JP7371919B2 - dog clutch - Google Patents

Description

The present invention relates to a dog clutch.

Conventionally, a technique is known for detecting the rotational phases of two clutch members and meshing the engaging teeth without causing collision. For example, in Patent Document 1, a Hall sensor is used as a means for detecting the rotational phase, and separate Hall sensors are provided for two engaging teeth, or one Hall sensor is provided so as to straddle the two engaging teeth. A technique has been proposed in which the rotational phase difference between both clutch members is determined from the alternating current component of the sensor output, and the engagement operation is started at a required timing.

Special Publication No. 2013-513766

By the way, in order to mesh the engagement teeth without collision, it is necessary to take into account the rotational phase difference between the two clutch members as well as the clutch activation delay time, and to predict and control the future engagement timing from the past engagement timing. There is. Further, in clutch control, there is also a need to determine whether engagement is complete, incomplete, or an engagement error, and to individually detect the rotational speed of the two clutch members.

The present invention has been made in view of these needs, and its purpose is to provide a dog clutch equipped with a detection device capable of increasing the versatility of a signal for detecting the rotational phase difference between two clutch members. It is about providing.

In order to solve the above problems, the dog clutch of the present invention includes a first clutch member (11) in which a plurality of first engaging teeth (13, 53) are arranged in the clutch rotation direction, and a first engaging tooth (13, 53) arranged in the clutch rotation direction. A second clutch member (12) in which a plurality of second engaging teeth (14, 54) that releasably engage are arranged in the clutch rotation direction, and the first clutch member and the second clutch member are moved relative to each other in the clutch axial direction. an actuator (5) that engages the first engagement tooth and the second engagement tooth; and a detection device (6, 6A, 6B, 52) that detects a rotational phase difference between the first clutch member and the second clutch member. , a control device (7) that controls the actuator based on the detected rotational phase difference, and the detection device detects the first engagement tooth and the second engagement tooth included in the detection range (16). A rotational phase difference between the first clutch member and the second clutch member is detected using a signal that changes depending on the area.
In one aspect of the present invention, the detection device detects a maximum constant value according to the area of the first engagement tooth and the second engagement tooth included in the detection range in the engaged state of the first clutch member and the second clutch member. Outputs the signal.

According to the above configuration, since the detection device outputs a signal indicating the area of the first engagement tooth and the second engagement tooth included in the detection range, the control device controls the two clutches based on the output of the detection device. In addition to the rotational phase difference of the members, the clutch can be controlled in various ways by determining the relative positions of a set of engagement teeth that actually engage.

1 is a schematic diagram of a dog clutch showing a first embodiment of the present invention. In the dog clutch shown in FIG. 1, (a) shows a state where it can be engaged, and (b) shows the sensor output at that time. In the dog clutch shown in FIG. 1, (a) shows a state in which meshing is not possible, and (b) shows the sensor output at that time. In the dog clutch shown in FIG. 1, (a) shows a state where there is a rotational speed difference, and (b) shows the sensor output at that time. FIG. 7 is a characteristic diagram showing a method of predicting future engagement timing from a sensor output waveform. In the dog clutch shown in FIG. 1, (a) shows a fully engaged state, and (b) shows the sensor output at that time. In a dog clutch showing a second embodiment of the present invention, (a) shows a rotational phase difference between two clutch members, and (b) shows a signal waveform that changes depending on the rotational phase difference. In the dog clutch shown in FIG. 7, (a) shows an engaging tooth provided with an uneven portion, and (b) shows a signal waveform deformed by the uneven portion. In the third embodiment of the present invention, (a) shows the tooth shape of an externally toothed clutch member, and (b) shows a cross-sectional view taken along line bb in (a). It is a schematic diagram of a dog clutch showing a fourth embodiment of the present invention. It is a schematic diagram of a dog clutch showing a fifth embodiment of the present invention. 12 is a sectional view taken along the line XII-XII in FIG. 11. FIG. 12 is a sectional view taken along the line XIII-XIII in FIG. 11. FIG. It is a perspective view showing a spline fitting part of a dog clutch. FIG. 3 is a waveform diagram showing the action of the phase adjustment section. It is a flowchart which shows the process of calculating|requiring the meshing timing. FIG. 7 is a waveform diagram showing another effect of the phase adjustment section. FIG. 7 is a waveform diagram showing still another action of the phase adjustment section.

Hereinafter, dog clutches according to a plurality of embodiments of the present invention will be described based on the drawings. Note that in each embodiment, substantially the same components are given the same reference numerals, and description thereof will be omitted.

<First embodiment>
As shown in FIG. 1, the dog clutch 1 of the first embodiment has a first clutch member 11 on the driving side and a second clutch member 12 on the driven side in the direction in which the clutch axis A extends (hereinafter referred to as the axial direction). It is equipped with The first clutch member 11 is rotated via a drive shaft 3 by a power device 2 such as a motor. The second clutch member 12 transmits the power of the power device 2 to a driven member (not shown) via the driven shaft 4 while being engaged with the first clutch member 11 .

A plurality of first engagement teeth 13 and a plurality of second engagement teeth 14 are formed on opposing end surfaces of the first clutch member 11 and the second clutch member 12, respectively, over the entire circumference of the clutch members. The engaging teeth 13 and 14 are formed in an uneven shape that releasably engages with each other. The first clutch member 11 and the second clutch member 12 are moved relative to each other in the axial direction by the actuator 5, and the first clutch member 11 and the second clutch member 12 are moved to a meshing position where the first engagement tooth 13 and the second engagement tooth 14 engage, and a release position where the two are separated. and will be placed.

A detection device 6 that detects a rotational phase difference between the first clutch member 11 and the second clutch member 12 is installed perpendicularly to the clutch axis A near the outer periphery of the first clutch member 11 and the second clutch member 12. A detection range 16 (see FIG. 2) is defined in the detection device 6. The detection range 16 (see FIG. 2) partially includes one first engagement tooth 13 and one second engagement tooth 14 that engage with each other. Then, the detection device 6 outputs a signal that changes depending on the area of the engagement teeth 13 and 14 included in the detection range 16 to the control device 7 as a signal indicating the rotational phase difference between the clutch members 11 and 12.

The signal output by the detection device 6 is a composite wave of two waveforms corresponding to the rotational phase and rotational speed of the first clutch member 11 and the second clutch member 12, respectively. Therefore, the control device 7 determines the rotational phase difference between the first clutch member 11 and the second clutch member 12 as well as their relative positions based on the signal waveform output by the detection device 6, and determines the relative positions of the first clutch member 11 and the second clutch member 12. Actuator 5 can be controlled. Note that as the detection device 6, for example, a distance sensor that detects an area from distance measurement data or a camera that can detect an area by image processing of imaged data can be used.

Further, the detection range 16 of the detection device 6 is defined as long as the length of the clutch members 11 and 12 in the rotational direction (in the case of a circular detection range, the diameter thereof) is one or more times the tooth width of the engagement teeth 13 and 14. , the output waveform becomes a sine wave, which facilitates waveform processing by filters and the like. On the other hand, if the length of the detection range 16 in the rotational direction exceeds twice the tooth width, the amplitude of the output waveform becomes small, making it difficult to determine whether or not meshing is possible. Therefore, by setting the length of the detection range 16 in the rotational direction to at least one time and at most twice the tooth width of the engaging teeth 13 and 14, it becomes easy to detect a state in which engagement is possible.

According to the dog clutch 1 of the first embodiment configured as described above, various controls can be performed using the area detection signal outputted by the detection device 6. For example, as shown in FIG. 2(a), when the two clutch members 11 and 12 are in a rotational phase in which they can be engaged and rotate in the same direction at the same rotation speed, the engagement teeth 13 included in the detection range 16 , 14 is constant at any position in the circumferential direction, the area output (sensor output) of the detection device 6 has a constant value over time, as shown in FIG. 2(b). Therefore, the control device 7 can operate the actuator 5 to smoothly engage the pair of engagement teeth 13 and 14 without failure.

On the other hand, as shown in FIG. 3(a), when the clutch members 11 and 12 rotate at the same rotation speed with a phase relationship that prevents them from engaging, the first engagement tooth 13 and the second engagement tooth 14 appear to be integral. Since the detection device 6 rotates as if it were a single engagement tooth, as shown in FIG. 3(b), the detection device 6 outputs a signal with a sine waveform having a period equal to one engagement tooth. In this state, the engaging teeth 13 and 14 will not mesh with each other no matter how long the pressing takes. Therefore, the control device 7 determines the fail state, outputs a command to deal with it to the power unit 2, the actuator 5, and the alarm device (not shown), and stops the axial movement of the clutch members 11 and 12. In this state, control such as changing the rotational phase of at least one clutch member or generating an alarm can be performed.

Furthermore, in actual control, it is difficult to drive the two clutch members 11 and 12 at exactly the same rotational speed, so it is desirable to be able to determine the timing at which engagement is possible even when there is a difference in rotational speed. If there is a difference in rotational speed, the constant sensor output indicating a state in which meshing is possible (see Figure 2b) and the output of a sine waveform indicating a state in which meshing is not possible (see Figure 3b) are shifted by one engaging tooth at a period. This is repeated, and a waveform signal with beats is output as shown in FIG. 4(b). In this case, since the beat node indicates the timing at which engagement is possible, the control device 7 determines the point in time when the amplitude of the sensor output becomes less than a certain value, and determines the timing earlier by the clutch actuation delay time. An operation command can be output to the actuator 5.

By the way, the activation delay time of the dog clutch 1 is due to the delay in energization to the actuator 5, the inertia of the clutch members 11 and 12, mechanical friction, axial movement speed, etc., and the delay time after the actuator 5 is actually engaged after the operation command is issued. This includes a time lag until the teeth 13 and 14 mesh with each other. Therefore, if a meshing command is issued after detecting a state in which engagement is possible when there is a difference in rotational speed, the timing at which the engaging teeth 13 and 14 actually engage will be included in the period during which engagement is not possible, and the timing between the engaging teeth will be There is a risk of a collision. Therefore, in order for the control device 7 to issue an engagement command earlier by the clutch actuation delay time, it is necessary to predict possible future engagement timings based on past engagement timings.

The timing at which the two clutch members 11 and 12 become engaged occurs periodically, but the timing period differs depending on the difference in rotational speed between the two clutch members 11 and 12. For this reason, for example, in the case of a clutch that engages a vehicle axle and a motor shaft, control is performed to bring the rotational speed of the motor shaft closer to the axle rotating at a certain speed so that the clutch engages. Here, since the rotational speed control of the motor is performed instantaneously, changes in the rotational speed on the axle side can be ignored, and changes in the rotational speed difference depend on changes in the rotational speed of the motor shaft. Since the change in the rotational speed of the motor shaft is determined by the control characteristics of the motor, the change over time in the difference in the rotational speed between the clutch members 11 and 12 is determined for each power unit 2.

Therefore, by understanding the control characteristics of the power plant 2 to be used in advance, the control device 7 can calculate future meshing timings based on past meshing timings, as shown in FIG. Specifically, by storing past meshing timings in the memory of the control device 7, it is also possible to read a plurality of past meshing timings from the memory and predict future meshing timings with higher accuracy. Then, by outputting an operation command to the actuator 5 when the difference between the predicted timing and the current time becomes equal to the clutch activation delay time, it is possible to smoothly mesh the engaging teeth without causing them to collide with each other.

Further, as shown in FIG. 6(a), when the engaging teeth 13 and 14 are in mesh with each other, the rotational speeds of the two clutch members 11 and 12 are the same, and the first engaging tooth 13 and the second engaging tooth Since the gap between the teeth 14 is minimized, the area output of the detection device 6 exhibits a maximum constant value, as shown in FIG. 6(b). Therefore, the control device 7 can confirm that the clutch members 11 and 12 have completed the engagement operation from the area detection signal indicating the maximum value. In addition, if it is not possible to confirm the completion of engagement from the area detection signal for a predetermined period of time due to a foreign object intervening between the engagement teeth 13 and 14, the control device 7 determines that the engagement is incomplete and takes appropriate measures to deal with the situation. It can also be controlled.

<Second embodiment>
FIGS. 7(a) and 7(b) show a second embodiment of the present invention. In the second embodiment, as shown in FIG. 7(a), the length of the detection range 16 in the rotational direction is set to be equal to or less than half the width w of the engagement teeth 13 and 14. Therefore, the output of the detection device 6 changes as shown in FIG. 7(b) in accordance with the rotational phase difference between the clutch members 11 and 12. Here, the first waveform W1 indicates the rotational phase of the first clutch member 11, and the second waveform W2 indicates the rotational phase of the second clutch member 12. The composite waveform W3 of the first waveform W1 and the second waveform W2 is not a sine waveform like the first embodiment, but a three-stage rectangular wave.

This rectangular wave is generated in the first stage in which neither the first engaging tooth 13 nor the second engaging tooth 14 is included in the detection range 16, in the second stage in which only one of the engaging teeth is included, and in both stages. It consists of a third stage that includes engaging teeth 13 and 14. The third stage of the rectangular wave indicates a phase range in which the peaks of the pair of engagement teeth 13 and 14 face each other due to the rotational phase difference, and meshing is impossible. Therefore, by making the output of the detection device 6 into a rectangular waveform, it is possible to specify a time point other than the time width of the third stage, for example, a time point when the second stage has continued for a certain period of time or more, as a timing when engagement is possible.

<Modified example of second embodiment>
In the modified example of the second embodiment shown in FIGS. 8(a) and 8(b), as shown in FIG. 8(a), the length of the detection range 16 in the rotational direction is 2 In addition to being set to one-fold or less, uneven portions 131 and 141 are provided at the tips of the engaging teeth 13 and 14 included in the detection range 16. According to this tooth shape, when only one engaging tooth is included in the detection range 16, as shown in FIG. Since the frequency changes periodically, the number of rotations of the clutch members 11 and 12 can be detected from the frequency. Furthermore, by forming the uneven portions 131 and 141 of the two engaging teeth 13 and 14 at different pitches, it is also possible to detect the rotational speeds of the two clutch members 11 and 12 separately.

<Third embodiment>
In the dog clutch 31 of the third embodiment shown in FIGS. 9A and 9B, an externally toothed first clutch member 11 and an internally toothed second clutch member 12 are used. A plurality of first engagement teeth 13 are formed on the outer circumference of the first clutch member 11, and a plurality of second engagement teeth 14 are formed on the inner circumference of the second clutch member 12. The detection device 6 is arranged parallel to the clutch axis A, and the detection range 16 includes a portion of each of one first engagement tooth 13 and one second engagement tooth 14. There is.

Here, in one of the two engaging teeth 13 and 14, the detected portion 32 included in the detection range 16 is formed in a shape different from the torque transmitting portion 33. Specifically, the tooth tip portion of the first engaging tooth 13 serves as the detected portion 32, and the thickness of this portion in the axial direction is formed to be thinner than the torque transmitting portion 33. By doing this, the detected portion 32 of the first engagement tooth 13 is brought closer to the second engagement tooth 14, the length of the detection device 6 in the detection axis direction is shortened, and the mountability of the detection device 6 is improved. I can do it.

Further, since the detected portion 32 of the first engaging tooth 13 is a portion that does not participate in torque transmission, in addition to being thinned, it can also be formed in any shape for the purpose of preventing damage. In addition, by separately providing a portion detected by the detection device 6 and a portion for torque transmission on one of the engaging teeth, it is possible to provide flexibility in the installation position and performance of the detection device 6. .

<Fourth embodiment>
In the dog clutch 41 of the fourth embodiment shown in FIG. 10, two detection devices 6A and 6B are arranged so as to face the engagement teeth 13 and 14 at positions 180 degrees apart in the rotational direction of the clutch members 11 and 12. ing. According to this arrangement, since the engagement teeth 13 and 14 of the first clutch member 11 and the second clutch member 12 are both included in the detection range of both the detection devices 6A and 6B, the two detection devices 6 are Errors due to shaft vibration of the dog clutch 41 can be detected based on the composite waveform of the output signals. There is also an advantage that if one of the detection devices is damaged, the other detection device can function as in each of the above embodiments.

<Fifth embodiment>
Next, a fifth embodiment of the present invention will be described based on FIGS. 11 to 18. As shown in FIGS. 11 and 12, in the dog clutch 51 of the fifth embodiment, the first clutch member 11 is formed into a cylindrical shape with a relatively small diameter, and has a plurality of outer teeth as first engaging teeth on its outer peripheral surface. Teeth 53 are provided. The second clutch member 12 is formed into a cylindrical shape with a relatively large diameter, and has a plurality of internal teeth 54 as second engagement teeth on its inner peripheral surface.

The first clutch member 11 is rotated by the power unit 2, and the second clutch member 12 is rotated through engagement of external teeth 53 and internal teeth 54. The first clutch member 11 and the second clutch member 12 are relatively moved by the actuator 5 in the direction in which the clutch axis A extends, and have an engaged position where the external teeth 53 and internal teeth 54 are spline-fitted to each other, and a released position where both are separated. (See FIG. 14).

Both the first clutch member 11 and the second clutch member 12 are made of magnetic material, and a Hall IC sensor 52 is used as a detection device. The Hall IC sensor 52 is arranged on the radially outer side of the first clutch member 11 so as to face the end surfaces of the outer teeth 53 and the inner teeth 54 from a direction parallel to the clutch axis A. The Hall IC sensor 52 defines a detection range 56 (see FIG. 13) having a diameter that is approximately the same as the tooth width of the internal teeth 54, and detects a magnetic flux density that changes depending on the area of the magnetic material included therein. It is converted into a voltage and outputs a detection signal indicating the rotational phase difference between the clutch members 11 and 12 to the control device 7.

As shown in FIGS. 12 and 13, the detection range 56 of the Hall IC sensor 52 includes, in addition to the external teeth 53 and the internal teeth 54, a detected tooth 55 as a detected portion. The detected teeth 55 are made of a magnetic material made of the same material as the second clutch member 12, and the same number as the internal teeth 54 are arranged at equal pitches in the rotational direction of the second clutch member 12. Then, in a phase different from that of the internal teeth 54, the detected tooth 55 protrudes from the end surface of the second clutch member 12 in the clutch axial direction, and its protruding end surface is at the same distance d as the external tooth 53 of the first clutch member 11 (see FIG. 12). ) across from the Hall IC sensor 52.

As shown in FIG. 14, the Hall IC sensor 52 detects when the first clutch member 11 and the second clutch member 12 are in the release position and the outer teeth 53 and the inner teeth 54 are not engaged. Detects the rotational phase difference. For example, as shown in FIG. 15(a), when the external teeth 53 and the internal teeth 54 are in the same rotational phase, only the detected tooth 55 is included in the detection range 56, and the output voltage of the Hall IC sensor 52 is at the lowest level. Therefore, the control device 7 determines that the clutch members 11 and 12 are in a state where they cannot be engaged.

When a rotational phase difference occurs between the two clutch members 11 and 12, as shown in FIG. 15(b), the area of the magnetic body included in the detection range 56 changes due to the rotational phase difference, and the sensor output changes accordingly. goes up and down. When the rotational phase difference further increases, as shown in FIG. 15(c), the detection range 56 includes almost the entirety of the detected tooth 55 and the external tooth 53, the output waveform Vw generates a node wn, and the control device No. 7 determines that the clutch members 11 and 12 are in a state where they can be engaged.

As shown in the waveform diagram of FIG. 15, when the two clutch members 11 and 12 are rotating at different rotation speeds, the Hall IC sensor 52 generates a signal whose amplitude changes periodically, as in FIG. Outputs a waveform signal. When the detected tooth 55 is in the same phase as the external tooth 53, the detected tooth 55 cancels the voltage component due to the external tooth 53, and generates a node wn in the output waveform Vw of the Hall IC sensor 52. Therefore, the control device 7 can calculate the engagement timing of the clutch members 11 and 12 based on the phase of the node wn.

FIG. 16 shows an example of calculation processing by the control device 7. While the clutch members 11 and 12 are rotating, the control device 7 first reads the output of the Hall IC sensor 52 (S61), and calculates the amplitude of the output waveform Vw (S62). Next, the amplitude is compared with a predetermined value α (S63), and the phase at which the amplitude is equal to or less than the specified value α, that is, the phase at which the node wn is generated in the output waveform Vw, is determined by the engagement of the clutch members 11 and 12. This is determined as the matching timing (S64).

In this way, when the rotational speeds of the clutch members 11 and 12 are different, the engagement timing of the clutch members 11 and 12 can be determined based on the node of the output waveform. Further, since the detected tooth 55 is a detected part included in the detection range 56 of the Hall IC sensor 52 together with the external tooth 53 and the internal tooth 54, the detected tooth 55 and the external tooth 53 are different depending on the output characteristics of the Hall IC sensor. By adjusting the relative phase of the output waveform Vw, the node wn of the output waveform Vw can be generated at an arbitrary phase.

For example, as shown in FIG. 17, when the detected teeth 55 are provided in the same phase as the internal teeth 54, the output characteristics of the Hall IC sensor cause the external teeth 53 to be in a phase that is not included in the detection range 56, that is, the By adjusting so as to face the detected tooth 55 at the phase shown in FIG. 17(c), the node wn of the output waveform Vw can be generated to have the same phase as that in FIG. 15.

Further, as shown in FIG. 18, if the control device 7 has a signal delay such as a response delay or a communication delay, by adjusting the relative phase between the detected tooth 55 and the external tooth 53, the actual output waveform (broken line It is possible to generate a node wn in a waveform (waveform shown by a solid line) that is advanced by a delay time dt than the waveform shown by , and determine the meshing timing based on the phase indicated by the node wn.

As described in detail above, according to the dog clutch 51 of the fifth embodiment, the engagement of the two clutch members 11 and 12 is determined based on the phase of the node wn generated in the waveform Vw whose amplitude changes periodically. You can find the matching timing. The meshing timing can also be determined from the phase group included in the abdomen wb (see FIG. 15) of the output waveform Vw, but in this case, the calculation process of the control device 7 becomes complicated and the calculation result is likely to include errors. On the other hand, according to the present embodiment, the meshing timing can be accurately determined by simple arithmetic processing as shown in FIG.

In addition, as shown in FIG. 12, since the detected tooth 55 faces the Hall IC sensor 52 at the same distance d as the external tooth 53, the difference in height of the detected surface is eliminated and the detection range 56 is It is possible to accurately detect the magnetic flux density of , thereby increasing the signal accuracy of the Hall IC sensor 52. In addition, by adjusting the relative phase between the detected tooth 55 and the external tooth 53 or the internal tooth 54, the node wn can be generated at an arbitrary phase, so that problems such as assembly errors, signal delays, and biting of foreign objects can be avoided. It is possible to accurately deal with various fluctuation factors of , increase the versatility of the detection device, and control the dog clutch 51 in a variety of ways.

15, FIG. 17, and FIG. 18 illustrate the case where the convex detection target tooth 55 is provided on the second clutch member 12, but the location where the detection target part is installed is not limited to the illustrated example. , the detected portion may be provided at a different location from the external teeth 53 and internal teeth 54 within the detection range 56, such as by providing the detected portion on the first clutch member 11 side. In addition, the detected part is not limited to a convex shape, but may be concave, or may have a configuration in which magnetic and non-magnetic materials are alternately arranged in the same plane, and when a camera is used as the detection device. It is also possible to color the detected portion with a different color or to form it with a material having a different light reflectance.

In addition, the present invention is not limited to the above-mentioned embodiments; for example, it is possible to deviate from the spirit of the invention, such as by arranging two detection devices in parallel in the axial direction, or by appropriately increasing or decreasing the area of the detection range. It is also possible to arbitrarily change the shape and configuration of each part to the extent that it is not necessary.

1, 31, 41, 51... dog clutch, 5... actuator,
6, 6A, 6B, 52...detection device, 7...control device,
11... First clutch member, 12... Second clutch member,
13,53...first engaging tooth, 14,54...second engaging tooth,
16, 56... Detection range, 55... Tooth to be detected (portion to be detected),
Vw...output waveform, wn...node.

Claims (11)

a first clutch member (11) in which a plurality of first engagement teeth (13) are arranged in the clutch rotation direction;
a second clutch member (12) in which a plurality of second engagement teeth (14) releasably meshing with the first engagement teeth are arranged in the clutch rotation direction;
an actuator (5) that relatively moves the first clutch member and the second clutch member in the clutch axial direction to engage the first engagement teeth and the second engagement teeth;
one or more detection devices (6) that detect a rotational phase difference between the first clutch member and the second clutch member;
a control device (7) that controls the actuator based on the detected rotational phase difference;
Equipped with
The detection device detects rotation of the first clutch member and the second clutch member by a signal that changes according to the area of the first engagement tooth and the second engagement tooth included in a detection range (16). Detects the phase difference ,
The detection device is configured to detect a maximum constant value according to an area of the first engagement tooth and the second engagement tooth included in the detection range when the first clutch member and the second clutch member are engaged. A dog clutch that outputs a signal . a first clutch member (11) in which a plurality of first engagement teeth (13) are arranged in the clutch rotation direction;
a second clutch member (12) in which a plurality of second engagement teeth (14) releasably mesh with the first engagement teeth are arranged in the clutch rotation direction;
an actuator (5) that relatively moves the first clutch member and the second clutch member in the clutch axial direction to engage the first engagement teeth and the second engagement teeth;
one or more detection devices (6) that detect a rotational phase difference between the first clutch member and the second clutch member;
a control device (7) that controls the actuator based on the detected rotational phase difference;
Equipped with
The detection device detects the rotation of the first clutch member and the second clutch member by a signal that changes according to the area of the first engagement tooth and the second engagement tooth included in a detection range (16). Detects the phase difference ,
The first engaging tooth and the second engaging tooth each have an uneven portion (131, 141) included in the detection range on the tip of each tooth,
The detection device is a dog clutch that outputs a waveform signal according to the area of the first engagement tooth and the second engagement tooth including the uneven portion. The dog clutch according to claim 2 , wherein the uneven portions are formed at different pitches between the first engagement teeth and the second engagement teeth. a first clutch member (11) in which a plurality of first engagement teeth (13) are arranged in the clutch rotation direction;
a second clutch member (12) in which a plurality of second engagement teeth (14) releasably meshing with the first engagement teeth are arranged in the clutch rotation direction;
an actuator (5) that relatively moves the first clutch member and the second clutch member in the clutch axial direction to engage the first engagement teeth and the second engagement teeth;
one or more detection devices (6) that detect a rotational phase difference between the first clutch member and the second clutch member;
a control device (7) that controls the actuator based on the detected rotational phase difference;
Equipped with
The detection device detects rotation of the first clutch member and the second clutch member by a signal that changes according to the area of the first engagement tooth and the second engagement tooth included in a detection range (16). Detects the phase difference ,
At least one of the first engaging tooth and the second engaging tooth is such that a detected portion (32) included in the detection range is located between the first engaging tooth and the second engaging tooth. A dog clutch that is formed in a different shape from the torque transmission part (33) that transmits torque between the two . The dog clutch according to claim 4 , wherein the detected portion is formed thinner in the axial direction of the detection device than the torque transmission portion. a first clutch member (11) in which a plurality of first engagement teeth (13) are arranged in the clutch rotation direction;
a second clutch member (12) in which a plurality of second engagement teeth (14) releasably meshing with the first engagement teeth are arranged in the clutch rotation direction;
an actuator (5) that relatively moves the first clutch member and the second clutch member in the clutch axial direction to engage the first engagement teeth and the second engagement teeth;
two detection devices (6A, 6B) that detect a rotational phase difference between the first clutch member and the second clutch member;
a control device (7) that controls the actuator based on the detected rotational phase difference;
Equipped with
The two detection devices are installed at positions in the clutch axis direction opposite to the first engagement tooth and the second engagement tooth, separated by an angle of 180 degrees in the clutch rotation direction, and have a detection range (16 ) A dog clutch that detects a rotational phase difference between the first clutch member and the second clutch member based on a signal that changes according to the areas of the first engagement teeth and the second engagement teeth included in the range. The detection range is such that the length in the clutch rotation direction is between 1 and 2 times the tooth width (w) of one of the first engaging tooth or the second engaging tooth in the clutch rotation direction. 6. The dog clutch according to any one of Item 6 . Claims 1 to 6 , wherein the detection range is such that the length in the clutch rotation direction is equal to or less than half the tooth width (w) of one of the first engaging tooth or the second engaging tooth in the clutch rotation direction. The dog clutch described in any one of the above . a first clutch member (11) in which a plurality of first engaging teeth (53) are arranged in the clutch rotation direction;
a second clutch member (12) in which a plurality of second engagement teeth (54) releasably mesh with the first engagement teeth are arranged in the clutch rotation direction;
an actuator (5) that relatively moves the first clutch member and the second clutch member in the clutch axial direction to engage the first engagement teeth and the second engagement teeth;
one or more detection devices (52) that detect a rotational phase difference between the first clutch member and the second clutch member;
a control device (7) that controls the actuator based on the detected rotational phase difference;
Equipped with
The detection device detects the rotation of the first clutch member and the second clutch member by a signal that changes depending on the area of the first engagement tooth and the second engagement tooth included in a detection range (56). Detects the phase difference ,
At least one of the first clutch member and the second clutch member includes a detected portion (55) included in the detection range at a site different from the first engagement tooth and the second engagement tooth,
The detection device outputs a signal according to the area of the detected portion, the first engaging tooth, or the second engaging tooth included in the detection range,
The control device is a dog clutch (51) that determines the engagement timing of the first clutch member and the second clutch member based on the nodes of the waveform output by the detection device. The detection device is capable of generating the node portion at an arbitrary phase of the output waveform by adjusting a relative phase between the detected portion and the first engaging tooth or the second engaging tooth. 9. The dog clutch described in 9 . The dog clutch according to claim 9 or 10 , wherein the detected portion is provided so as to face the detection device at the same distance as the first engagement tooth or the second engagement tooth.

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