JP3031939B2 - Torque fluctuation absorption coupling - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a torque fluctuation absorbing coupling capable of absorbing a torque fluctuation caused by torsional vibration or the like.

2. Description of the Related Art A power transmission system of a motor, particularly a diesel engine, a vibration sieving machine, or the like that generates torque fluctuations and torsional vibrations associated therewith is often provided with a torsional vibration absorbing damper.

Such a damper absorbs vibration energy by frictional force due to rubbing between members, absorbs oil by scratching or the like by fluid resistance, or absorbs by internal friction of rubber, and converts this into thermal energy. Is generally used.

However, a damper using such a method usually has a large size and occupies a considerable space, has a complicated system, and has a problem in durability due to aging when rubber or the like is used.

On the other hand, a flexible coupling using an ordinary rubber ring or the like is small in size and does not require an extra space, but cannot absorb large torque fluctuations and torsional vibration.

SUMMARY OF THE INVENTION The present invention solves the above-mentioned problems in the prior art, and the invention of claim 1 is a durable torque fluctuation absorbing coupling having a simple structure, small size, capable of absorbing a large fluctuation torque and durable. An object of the present invention is to provide a power transmission device that transmits power in one rotation direction. In addition to the above, a torque fluctuation absorbing coupling capable of transmitting power also in a reverse rotation direction is provided. The task is to provide

Means for Solving the Problems In order to solve the above-mentioned problems, the present invention provides a torque fluctuation absorbing coupling according to claim 1, wherein an inner rotating body, an outer rotating body, an intermediate rotating body, an urging means, , A power transmission rotator, and wherein the inner rotator is 1
Equipped with an inner orbital surface that forms a single-plane rotation hyperboloid around the axis,
The outer rotating body includes an outer raceway surface that forms a single-plane rotation hyperboloid around the same axis as the axis, and the inner raceway surface and the outer raceway surface face each other to form a raceway. A plurality of rolling surfaces having a cylindrical shape, a plurality of central axes of the intermediate rotating body being inclined at a predetermined angle from a cross section including the axis in the track, and being disposed in a circumferential direction of the track, a surface of the intermediate rotating body; Is in linear contact with the inner raceway surface and the outer raceway surface, and the power transmission rotator is provided on one end of the outer rotator and on one end of the inner rotator from the inner rotator. Is attached so as to be rotatable relative to the inner rotating body at a fixed position in the axial direction with respect to the inner rotating body, and is coupled to the outer rotating body by torque transmitting means for transmitting torque between the inner rotating body and the outer rotating body. , The urging means comprises: The outer rotating body is provided between the outer rotating body and the outer rotating body, and urges the outer rotating body in the axial direction and in a direction to narrow the interval between the tracks, and the inner rotating body or the outer rotating body is The torque fluctuation absorbing coupling according to claim 2, further comprising an annular portion that stops the movement of the intermediate rotating body in the axial direction in a direction in which the interval between the tracks is increased. At least one set of the components is disposed opposite to each other in the one axial direction with the absorption coupling as a component, and the power transmission rotators of the two components are connected to each other, and the inner rotator of the two components is provided. Are drivingly connected to an input shaft or an output shaft of a power transmission system. In the invention according to claim 1, by the configuration as described above,
For example, when the driving side of the power transmission system is connected to the inner rotating body, the load side is connected to the power transmitting rotating body, and the inner rotating body is rotated in one predetermined direction, the inclined intermediate rotating body comes into contact with the inner rotating body. The outer rotator, which is in line contact with the intermediate rotator, is guided by the intermediate rotator and is guided by the intermediate rotator while maintaining the line while maintaining the line. At the same time as moving in the narrowing direction, a relative twist angle is generated between the inner rotating body and the inner rotating body. The intermediate rotating body is locked by the wedge action in the track, and the torque corresponding to the advance amount or the twisting angle is rotated from the inner rotating body to the outer rotating body. It is transmitted to the load side via the body and the power transmission rotating body.

Next, when the relative torsion angle of the inner rotating body decreases due to torsional vibration or the like, the transmission torque decreases by a more rapid change amount than when the wedge is pulled out. As a result,
When the torque increases, the strain energy due to the increase in the torsion angle stored in the coupling is only partially returned to the power transmission system when the torque decreases, and large energy generated by vibration or the like is absorbed by the coupling.

According to the second aspect of the present invention, the components that are the torque fluctuation absorbing couplings that perform the above-described operation are provided opposite to each other, so that the components opposed to each other when the power transmission system rotates in either the forward or reverse direction. The above-described components perform the above-described operation for forward rotation or reverse rotation, respectively, and the torque fluctuation absorbing coupling can transmit torque while absorbing torsional vibration and the like in any rotational direction.

FIG. 1 is a sectional view showing an example of a torque fluctuation absorbing coupling of the present invention, FIG. 2 is a perspective view of the coupling, and FIG. 3 is a perspective view of an intermediate rotating body.

First, the structure of the present coupling will be described with reference to these drawings.

An inner race 1 which is an example of an inner rotating body is mounted on a shaft 4 on an input side or an output side by, for example, a key 5, and a raceway is provided between the inner race 1 and an outer race 2 which is an example of an outer rotating body provided opposite thereto. 9 are formed.

As shown in FIG. 3, a large number of rollers 3 as an example of the intermediate rotating body are arranged in the track 9 at an angle β, for example, about 15 °, with respect to a cross section including the central axis 6 of the inner ring 1 which is one axis. Is established.

On one end side of the outer ring 2 and on one end side of the inner ring 1, a radial load and a preload spring 7 on the input side or the output side (FIG. 6)
13 as a bearing subjected to thrust load due to
A housing 14 is provided as an example of a power transmission rotating body that transmits torque through the housing 14. The housing 14 is rotatably attached to the inner ring 1 at a constant axial position by bearings 13. The housing 14 includes a torque transmission pin 15 and an involute spline 16 (FIG. 6).
Alternatively, they are coupled so as to rotate integrally with the outer race 2 by a torque transmitting means such as a ball spline (not shown). The housing 14 is provided with a flange portion 14a so that the input side or the output side can be connected.

A coil spring or a disc spring 7 (FIG. 6), which is a preload spring as an urging means, is provided between the housing 14 and the outer ring 2 to apply a preload to the outer ring 2. The direction of the preload is a direction in which the interval between the tracks 9 is reduced, that is, from left to right in the drawing.

Further, the inner ring 1 is provided with a collar 10 as an annular portion for stopping the movement of the roller 3 in the axial direction. This is to stop the advance when the inner ring 1 rotates in the direction in which torque is not transmitted and the roller 3 advances in the direction to increase the interval between the tracks 9.

In FIG. 3, the rollers 3 are arranged on the inner race 1 at an angle β from the cross section including the central axis 6, and the positions of the rollers are held by retainers 11 so as not to contact each other. In this way, the adjacent rollers that rotate in the same direction do not collide with each other at tangential velocities in opposite directions, and the rotation and revolution of the roller 3 become smooth.

With the above structure, for example, when the shaft 4 rotates clockwise (direction of arrow A) as viewed from the left side in FIG. 2 as an input shaft and rotates the inner race 1 in the same direction (direction A), the rollers 3
Is guided by the inner ring raceway surface 1a, climbs upward while rotating in the counterclockwise direction (direction B), and proceeds rightward in the figure. Since the movement of the roller 3 proceeds to the left with respect to the outer ring raceway surface 2a, the outer ring 2 is guided by the roller 3 guided to the inner ring raceway surface 1a side and the preload spring 7
Moves rightward, which is a direction to narrow the interval between the orbits 9. As a result, the roller 3 is locked between the inner and outer wheels by the wedge action, and the torque from the input shaft 4 is transmitted to the housing 14 on the output side via the transmission pin 15. The roller 3 is guided on the inner ring raceway surface 1a side.
This is because the protrusions come into contact with each other during this time, and the contact surface pressure becomes higher than the contact between the protrusions of the rollers 3 and the recesses of the outer raceway surface 2a.

The function of this coupling is the same as that of the tapered screw shown in FIG. 4 (a). When the shaft 4 is rotated in the direction of arrow A as shown in FIG. The outer ring advances in the direction of arrow C via the roller 3 by the same action as the screw, and the outer ring 2 and the shaft 4 are locked by the principle of tightening the screw. In this case, the lead angle theta and the taper angle theta ₁ in tapered screw, in this coupling corresponds to the torsion lead angle theta '(corresponding to the inclination angle of the roller 3 beta) and contact angle theta' _1.

When the shaft 4 is reversed (in the direction opposite to the arrow A in FIG. 2) or when the torsional angle of the inner and outer rings is instantaneously returned due to torsional vibration, torque fluctuation, etc., and the locked state is loosened, the operation is the opposite of the above. That is, due to the reversal of the shaft 4, the roller 3 also moves in the opposite direction to move the outer ring 2 in the direction of expanding the track 9 against the biasing force of the preload spring 7, and does the inner and outer rings rotate freely in the opposite directions. Or, the lock state is loosened and the transmission torque is reduced to rotate in the same direction.

FIG. 5 is a diagram showing the operating characteristics of such a coupling.

In this figure, for the sake of simplicity, it is assumed that the preload spring 7 only plays the outer ring 2 and does not contribute to torque transmission between the inner and outer rings.

The X axis indicates the axial displacement δ or the lock operating angle α of the outer ring 2, that is, the relative torsion angle between the inner ring 1 and the outer ring 2, and the Y axis indicates the inner and outer rings corresponding to the respective δ or α values. And thus the value of the torque T transmitted between the shaft 4 and the housing 14. In this case, since the inner ring 1 and the outer ring 2 move as tapered screws, the displacement δ and the torsion angle α have a linear proportional relationship.

A curve a shows a state in which the torque is increased when the shaft 4 and thus the inner race 1 are rotated in the direction of arrow A in FIG. 2, that is, in the locking direction. This torque is generated by the outer ring 2 being relatively twisted relative to the inner ring 1 and proceeding in a direction in which the track interval is narrowed, and the roller 3 is sandwiched between the inner and outer rings to perform a wedge action. This is the torque transmitted between the wheels.

When the track interval becomes narrow in proportion to the displacement δ, the outer ring 2 mainly expands and the contact portion of the roller 3 that contacts the inner and outer rings is deformed. The force for deforming the outer race 2 corresponds to the internal pressure for expanding the track interval, and thus is generated in proportion to the track interval. On the other hand, the force for locally deforming the roller 3 increases two-dimensionally because the contact surface increases as the track interval decreases. Since the displacement δ and thus the torsion angle α are absorbed by the generation of these two forces, the relationship between the torsion angle α and the torque T becomes almost quadratic, and T = C ₁ α ² + C ₂ α (C ₁ , C ₂ is a constant).

As can be seen from this equation, the torque T has the characteristics of a non-linear torsion spring, rises softly due to a large angular displacement against a sudden increase in input torque, absorbs impact torque, and then transmits large torque. I do.

P ₁ represents the point of rated torque transmitted in FIG.

Curve B, the axis 4 from a state in which to transmit the rated torque T ₁
Accordingly, a state in which the inner ring 1 returns to the reverse rotation side (the direction opposite to the arrow A in FIG. 2) is shown. In this case, if the axial displacement δ or the relative torsion angle α becomes slightly smaller due to the wedge disengagement, the transmission torque T sharply decreases with a larger inclination than when increasing it (FIG. P ₁ to P ₂ curved portion) of, will be reduced gradually thereafter until point P _3.

This is because when applying torque, it is necessary to apply a pushing force against the slope reaction force in the wedge action, whereas when removing torque, the slope reaction force reduces the pulling force. Because it works.

Point P _{3 in} this case indicates hysteresis, and the slip ratio α ₃ / α
₁ produces a slight residual displacement of 2-3%. Such a residual displacement occurs when the torque is turned on and off, but the lock position between the inner and outer races and the roller at that time is different each time, and the self-aligning action of the roller 3 causes practically no problem at all. No.
The above characteristics of the present coupling can be theoretically derived by the wedge theory, but have been confirmed experimentally.

As a result, when torque fluctuation or torsional vibration occurs in the power transmission system, δ and α change between the portions corresponding to the magnitude of the fluctuating torque among the portions surrounded by the curves A and B. It will absorb torque fluctuations.

For example go by adding torque to the rated torque according to curve b from P ₀ to P _1, the case of removing the torque in accordance with curve B from P ₁ until P ₀ is the coupling with the addition side of the torque
P ₀ - curve b -P ₁ strain energy corresponding to the area surrounded by the-.alpha. ₁ -P ₀ is stored in the torque removal side, P of the strain energy ₀ - curve B -P ₁ -α ₁ -P Energy corresponding to the area surrounded by ₀ is returned from the coupling to the power system, and eventually energy corresponding to the area surrounded by curves A and B is absorbed by the coupling.

Also, for example, if the coupling is operating with a torque P ₁ ′ below the rated point and the torque fluctuates to P ₂ ′ due to torsional vibration or the like and returns to P ₁ ′ again, during this time, P ₁ ′ −P ₂ '-
Energy corresponding to the area enclosed by P ₁ ″ −P ₁ ′ is absorbed by the coupling.

Such an operation is performed smoothly, and a large amount of energy is absorbed by the coupling in each cycle of the torsional vibration and the torque fluctuation.

Further, as a device having a non-linear spring characteristic, a combination of a torsion bar 31 and a shock-absorber 32 having a structure and performance shown in FIGS. Although there is a combination of a spring 34 and a shock absorber 32 and the like, the present torque fluctuation absorbing coupling has a smaller size and a simpler rolling bearing structure than these devices, and can obtain similar characteristics.

FIG. 6 shows another embodiment of the present invention. In this embodiment, an involute spline 16 is used as the torque transmitting means instead of the torque transmitting pin 15 shown in FIG.

 FIG. 7 shows an embodiment of the second aspect of the present invention.

The structure is the same as the coupling shown in FIG. 6, but such structures 17, 17 'are provided as a pair facing each other in the direction of the central axis 6, and the housing
The components 17, 17 'are connected by connecting them with bolts 19 so that the members 14 and 14' can be integrally rotated.

The input shaft or the output shaft of the power transmission system is connected to the opposed inner races 1 and 1 'by shaft fixing flanges 20, respectively.
A mounting flange 21 is provided on the housing 14 ', and an output shaft or an input shaft is connected to the mounting flange 21.

Of course, a torque transmitting means such as a torque transmitting pin 15 or a ball spline may be used instead of the involute spline 16.

According to such a coupling, the action shown in FIG. 5 is performed in each of the forward and reverse rotation directions, so that the present coupling can be used for a power system that rotates in both directions.

FIG. 8 shows an example of an operation state of the present coupling. In this case, as in the case of FIG. 5, it is assumed that the preload spring 7 does not contribute to the transmission of torque.

From a state in which the structure 17 and 17 'are both initial position of the point P ₀ is rotated in the forward side torque added, for example, structure 17 side is
When going to increase the torque according to curve b from P ₀ points P ₁ point, the structure 17 'of the outer ring 2 does not transmit torque while maintaining the position of the point P ₀ by the force of the preload spring 7 And rotate freely. That is, the torque is transmitted from the input side to the output side while absorbing the fluctuating torque only on the component 17 side.

When the coupling is rotated in the reverse direction and torque is applied to the reverse direction, the operation is the reverse of the above, and the structure 1
7 'side curve b' transmit torque accordingly the structure 17 side outer ring rotates freely in P ₀ point.

Next, the shape of the inner and outer raceway surfaces 1a and 2a required for the roller 3 to make line contact with the inner race 1 and the outer race 2 will be described.

FIG. 9 to FIG. 11 are explanatory diagrams for obtaining these, and show a case where the roller 3 is a cylindrical roller.

First, FIG. 9 shows the roller 3 in the XYZ coordinates,
FIG. 9 is a perspective view showing a state where the center axis 3a is located at a distance F from the origin O on the Y axis, passes through the Y axis, is parallel to the XZ plane, and is inclined at an angle β with respect to the XY plane. in this case,
The X axis indicates a common central axis 6 of the inner and outer rings 1 and 2. And
The cross section 3b of the roller 3 is a cross section obtained by cutting the roller 3 at a position at an arbitrary distance x on the X axis and a plane parallel to the YZ plane, and points Uc and U '
c is the X-axis and X-axis, respectively, from the center Pc of the roller 3 on that surface.
-The intersection of the perpendicular drawn down on the Z plane with the X axis and the XY plane. In this case, a line 3a 'passing through the origin O and U'c is a line obtained by projecting the central axis 3a of the roller onto the XZ plane, and forms an angle β with the X axis. As is clear from this figure, since ▲ ▼ = x tanβ ▲ ▼ = F, if the distance from the central axis 6 to the center Pc of the roller 3 is ▲ ▼ = yc, then yc ² = F ² + ( xtanβ) ² Therefore, yc ² / F ² −x ² / (F / tanβ) ² = 1 (1) Since equation (1) is an equation showing a hyperbola, the axis of the roller 3, that is, the inner and outer rings 1, The center line of the axial path formed by 2 is hyperbolic with respect to the center axis 6.

FIG. 10 is a view for explaining a state in which the inner and outer rings 1 and 2 come into contact with the rollers 3 arranged as described above.

Let Q be the intersection of the X axis with a plane passing through the center point Pc of the roller 3 and perpendicular to the axis 3a of the roller 3. Consider the spheres Si and So inscribed and circumscribed around the roller 3 around this Q point (No.
In FIG. 10, the circumscribed sphere So is shown), and the contact points Pi and Po between the roller 3 and the spheres Si and So are on the perpendicular ▲ ▼, and Pc
The positions are separated from the point by the radius r of the roller 3.
Therefore, if ▼ = R, the radii of the spheres Si and So are R−r and R + r, respectively.

Let Ui and Uo be the intersections between the plane passing through points Pi and Po and parallel to the YZ plane and the X axis, respectively (see FIG. 11).
▼ and ▲ ▼ indicate the distance from the point Pi and the point Po to the X-axis, respectively, and the distance ▲ ▼ and ▲ from the origin O
▼ indicates the coordinates of the points Pi and Po on the X axis, respectively. Therefore, ▲ ▼ = xi, ▲ ▼ = xo, ▲
If ▼ = yi and PoUo = yo, the relations between xi and yi and xo and yo are expressed by equations F (xi, yi) and F (xo, yo) representing the curved surface shapes of the raceway surfaces 1a and 2a of the inner and outer rings, respectively. Become.

FIG. 11 is an enlarged view of a related portion for obtaining this relationship.

▼ indicating R is perpendicular to axis 3a and point U ′
Since c is the point at which the perpendicular from the point Pc to the XZ plane intersects the same plane, ▲ is perpendicular to the axis 3a '. Therefore, ▲ ▼ = (x / cosβ) / cosβ = x / cos ² β R ² = F ² + ｛(x / cos ² β) sin β｝ ² = F ² + x ² tan ² β / cos ² β Then ∠QPcUc = Φ, ΔQPcUc is a right triangle, so Becomes On the other hand, since ▲ ▼ = ▲ ▼ = r and ΔQPiUi and ΔQPoUo are both similar to ΔQPcUc, Becomes Then, from these equations, the relational expression F (xi, yi),
F (xo, yo) is Becomes These formulas represent the curved surface shapes of the inner and outer raceway surfaces 1a and 2a, but cannot exhibit characteristics higher than quadratic curved surfaces. Where (xi-x), (yi-y) and (xo-x)
When the respective ratios of (yo-yc) and (yo-yc) are obtained, from equations (2) to (5), And the relationship between x and yc is hyperbolic from equation (1),
And, since tan ² β is a constant in the above equation, the relationship between xi and yi and the relationship between xo and yo are hyperbolic, and therefore the inner and outer raceway surfaces
1a and 2a are single-leaf hyperboloids around a common central axis 6.

For example, the inner and outer raceways are respectively hyperbolic formulas yi ² / ai ² −xi ² / bi ² = 1 yo ² / ao ² −xo ² / bo ² = 1, F = 9, r = 1.5, β = 15 ° When actually calculated as, the values of ai, bi, ao, bo are about 7.5 and 30, respectively.
7, 10.5, and 36.2, and the inner and outer raceway surfaces are given as a single leaf rotation hyperboloid.

In the above description, the case where the rolling surface of the roller 3 has a cylindrical shape has been described, but this can be made into a conical shape, a drum shape, or a drum shape. Also in these cases, the inner and outer rings and the roller 3 are brought into line contact. For this reason, when the roller 3 is formed into a conical shape, since the generatrix of the conical rollers is a straight line, the inner and outer raceway surfaces are formed into short-leaf hyperboloids as in the case of the cylindrical rollers. When the surface of the roller is formed into a drum shape in which a part of an ellipse is rotated around an outer axis, the inner ring is formed in a cylindrical shape, and the outer ring is formed by a curved surface obtained by combining a spheroidal surface and a hyperboloid of revolution. When the surface of the roller is formed into a drum shape in which a part of an ellipse is rotated about its central axis, the inner ring is a composite curved surface of a spheroid and a hyperboloid, and the outer ring is a cylindrical shape.

Effects As described above, according to the present invention, in the first aspect of the present invention, a track is formed between the inner rotating body and the outer rotating body, and the intermediate rotating body is disposed so as to be in line with the track. However, by utilizing the action of the taper screw generated between them, in a power transmission system rotating in one direction, it is possible to absorb a large fluctuating torque by a coupling having a small size and a simple structure similar to a rolling bearing. it can.

According to the second aspect of the present invention, at least one set of the components including the rotating body and the like is disposed so as to face each other to form a coupling, so that the component rotates in either the forward or reverse direction. The above effects can be obtained in the power transmission system.

[Brief description of the drawings]

FIG. 1 is a sectional view of a torque fluctuation absorbing coupling of the present invention, FIGS. 2 and 3 are perspective views of main parts thereof, FIGS. 4 (a) and 4 (b) are explanatory views of a taper screw operation, and FIGS. FIG. 5 is a torque characteristic curve diagram, FIGS. 6 and 7 are sectional views of a torque fluctuation absorbing coupling of another embodiment, FIG. 8 is a torque characteristic curve diagram of the coupling of the embodiment of FIG. 9 to 11 are explanatory diagrams for obtaining the raceway surface shape, and FIGS. 12 (a) to 12 (f) are diagrams showing the structure and performance of a conventional device having a non-linear spring characteristic. DESCRIPTION OF SYMBOLS 1 ... Inner ring (inner rotating body) 1a ... Inner ring raceway surface (inner raceway surface) 2 ... Outer ring (outer rotating body) 2a ... Outer ring raceway surface (outer raceway surface) 3 ... Roller (intermediate rotating body) 6 … Central shaft (1 axis) 7… Bellet spring or coil spring (biasing means) 9… Track 10… Flange (annular portion) 13… Bearing (bearing) 14… Housing (power transmission rotating body) 15 ... Torque transmission pin (torque transmission means) 16 ... Involute spline (torque transmission means)

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int.Cl. ⁷ , DB name) F16D 3/12-3/14 F16D 7/02 F16F 15/10 F16D 41/06-41/07

Claims (2)

(57) [Claims] 1. An inner rotating body, an outer rotating body, an intermediate rotating body, an urging means, and a power transmitting rotating body, wherein the inner rotating body forms a single-plane rotating hyperboloid about one axis. An inner raceway surface, the outer rotating body includes an outer raceway surface that forms a single-plane rotational hyperboloid around the same axis as the axis, and the inner raceway surface and the outer raceway surface face each other to form a raceway. The intermediate rotating body, the rolling surface is cylindrical, the central axis of the intermediate rotating body in the track is inclined at a fixed angle from a cross-section including the axis, a plurality of disposed in the circumferential direction of the track, The surface of the intermediate rotator linearly contacts the inner raceway surface and the outer raceway surface, and the power transmission rotator is on one end of the outer rotator and on one end of the inner rotator. The inner rotating body is axially aligned with the inner rotating body via a bearing from the inner rotating body. The power transmission rotator and the power transmission rotator are attached to the outer rotator by torque transmission means for transmitting torque between the rotator and the outer rotator. Between the outer rotator and the outer rotator, and urges the outer rotator in the axial direction and in a direction to reduce the interval between the trajectories; A torque fluctuation absorbing coupling, comprising: an annular portion for stopping the movement of the intermediate rotating body in the axial direction in a direction in which the interval is increased. 2. A structure having an inner rotating body, an outer rotating body, an intermediate rotating body, an urging means, and a power transmitting rotating body, wherein the inner rotating body is a single leaf rotating about one axis. An inner raceway surface that forms a hyperboloid, the outer rotating body includes an outer raceway surface that forms a single-plane rotational hyperboloid around the same axis as the axis, and the inner raceway surface and the outer raceway surface face each other. Forming a track, the intermediate rotating body has a cylindrical rolling surface, and the central axis of the intermediate rotating body in the track is inclined at a predetermined angle from a cross section including the axis, and a plurality of the rotating bodies are arranged in a circumferential direction of the track. Disposed, the surface of the intermediate rotating body is in linear contact with the inner raceway surface and the outer raceway surface, and the power transmission rotating body is located at one end of the outer rotating body and is formed of the inner rotating body. On one end side, from the inner rotating body to the inner rotating body via a bearing The outer rotating body is attached to the outer rotating body by torque transmitting means for transmitting a torque between the outer rotating body and the outer rotating body. The outer rotating body is provided between the power transmitting rotating body and the outer rotating body, and urges the outer rotating body in the axial direction and in a direction to reduce the interval between the orbits; The rotating body includes an annular portion that stops the movement of the intermediate rotating body in the axial direction in a direction to widen the interval of the track. At least one set of components is disposed so as to face each other in the one axial direction. A torque fluctuation absorbing coupling, wherein the power transmission rotators of both components are connected to each other, and the inner rotary members of both components are both drivingly connected to the input shaft or the output shaft of the power transmission system. .