includes the first belt 60 or the second belt. 62 included.

For example, the first belt 60 is a flat belt that includes a plurality of protrusions and connecting bands. For example, the plurality of protrusions are provided on the connection band so as to be adjacent in the second driving direction. For example, the pitch width of the belt in this embodiment is the distance from the central portion of the convex portion in the second driving direction to the central portion of the adjacent convex portion in the second driving direction.

For example, the pitch width PV2 of the second belt 62 is larger than the pitch width PV1 of the first belt 60 . For example, the pitch width PV1 and the pitch width PV2 are 4 mm or more and 10 mm or less. For example, the pitch width PV1 and the pitch width PV2 are 4.5 mm or more and 8 mm or less. For example, the pitch width PV1 is 4.7625 mm. For example, the pitch width PV2 is 6.35 mm.

In the first configuration example, the second configuration example, the third configuration example, and the fifth configuration example of the first embodiment, for example, the first input rotor of the drive unit 10 of the second embodiment includes the first pulley. , the first output rotor may be modified to include a second pulley and the first endless annular member may include a belt. In the first configuration example, the second configuration example, the third configuration example, and the fifth configuration example of the first embodiment, when the first endless annular member is changed to include a belt, the belt is the first belt 60 or second belt 62 .

In the drive unit 10 of the second embodiment, in the fourth configuration example of the first embodiment, for example, the first input rotator includes a first pulley, the first output rotator includes a second pulley, and the first The endless annular member may be modified to include a belt. In the fourth configuration example of the first embodiment, when the first endless annular member is changed to include a belt, the belt includes the first belt 60 or the second belt 62.

<Third Embodiment>
A drive unit 10 according to the third embodiment will be described with reference to FIG. The drive unit 10 of the third embodiment is the same as the drive unit 10 of the first embodiment except for the configuration of the speed reducer 24, so the same reference numerals as in the first embodiment are assigned to the configurations common to the first embodiment. and omit redundant description.

The drive unit 10 of the present embodiment further includes a planetary gear type speed reducer 64 arranged in a driving force transmission path between the input section 22 and the output section 26 .

For example, at least one of first transmission 38 , second transmission 40 , third transmission 42 , and fourth transmission 44 includes planetary gear reducer 64 . The speed reducer 24 of the present embodiment has the following features, except that at least one of the first transmission 38, the second transmission 40, the third transmission 42, and the fourth transmission 44 includes a planetary gear speed reducer 64. The configuration is similar to that of the first embodiment.

For example, first transmission 38 includes a planetary gear reducer 64, and at least one of second, third, and fourth transmissions 40, 42, and 44 includes a chain reducer. For example, planetary gear reducer 64 includes a sun gear, a ring gear, a plurality of planetary gears, and a carrier. The sun gear is provided on the outer circumference of the motor output shaft 18 of the motor 16 . The sun gear may be formed integrally with the motor output shaft 18 or may be formed separately from the motor output shaft 18 and attached to the motor output shaft 18 . A plurality of planetary gears are arranged between the sun gear and the ring gear. A carrier supports a plurality of planetary gears and integrally revolves the plurality of planetary gears around a sun gear. In this embodiment, driving force is input to the second transmission 40 via the first transmission 38 . For example, the input rotor 40A of the second transmission 40 is configured to rotate integrally with the carrier of the first transmission 38 .

The drive unit 10 may further include a gear-type speed reducer arranged in a driving force transmission path between the input section 22 and the output section 26 . At least one of first transmission 38 , second transmission 40 , third transmission 42 , and fourth transmission 44 includes a planetary gear reducer 64 , first transmission 38 , second transmission 40 . , the third transmission 42, and at least one other of the fourth transmission 44 may include a gear reducer.

For example, the first transmission 38 includes a planetary gear reducer 64, the second transmission 40 includes a gear reducer, and at least one of the third and fourth transmissions 42, 44 includes a chain. Including type reducer. For example, a geared reducer includes an input gear and an output gear. For example, a gear reducer is configured such that the rotational speed of the output gear is lower than the rotational speed of the input gear. The input gear is a rotating body that is provided coaxially with the intermediate shaft 36 and to which driving force is input via the carrier of the first transmission 38 . The output gear has a diameter different from that of the input gear and is a rotating body provided coaxially with the output section 26 . For example, the output gear has a larger diameter than the input gear. For example, the output gear is arranged on the outer peripheral surface of the input rotating shaft 12 and configured to be relatively rotatable with the input rotating shaft 12 . For example, the output gear is configured to rotate with the input gear by meshing the teeth of the output gear and the teeth of the input gear. For example, gear reducer does not include planetary gear reducer 64 .

In this configuration example, each of the first transmission 38, the second transmission 40, the third transmission 42, and the fourth transmission 44 is a predetermined speed reducer, a planetary gear speed reducer 64, and a gear speed reducer 64. Selected to include any of the reducers. For example, combinations of first transmission 38, second transmission 40, third transmission 42, and fourth transmission 44 can be selected as shown in Table 2, selections E21 through E30.

<Change example>
The description of each embodiment is an illustration of possible forms of the drive unit 10 for a manpowered vehicle according to the present disclosure, and is not intended to limit the forms. A drive unit 10 for a manpowered vehicle according to the present disclosure may take a form in which, for example, modifications of each embodiment shown below and at least two modifications not contradicting each other are combined. In the following modified examples, the same reference numerals as in the embodiment are given to the parts that are common to the embodiment, and the description thereof is omitted.

- The motor rotation center axis C1, the intermediate shaft center axis C4, and the output section rotation center axis C2 may be arranged on a straight line when viewed in the first direction X1. For example, as shown in FIGS. 17 and 18, the motor rotation center axis C1, the intermediate shaft center axis C4, and the output section rotation center axis C2 are arranged on the first straight line. For example, the intermediate shaft center axis C4 is arranged between the motor rotation center axis C1 and the output section rotation center axis C2. For example, the intermediate shaft center axis C4 is arranged at a position closer to the output section rotation center axis C2 than to the motor rotation center axis C1.

- The output rotor 40B may be provided coaxially with the motor output shaft 18 . For example, as shown in FIG. 19, the output rotor 40B is arranged on the outer peripheral surface of the motor output shaft 18 and configured to be relatively rotatable with the motor output shaft 18 . For example, the input rotor 42A is a rotor provided coaxially with the motor output shaft 18 . For example, the input rotor 42A is arranged on the outer peripheral surface of the motor output shaft 18 and configured to be relatively rotatable with the motor output shaft 18 . For example, the second rotating member 52 is provided on the outer peripheral surface of the motor output shaft 18 . When the output rotor 40B is provided coaxially with the motor output shaft 18, the combinations of transmissions corresponding to the first, second, third, and fourth transmissions are shown in Table 3. You can choose from selection examples. In the selection example E41 and the selection example E42, the first input rotor and the second input rotor are provided on the motor output shaft 18 so as to be relatively rotatable. In the selection example E43 and the selection example E44, the first input rotor and the second output rotor are provided on the motor output shaft 18 so as to be relatively rotatable. In the selection example E45 and the selection example E46, the first output rotor and the second input rotor are provided on the motor output shaft 18 so as to be relatively rotatable.

- The first output rotator and the second input rotator may be provided on the intermediate shaft 36 and configured to be relatively non-rotatable with respect to the intermediate shaft 36 . For example, the first output rotator and the second input rotator are configured to be rotatable relative to the third output rotator and the fourth input rotator. For example, the intermediate shaft 36 is configured to be rotatable relative to the housing 14 . For example, as shown in FIG. 20, the drive unit 10 includes a pair of seventh bearings 66 and the intermediate shaft 36 is supported by the housing 14 via the pair of seventh bearings 66 . For example, the seventh bearing 66 may be a ball bearing, a roller bearing, or a slide bearing. The output rotor 42B and the input rotor 44A shown in FIG. 20 are configured integrally with the intermediate shaft 36, and the output rotor 38B and the input rotor 40A are configured to be relatively rotatable with the intermediate shaft 36. FIG. The third rotating member 54 shown in FIG. 20 is configured integrally with the intermediate shaft 36 , and the first rotating member 50 is configured separately from the intermediate shaft 36 . The output rotor 38B and the input rotor 40A may be configured integrally with the intermediate shaft 36, and the output rotor 42B and the input rotor 44A may be configured to rotate relative to the intermediate shaft 36.

- When endless annular members 38C, 40C, 42C, and 44C include chains, the chains may include silent chains.

- In the first embodiment, at least one of the first transmission 38 , the second transmission 40 , the third transmission 42 , and the fourth transmission 44 may be provided outside the housing 14 .

- In the first embodiment, at least one of the first transmission 38, the second transmission 40, the third transmission 42, and the fourth transmission 44 is a It may be arranged in the transmission path of the human-powered driving force. When at least one of the first transmission 38 , the second transmission 40 , the third transmission 42 , and the fourth transmission 44 is arranged in the transmission path of the human power driving force, the first transmission 38 receives the human power driving force. may be configured to be input. The output unit 26 may receive human power driving force through at least one of the first transmission 38 , the second transmission 40 , the third transmission 42 , and the fourth transmission 44 .

- The drive unit 10 may include a gearbox. If the drive unit 10 includes a gearbox, at least one of the first transmission section, the second transmission section, the third transmission section, and the fourth transmission section may constitute the gearbox. For example, at least one of the first transmission section, the second transmission section, the third transmission section, and the fourth transmission section constitutes a gearbox, and the first transmission section, the second transmission section, the third transmission section, And the rest of the fourth transmission section may constitute the speed reducer 24 .

- The drive unit 10 may include one or more transmissions in addition to the first transmission 38, the second transmission 40, the third transmission 42, and the fourth transmission 44; input to input 22 when drive unit 10 includes one or more transmissions in addition to first transmission 38, second transmission 40, third transmission 42, and fourth transmission 44 Drive power is output from output 26 via first transmission 38, second transmission 40, third transmission 42, fourth transmission 44, and one or more transmissions. For example, in the configuration shown in FIG. 19, drive unit 10 may include a fifth transmission and a sixth transmission. For example, the fifth transmission is arranged in the internal space SA of the housing 14 and provided on the housing 14 . For example, a fifth transmission includes an input rotor, an output rotor, and an endless annular member.
For example, the fifth transmission changes the rotational speed of the input rotor of the fifth transmission to rotate the output rotor of the fifth transmission. The input rotating body of the fifth transmission is arranged coaxially with the intermediate shaft 36 and is a rotating body to which driving force is input from the output rotating body 42B of the third transmission 42 . For example, the input rotating body of the fifth transmission is provided on the outer peripheral surface of the intermediate shaft 36 and configured to rotate integrally with the intermediate shaft 36 . The output rotor of the fifth transmission has a diameter different from that of the input rotor of the fifth transmission, and is a rotor provided on the motor output shaft 18 . For example, the output rotor of the fifth transmission has a larger diameter than the input rotor of the fifth transmission. For example, the output rotating body of the fifth transmission is arranged on the outer peripheral surface of the motor output shaft 18 and configured to be relatively rotatable with the motor output shaft 18 . The endless annular portion of the fifth transmission is a member wound around the input rotor of the fifth transmission and the output rotor of the fifth transmission. The input rotor of the fifth transmission and the output rotor of the fifth transmission are coupled for rotation together by an endless annular member of the fifth transmission.
For example, the sixth transmission is arranged in the internal space SA of the housing 14 and provided in the housing 14 . For example, a sixth transmission includes an input rotor, an output rotor, and an endless annular member. For example, the sixth transmission changes the rotation speed of the input rotor of the sixth transmission to rotate the output rotor of the sixth transmission. The input rotating body of the sixth transmission is a rotating body arranged coaxially with the motor output shaft 18 and to which driving force is input from the output rotating body of the fifth transmission. The input rotor of the sixth transmission is integrally formed with the output rotor of the fifth transmission. For example, the input rotating body of the sixth transmission is provided on the outer peripheral surface of the intermediate shaft 36 and configured to rotate integrally with the intermediate shaft 36 . The output rotor of the sixth transmission has a diameter different from that of the input rotor of the sixth transmission, and is a rotor provided on the motor output shaft 18 . For example, the output rotor of the sixth transmission has a larger diameter than the input rotor of the sixth transmission. For example, the output rotating body of the sixth transmission is arranged on the outer peripheral surface of the motor output shaft 18 and configured to be relatively rotatable with the motor output shaft 18 . The endless annular portion of the sixth transmission is a member wound around the input rotor of the sixth transmission and the output rotor of the fifth transmission. For example, the input rotor 44A of the fourth transmission 44 is configured to rotate integrally with the output rotor of the sixth transmission.
For example, when the second transmission 40 is selected as the first transmission section and the fifth transmission is selected as the second transmission section, the first output rotor and the second output rotor are connected to the motor output shaft 18. It is provided on the intermediate shaft 36 so as to be rotatable relative to it.

As used herein, the phrase "at least one" means "one or more" of the desired option. As an example, the phrase "at least one" as used herein means "only one option" or "both of the two options" if the number of options is two. As another example, the expression "at least one" used herein means "only one option" or "any combination of two or more options" if the number of options is three or more. means.

DESCRIPTION OF SYMBOLS 10... Drive unit 12... Input rotating shaft 14... Housing 16... Motor 18... Motor output shaft 22... Input part 24... Reduction gear 26... Output part 30... First one-way clutch 34... Second One-way clutch, 36... Intermediate shaft.

Claims (11)

A drive unit for a human-powered vehicle,
a housing;
a motor mounted in the housing and configured to provide propulsion to the manpowered vehicle;
a speed reducer provided in the housing and receiving driving force from the motor;
an output unit provided in the housing, configured to be rotatable, and receiving the driving force through the speed reducer;
the motor includes a motor output shaft;
The speed reducer includes a first transmission section and a second transmission section,
The first transmission section is
a first input rotor to which the driving force is input from the motor;
a first output rotor having a diameter different from that of the first input rotor;
a first endless annular member wound around the first input rotor and the first output rotor;
an intermediate shaft positioned offset from the motor output shaft and the output and positioned substantially parallel to the motor output shaft;
The second transmission section is
a second input rotor to which the driving force is input via the first output rotor;
a second output rotator having a diameter different from that of the second input rotator and arranged coaxially with the output section;
a second endless annular member wound around the second input rotor and the second output rotor;
One of the first input rotor and the first output rotor and one of the second input rotor and the second output rotor are rotatable relative to each other with respect to the motor output shaft or the intermediate shaft. A drive unit provided in the the one of the first input rotor and the first output rotor and the one of the second input rotor and the second output rotor are provided on the intermediate shaft;
At least one of the one of the first input rotor and the first output rotor and the one of the second input rotor and the second output rotor rotate relative to the intermediate shaft. 2. The drive unit of claim 1, wherein the drive unit is configured to 2. The drive unit according to claim 1, wherein said first output rotator and said second input rotator are provided on said intermediate shaft and configured to be non-rotatable relative to said intermediate shaft. The speed reducer further includes a third transmission portion provided in the housing,
The first output rotor and the second input rotor are provided on the intermediate shaft,
The third transmission section includes a third input rotor, a third output rotor having a diameter different from that of the third input rotor, and a third output rotor wound around the third input rotor and the third output rotor. 3 endless annular members;
4. The drive unit according to claim 2, wherein one of said third input rotor and said third output rotor is provided on said intermediate shaft and configured to be rotatable relative to said second input rotor. The speed reducer further includes a fourth transmission portion provided in the housing,
The third output rotor is provided on the intermediate shaft,
The fourth transmission section includes a fourth input rotor, a fourth output rotor having a diameter different from that of the fourth input rotor, and a fourth input rotor wound around the fourth input rotor and the fourth output rotor. 4 endless annular members;
5. The drive unit according to claim 4, wherein said fourth input rotor is integrally formed with said third output rotor. the first input rotor includes a first sprocket;
the first output rotor includes a second sprocket;
6. The drive unit according to any one of claims 1 to 5, wherein said first endless annular member comprises a chain. The first input rotor includes a first pulley,
The first output rotor includes a second pulley,
6. The drive unit according to any one of claims 1 to 5, wherein said first endless annular member comprises a belt. an input unit provided in the housing and configured to receive the driving force;
further comprising a first one-way clutch,
8. The drive unit according to any one of claims 1 to 7, wherein said first one-way clutch is arranged in said driving force transmission path between said input portion and said output portion. further comprising an input rotary shaft provided in the housing and to which a human power driving force is input;
9. The drive unit according to claim 1, wherein an input rotation center axis of said input rotation shaft is provided coaxially with an output rotation center axis of said output section. at least part of the input rotary shaft is accommodated in the housing,
10. The drive unit according to claim 9, wherein at least part of said input rotary shaft accommodated in said housing has a length of 50 mm or more and 70 mm or less in the axial direction of said input rotary shaft. Further equipped with a second one-way clutch,
11. The drive unit according to claim 9, wherein said second one-way clutch is provided between said input rotary shaft and said output portion in said transmission path of said manpower driving force.

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