JP6682939B2 - Driving force transmission device - Google Patents

Description

  The present invention relates to a so-called pulse drive type driving force transmission device that intermittently transmits the driving force of an input shaft to an output shaft.

  2. Description of the Related Art Conventionally, a driving force transmission device has been used that changes the angular velocity (rotational speed) or torque of an input shaft to intermittently transmit it to the output shaft. For example, Patent Document 1 discloses a so-called pulse drive type driving force transmission device.

  As shown in FIG. 15, in the transmission device 100, an elastic member 104 is arranged around the output shaft 102. One end of the elastic member 104 is connected to the output shaft 102, and the other end is connected to a vibrator 106 that serves as a weight (mass). The oscillator 106 freely moves (vibrates) around the output shaft 102 as the elastic member 104 expands and contracts. The oscillator 106 is engaged with the input shaft 108 by the clutch 110 at a predetermined timing, for example, when the angular velocity of the oscillator 106 becomes equal to the rotational speed of the input shaft 108. During this engagement period, the elastic member 104 is stretched (or contracted) to accumulate elastic energy. After that, the oscillator 106, which is disengaged from the input shaft 108, is further fixed by the brake 112 at a predetermined timing, for example, at a timing when the angular velocity of the oscillator 106 becomes zero. At this time, torque is transmitted to the output shaft 102 by the elastic member 104 biasing the output shaft 102. In this way, the torque is transmitted from the input shaft 108 to the output shaft 102 via the elastic energy.

JP, 2005-135179, A

  By the way, when the elastic member is connected to the output shaft, the vibration of the elastic member and the vibrator attached to the end thereof is directly transmitted to the output shaft. If the elastic member and a resonance member having a natural frequency close to that of the vibrator are attached to the output shaft, the vibration may be amplified. Therefore, an object of the present invention is to provide a driving force transmission device capable of suppressing vibration transmission of an elastic member and a vibrator to an input shaft and an output shaft more than ever before.

  A driving force transmission device according to the present invention includes a rotating input shaft, an output shaft rotatable in the same direction or a reverse direction to the input shaft, and a transmission member provided between the input shaft and the output shaft. Prepare The transmission member includes a vibrator that can reciprocally rotate along the rotation direction of the input shaft and the output shaft, an elastic member having one end fixed and the other end connected to the vibrator, the vibrator, and the vibrator. An input side clutch that can engage the input shaft, and an output side clutch that can engage the oscillator and the output shaft are provided.

  In addition, a driving force transmission device according to another example of the present invention includes an input shaft and an output shaft that translate and translate, and a transmission member that is provided between the input shaft and the output shaft. The transmission member includes a vibrator capable of reciprocating and linearly moving along the traveling direction of the input shaft and the output shaft, an elastic member having one end fixed and the other end connected to the vibrator, the vibrator and the input. An input side clutch capable of engaging the shaft, and an output side clutch capable of engaging the vibrator and the output shaft are provided.

  Further, in the above invention, preferably, a control unit for controlling engagement and disengagement operation of the input side clutch is provided. The control unit actuates the input side clutch to engage the oscillator and the input shaft when the speed difference between the input shaft and the oscillator is less than or equal to a predetermined value.

  Further, in the above invention, preferably, the output side clutch is controlled in engagement and disengagement operation by the control unit. The control unit actuates the output side clutch to engage the oscillator and the output shaft when the speed difference between the output shaft and the oscillator is less than or equal to a predetermined value.

  According to the present invention, the input shaft and the output shaft can be separated from the elastic member and the vibrator by the clutch. Therefore, it becomes possible to suppress the vibration transmission of the elastic member and the vibrator to the input shaft and the output shaft more than ever before.

It is a perspective view which illustrates the driving force transmission device concerning this embodiment. It is a schematic diagram explaining operation | movement (phase 1) of the driving force transmission apparatus which concerns on this embodiment. It is a schematic diagram explaining operation | movement (phase 2) of the driving force transmission apparatus which concerns on this embodiment. It is a schematic diagram explaining operation | movement (phase 3) of the driving force transmission apparatus which concerns on this embodiment. It is a schematic diagram explaining operation | movement (phase 4) of the driving force transmission apparatus which concerns on this embodiment. It is a figure which illustrates the torque transmission process (deceleration transmission) by the driving force transmission apparatus which concerns on a prior art. 7 is a graph that analyzes vibration generated in the output shaft during the torque transmission process of FIG. 6. It is a figure which illustrates the torque transmission process (deceleration transmission) by the driving force transmission apparatus which concerns on this embodiment. 9 is a graph that analyzes vibration generated in the output shaft during the torque transmission process of FIG. 8. It is a figure which illustrates the torque transmission process (acceleration transmission) by the driving force transmission apparatus which concerns on this embodiment. 11 is a graph that analyzes vibration generated in the output shaft during the torque transmission process of FIG. 10. It is a figure which illustrates the torque transmission process (reverse transmission) by the driving force transmission apparatus which concerns on this embodiment. 13 is a graph that analyzes vibration generated in the output shaft during the torque transmission process of FIG. 12. It is a figure which illustrates the driving force transmission device which concerns on another example of this embodiment. It is a figure which illustrates the driving force transmission device concerning a prior art.

  FIG. 1 shows a schematic diagram of a driving force transmission device 10 according to the present embodiment. The driving force transmission device 10 includes an input shaft 12, an output shaft 14, a transmission member 16, a control unit 19, and speed sensors 21A, 21B, 21C. The driving force transmission device 10 is used, for example, as a transmission unit when transmitting a driving force from a driving source such as an internal combustion engine of a vehicle to driving wheels.

  The input shaft 12 is rotationally driven by a drive source (not shown) such as an internal combustion engine. The output shaft 14 is provided so as to be separated from the input shaft 12, and is provided coaxially with the input shaft 12. The output shaft 14 is configured to be rotatable in the same direction as the input shaft 12 or in the opposite direction. For example, the rotation direction is restricted by a bearing or the like not shown.

  The transmission member 16 is provided between the input shaft 12 and the output shaft 14, and transmits the driving force of the input shaft 12 to the output shaft 14 via the elastic member 18. The transmission member 16 includes an elastic member 18, a vibrator 20, an input side clutch 22 and an output side clutch 24.

  One end of the elastic member 18 is fixed to a fixing portion 23 such as a casing, and the other end is connected to the vibrator 20. The elastic member 18 may be composed of, for example, a coil spring, and one end along the length direction is fixed to the fixing portion 23, and the other end is connected to the vibrator 20.

  The vibration cycle of the elastic member 18 is preferably formed to be shorter than the maximum rotation cycle of the drive source. For example, when the drive source is an internal combustion engine and the maximum rotation speed (maximum allowable rotation speed) is 6000 rpm (= 100 Hz), it is preferable to provide the elastic member 18 having a natural frequency higher than 100 Hz. This makes it possible to transmit the driving force to the output shaft 14 multiple times during one rotation of the input shaft 12, as will be described later.

  The vibrator 20 is connected to the elastic member 18 and is periodically moved as the elastic member 18 expands and contracts. The oscillator 20 has its movement direction restricted by a bearing or the like (not shown). Specifically, the vibrator 20 is reciprocally rotatable along the rotation directions of the input shaft 12 and the output shaft 14. That is, as will be described later, the vibrator 20 is reciprocally rotated in the same direction as the input shaft 12 and in the opposite direction as the elastic member 18 expands and contracts. The vibrator 20 may be a transmission shaft that is made of a rigid material such as metal, and that is arranged coaxially with the input shaft 12 and the output shaft 14.

  The input side clutch 22 is an engagement means capable of engaging the vibrator 20 and the input shaft 12. The input side clutch 22 is configured to enable engagement / disengagement of the vibrator 20 and the input shaft 12 at high speed. For example, it is preferable that the engagement / disengagement can be performed in a cycle shorter than the frequency of the elastic member 18. From this, the input side clutch 22 is composed of, for example, an electromagnetic clutch that performs the engagement / disengagement operation by intermittently supplying electric power to the electromagnet. Alternatively, the input side clutch 22 may be a one-way clutch.

  The output side clutch 24 is an engagement means capable of engaging the vibrator 20 and the output shaft 14. Similar to the input side clutch 22, the output side clutch 24 is also configured to be capable of engaging / disengaging the vibrator 20 at high speed. The output side clutch 24 is composed of, for example, an electromagnetic brake that performs a fixing / disengaging operation with intermittent electric power to the electromagnet.

  As described above, in this embodiment, the input shaft 12 and the output shaft 14 can be separated from the elastic member 18 via the input side clutch 22 and the output side clutch 24. Therefore, it is possible to suppress the vibration transmission of the elastic member 18 and the vibrator 20 to the input shaft 12 and the output shaft 14 as compared with the conventional driving force transmission device.

  The driving force transmission device 10 according to the present embodiment has a symmetrical structure when viewed from the input side and when viewed from the output side. Therefore, the deceleration driving from the input side can be regarded as the speed-up regeneration viewed from the output side.

  The speed sensor 21A measures the rotation speed (angular speed) of the input shaft 12. The speed sensor 21B measures the rotation speed of the vibrator 20. The speed sensor 21C measures the rotation speed (angular speed) of the output shaft 14. These speed sensors 21A, 21B, 21C transmit the measured rotation speed to the control unit 19.

  The control unit 19 controls the operation of the input side clutch 22 and the output side clutch 24 according to the rotation speeds of the input shaft 12, the oscillator 20, and the output shaft 14. The control unit 19 may be a computer, and the computer may be a computer in which an operation control program for the input side clutch 22 and the output side clutch 24 described later is stored, or an embedded computer. The control unit 19 also includes an input interface that receives the rotational speeds of the input shaft 12, the vibrator 20, and the output shaft 14 that are respectively sent from the speed sensors 21A, 21B, and 21C.

  The control unit 19 controls the input side clutch 22 and the output side clutch 24 by outputting a predetermined control signal. That is, the control unit 19 can control the engagement / disengagement of the vibrator 20 and the input shaft 12 by controlling the input side clutch 22. Further, the control unit 19 can control the engagement / disengagement of the vibrator 20 and the output shaft 14 by controlling the output side clutch 24.

  Next, a torque (driving force) transmission process by the driving force transmission device 10 according to the present embodiment will be described with reference to FIGS. 2 to 5. 2 to 5, the driving force transmission device 10 is illustrated as a simple diagram for simplification of the illustration.

  As an initial condition, it is assumed that the input shaft 12 and the output shaft 14 are in a rotating state. In the examples of FIGS. 2 to 5, the input shaft 12 and the output shaft 14 rotate in the same direction. Further, the elastic member 18 is biased in advance, so that the vibrator 20 is reciprocally rotated coaxially with the input shaft 12 and the output shaft 14.

  FIG. 2 shows the transducer 20 in the open position, with neither the input shaft 12 nor the output shaft 14 engaged. At this time, the vibrator 20 is reciprocally rotated coaxially with the input shaft 12 and the output shaft 14 as the elastic member 18 expands and contracts (phase 1).

  FIG. 3 shows a state where the input side clutch 22 engages the input shaft 12 and the vibrator 20 (phase 2). At this time, the elastic member 18 is expanded (or contracted) by the input shaft 12, and elastic energy of the elastic member 18 is accumulated. That is, the drive energy of the input shaft 12 is converted into the elastic energy of the elastic member 18.

  It should be noted that when the phase 1 shifts to the phase 2, the input side clutch 22 engages the input shaft 12 and the oscillator 20 in synchronization with the reciprocating cycle of the oscillator 20. That is, the driving force of the input shaft 12 is transmitted to the vibrator 20 in synchronization with the vibration cycle of the elastic member 18.

  By transmitting the driving force in synchronization with the vibration cycle of the elastic member 18, the driving force can be transmitted independently of the rotation cycle of the input shaft 12. Furthermore, by using the elastic member 18 whose vibration cycle is shorter than the maximum rotation cycle of the drive source, it becomes possible to transmit the driving force a plurality of times during one rotation of the input shaft 12. In addition, although the driving force is transmitted intermittently, this intermittent transmission is performed at high speed (high frequency), so that smooth driving force transmission such as PWM control becomes possible.

  Further, it is preferable to switch both the input side clutch 22 and the vibrator 20 from the disengaged state to the engaged state when the speed difference between the input side clutch 22 and the vibrator 20 is less than or equal to a predetermined value when shifting from phase 1 to phase 2. For example, when one speed is 80% or more and 120% or less of the other speed, both are engaged. The rotation speed of the input shaft 12 can be acquired from the speed sensor 21A, and the rotation speed of the vibrator 20 can be acquired from the speed sensor 21B. The control unit 19 sequentially calculates these speed differences and outputs an engagement command to the input side clutch 22 when the difference becomes equal to or less than a predetermined value. In this way, by engaging the input shaft 12 and the vibrator 20 in a state where the speed difference is small, loss due to slippage at the time of engagement is suppressed.

  More preferably, when the vibrator 20 and the input shaft 12 have the same angular velocity, they are engaged with each other. The angular velocity of the oscillator 20 changes according to the elastic energy of the elastic member 18, and the angular velocity of the input shaft 12 and the oscillator 20 is changed twice in one cycle in which the oscillator 20 vibrates, excluding the extreme value of the angular velocity. Will be equal. The input side clutch 22 engages the input shaft 12 and the vibrator 20 at any one of the two timings. By engaging at the same angular velocity, it is possible to prevent loss due to slippage.

  After elastic energy is accumulated in the elastic member 18 by the input shaft 12, the control unit 19 outputs a disengagement command to the input side clutch 22 to disengage the input shaft 12 and the vibrator 20 (disengage). At this time, as shown in FIG. 4, the vibrator 20 in which the elastic energy is accumulated reciprocally rotates with an amplitude larger than that in phase 1 (phase 3).

  Further, as shown in FIG. 5, the oscillator 20 and the output shaft 14 are engaged by the output side clutch 24 (phase 4). At this time, the elastic member 18 biases the output shaft 14. That is, the elastic energy of the elastic member 18 becomes kinetic energy and is transmitted to the output shaft 14.

  At the time of shifting from phase 3 to phase 4, it is preferable to switch both of the oscillator 20 and the output shaft 14 from the disengaged state to the engaged state when the speed difference between them is not more than a predetermined value. For example, when one speed is 80% or more and 120% or less of the other speed, both are engaged. The rotation speed of the oscillator 20 can be acquired from the speed sensor 21B, and the rotation speed of the output shaft 14 can be acquired from the speed sensor 21C. The control unit 19 sequentially calculates these speed differences, and outputs an engagement command to the output side clutch 24 when the difference becomes a predetermined value or less. In this way, by engaging the vibrator 20 and the output shaft 14 in a state where the speed difference is small, loss due to slippage during engagement is suppressed. More preferably, the oscillator 20 and the output shaft 14 are engaged with each other when the angular velocities are equal. As a result, it is possible to prevent the occurrence of loss due to slippage.

  As described above, the kinetic energy (or torque) of the input shaft 12 is changed by changing the engagement / disengagement state of the input shaft 12, the oscillator 20, and the output shaft 14 from phase 1 to phase 4 sequentially. The elastic energy of 18 can be transmitted to the output shaft 14. As a result of transmitting the kinetic energy to the output shaft 14, the amplitude of the elastic member 18 decreases and returns to the phase 1 state. After that, the operations from phase 1 to phase 4 are sequentially repeated.

<Vibration amplitude of output shaft due to torque transmission>
The vibration of the output shaft 14 that occurs with the vibration of the elastic member 18 and the vibrator 20 of the driving force transmission device 10 according to the present embodiment will be described below. FIG. 6 illustrates a torque transmission process of driving force by a conventional pulse drive type driving force transmission device as a comparative example. Since the configuration and operation of the conventional pulse drive type driving force transmission device are disclosed in the above-mentioned Patent Document 1, description thereof will be omitted here.

  Three graphs are shown in FIG. The upper graph shows changes in the rotation speed of the vibrator 20 in comparison with the rotation speeds of the input shaft 12 and the output shaft 14. In the following, the rotation speeds of the input shaft 12 and the output shaft 14 are constant. As shown in FIG. 6, since the rotational speed of the input shaft 12> the rotational speed of the output shaft 14, deceleration transmission is performed here. The middle graph shows the change in the torque applied from the input shaft 12, and the lower graph shows the change in the torque transmitted to the output shaft 14. Further, in FIG. 6, the first to fourth phases are represented by Roman numerals.

  As shown in FIG. 6, torque is transmitted from the input shaft 12 to the elastic member 18 in phase 2, and torque is transmitted from the elastic member 18 to the output shaft 14 in phase 4. FIG. 7 shows a graph obtained by analyzing the vibration amplitude generated in the output shaft 14 when the torque transmission cycle of FIG. 6 is executed for one cycle (phase 1 to phase 4). In this graph, the vibration amplitude for each frequency obtained by fast Fourier transforming the vibration of the output shaft 14 is shown.

  FIG. 8 shows a torque transmission cycle by the driving force transmission device 10 according to this embodiment. In this example, the rotational speeds of the input shaft 12 and the output shaft 14 are determined so that the ratio between the rotational speed of the input shaft 12 and the rotational speed of the output shaft 14 in the example of FIG. 6 is the same. For example, the rotational speed of the input shaft 12: the rotational speed of the output shaft 14 = 13: 5.

  As shown in FIG. 8, torque is transmitted from the input shaft 12 to the elastic member 18 in phase 2, and torque is transmitted from the elastic member 18 to the output shaft 14 in phase 4. Similar to FIG. 7, FIG. 9 shows the vibration amplitude for each frequency obtained by the fast Fourier transform of the vibration generated in the output shaft 14 when the torque transmission cycle of FIG. 8 is executed for one cycle. It should be noted that the vertical axis and the horizontal axis in FIGS. 7 and 9 are not shown with numerical values, but are scaled to show the same value.

  Comparing the graphs of FIG. 7 and FIG. 9, the maximum value of the amplitude is relatively reduced in FIG. As described above, in the driving force transmission device according to the present embodiment, it is possible to suppress the vibration generated in the output shaft 14 more than before.

  FIG. 10 illustrates the torque transmission process of the driving force transmission device according to the present embodiment, which is different from that in FIG. 8. In this example, the rotation speed of the input shaft 12 is smaller than the rotation speed of the output shaft 14, and so-called acceleration transmission is performed. Further, the rotation speed of the input shaft 12: the rotation speed of the output shaft 14 = 5: 13.

  Similar to FIGS. 7 and 9, FIG. 11 shows the vibration amplitude for each frequency obtained by fast Fourier transforming the vibration that occurs in the output shaft 14 when the torque transmission cycle of FIG. 10 is executed for one cycle. Note that the vertical axis and the horizontal axis in FIGS. 7, 9, and 11 are each graduated to show the same value. Comparing the graphs of FIGS. 7 and 11, the maximum value of the amplitude is relatively reduced in FIG.

  FIG. 12 illustrates a torque transmission process of the driving force transmission device according to the present embodiment, which is different from the torque transmission process shown in FIGS. 8 and 10. In this example, an example of so-called reverse transmission in which the input shaft 12 and the output shaft 14 rotate in opposite directions is shown. The absolute value of the rotation speed of the input shaft 12: the absolute value of the rotation speed of the output shaft 14 = 13: 5.

  Similar to FIGS. 7, 9, and 11, FIG. 13 shows the vibration amplitude for each frequency obtained by performing a fast Fourier transform on the vibration generated in the output shaft 14 when the torque transmission cycle of FIG. 12 is executed for one cycle. ing. Note that the vertical axis and the horizontal axis in FIGS. 7, 9, 11, and 13 are each graduated to show the same value. Comparing the graphs of FIGS. 7 and 13, the maximum value of the amplitude is relatively reduced in FIG.

  As described above, in the driving force transmission device 10 according to the present embodiment, it is possible to suppress the vibration generated in the output shaft 14 more than ever before in any of the deceleration transmission, the acceleration transmission, and the reverse transmission.

<Another Example of Embodiment>
In the embodiment described above, the input shaft 12 and the output shaft 14 are rotating shafts, but the present invention is not limited to this. FIG. 14 shows an example in which the input shaft 12 and the output shaft 14 both linearly move (translate linearly).

  In this example, the transmission member 16 is provided between the input shaft 12 and the output shaft 14. The transmission member 16 includes an elastic member 18, a vibrator 20, an input side clutch 22, and an output side clutch 24, as in the embodiment of FIG. 1.

  Similar to the embodiment of FIG. 1, one end of the elastic member 18 is fixed to a fixed portion 23 such as a casing, and the other end is connected to the vibrator 20. The elastic member 18 is provided on the vibrator 20 along the traveling direction of the input shaft 12, for example. Further, the vibration cycle of the elastic member 18 is preferably formed so as to be shorter than the maximum rotation cycle of the drive source.

  The vibrator 20 is connected to the elastic member 18 and is periodically moved as the elastic member 18 expands and contracts. The oscillator 20 has its movement direction restricted by a bearing or the like (not shown), and can reciprocate linearly along the traveling direction of the input shaft 12 and the output shaft 14.

  Although not shown, the driving force transmission device 10 includes a speed sensor 21A that detects the speed of the input shaft 12, a speed sensor 21B that measures the speed of the vibrator 20, and a speed that measures the speed of the output shaft 14. A sensor 21C is provided.

  Also in this embodiment, the elastic member 18 can be disconnected from the input shaft 12 and the output shaft 14 via the input side clutch 22 and the output side clutch 24. Therefore, it is possible to suppress the vibration transmission of the elastic member 18 and the vibrator 20 to the input shaft 12 and the output shaft 14 as compared with the conventional driving force transmission device.

  Also in the example of FIG. 14, Phase 1 (free movement of the elastic member 18), Phase 2 (torque transmission from the input shaft 12 to the elastic member 18), Phase 3 (free movement of the elastic member 18), and The operation of phase 4 (torque transmission from the elastic member 18 to the output shaft 14) is repeated. As a result, torque is transmitted from the input shaft 12 to the output shaft 14 via the elastic member 18. In addition, when shifting from phase 1 to phase 2, it is preferable to switch both of the input shaft 12 and the vibrator 20 from the released state to the engaged state when the speed difference between the two is less than a predetermined value. For example, when one speed is 80% or more and 120% or less of the other speed, both are engaged. More preferably, when the oscillator 20 and the input shaft 12 have the same speed, they are engaged with each other.

  The control unit 19 acquires the speed of the input shaft 12 from the speed sensor 21A and acquires the speed of the vibrator 20 from the speed sensor 21B. The control unit 19 sequentially calculates these speed differences and outputs an engagement command to the input side clutch 22 when the difference becomes equal to or less than a predetermined value. In this way, by engaging the input shaft 12 and the vibrator 20 in a state where the speed difference is small, loss due to slippage at the time of engagement is suppressed.

  Further, when shifting from phase 3 to phase 4, it is preferable to switch both of the oscillator 20 and the output shaft 14 from the disengaged state to the engaged state when the speed difference between them is equal to or less than a predetermined value. For example, when one speed is 80% or more and 120% or less of the other speed, both are engaged. More preferably, the oscillator 20 and the output shaft 14 are engaged with each other when the angular velocities are equal.

  The control unit 19 acquires the rotation speed of the vibrator 20 from the speed sensor 21B and acquires the rotation speed of the output shaft 14 from the speed sensor 21C. The control unit 19 sequentially calculates these speed differences, and outputs an engagement command to the output side clutch 24 when the difference becomes a predetermined value or less. In this way, by engaging the vibrator 20 and the output shaft 14 in a state where the speed difference is small, loss due to slippage during engagement is suppressed.

  10 driving force transmission device, 12 input shaft, 14 output shaft, 16 transmission member, 18 elastic member, 20 vibrator, 22 input side clutch, 24 output side clutch.

Claims (4)

A rotating input shaft,
An output shaft rotatable in the same direction as or opposite to the input shaft,
A transmission member provided between the input shaft and the output shaft,
Equipped with
The transmission member is
A vibrator capable of reciprocating rotation along the rotation direction of the input shaft and the output shaft;
An elastic member having one end fixed and the other end connected to the vibrator,
An input side clutch capable of engaging the vibrator and the input shaft,
An output side clutch capable of engaging the vibrator and the output shaft,
A driving force transmission device, comprising: An input shaft and an output shaft that translate linearly;
A transmission member provided between the input shaft and the output shaft,
Equipped with
The transmission member is
A vibrator that can reciprocate linearly along the traveling direction of the input shaft and the output shaft,
An elastic member having one end fixed and the other end connected to the vibrator,
An input side clutch capable of engaging the vibrator and the input shaft,
An output side clutch capable of engaging the vibrator and the output shaft,
A driving force transmission device, comprising: The driving force transmission device according to claim 1 or 2, wherein
A controller for controlling engagement and disengagement of the input side clutch,
The control unit actuates the input side clutch to engage the oscillator and the input shaft when the speed difference between the input shaft and the oscillator is less than or equal to a predetermined value. Force transmission device. The drive force transmission device according to claim 3, wherein
The output side clutch, the engagement and disengagement operation is controlled by the control unit,
The control unit operates the output side clutch to engage the oscillator and the output shaft when the speed difference between the output shaft and the oscillator is less than or equal to a predetermined value. Force transmission device.

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