JP2005042810A - Device for controlling normal and reverse rotation speed of large torque in output shaft only by changing rotation speed of control shaft with torque smaller than transmission torque for transmitting input shaft and output shaft - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To control the normal and reverse rotation speed of an output shaft only by changing the rotation speed of a control shaft with torque smaller than transmission torque for transmitting an output shaft from an input shaft. <P>SOLUTION: The device is composed of a rotation speed control unit in which a rotation shaft 1 is connected to revolution shafts of a sun gear 7 and planetary gears 10, 11; a rotation shaft of planetary gear 6 is coupled with a planetary gear 8; revolution shafts of planetary gears 5, 6 and 8 are rotation shafts on the same line and connect a sun gear 4 and a control gear 15; and a control shaft 2 is connected to a control wheel 13 by a control gear 14 meshed with a control gear 15, and a rotation speed change rate amplifier in which a ring wheel 12 is connected to the revolution shafts of the planetary gears 5, 6 and 8 and an output shaft 3 is connected to a sun gear 9. In the device, the large-torque normal and reverse rotation speed of an output shaft 3 can be controlled only by changing the rotation speed of the control shaft 2 with torque smaller than that for transmitting the output shaft 3 from the input shaft 1 without changing rotative directions of the input shaft 1 and the control shaft 2. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to continuously variable transmission control of a vehicle such as an automobile.

  A continuously variable transmission for large vehicles such as a large vehicle for cargo and a large vehicle for passenger vehicles has a larger transmission torque in the transmission than a normal passenger vehicle, and has not been manufactured yet. The CVT (continuously variable transmission), which changes the diameter of the input pulley and output pulley and transmits the rotation by the belt that is applied to the input pulley and output pulley, transmits the power by the frictional force between the belt and the pulley. Can not communicate. At present, only cars with a displacement of 2500 CC class or less are used.

Further, a continuously variable transmission having a power connected to the input shaft, an electric motor connected to the control shaft, and an output shaft (JP-A-5-164205, JP-A-6-185586, JP-A-11-82649, (See Kaihei 11-313405), only cars with a displacement of 2500 CC class or less are used.
JP-A-5-164205 JP-A-6-185586 JP-A-11-82649 JP-A-11-313405

  In the CVT (continuously variable transmission) in which the diameters of the conventional input pulley and output pulley are changed and the rotation is transmitted by a belt that is applied to the input pulley and the output pulley, the large-sized vehicle such as a large vehicle for cargo and a large vehicle for passenger cars is used. Even if an attempt is made to use a CVT (continuously variable transmission) for an automobile having a larger transmission torque than a normal passenger car, such as an automobile, the transmission torque is large, so the CVT (continuously variable transmission) has a limit on the frictional force between the belt and the pulley. The belt slides on the pulley beyond the torque and the torque of the input shaft is attenuated and transmitted to the output shaft.

  In addition, a continuously variable transmission using a planetary gear mechanism (see Japanese Patent Laid-Open Nos. 5-164205, 6-185586, 11-82649, and 11-31405) has an electric motor connected to a control shaft. When the torque of the power input to the input shaft is larger than that of a normal passenger car, such as a large vehicle for cargo or a large vehicle for passenger cars, the motor for the control shaft is controlled. And the generator for rotating the motor of the control shaft also increases. From the above, in order to get on a vehicle with a large torque of power input to the input shaft, it becomes a large continuously variable transmission and it is difficult to use it on a vehicle with a large torque.

  The present invention uses a planetary gear mechanism, and is controlled by the rotation speed control unit even if the torque of the power input to the input shaft is larger than that of a normal passenger car such as a large car for cargo and a large car for passenger cars. The torque input to the shaft can be small, and by changing the rotational speed of the small change amount input from the rotational speed control unit to the rotational speed change rate amplification unit to the rotational speed of the large change amount, rotating the output shaft, An object of the present invention is to control the rotation of a large torque output from the output shaft by changing the rotational speed of the control shaft with a torque smaller than the transmission torque transmitted between the shaft and the output shaft.

  In order to achieve the above object, the present invention uses two planetary gear mechanisms without a ring gear in the rotational speed control unit, and one planetary gear mechanism has an input shaft connected to the sun gear and the planetary gear meshed with the sun gear. The other planetary gear mechanism is connected to the sun gear, the control gear is connected to the sun gear, the control shaft is connected to the gear via the other control gear that is engaged with the control gear, and the planetary gear is engaged with the sun gear. The planetary gears of the two planetary gear mechanisms are the same in the order of the sun gear, the planetary gear, and the planetary gear in the order of the sun gear, the planetary gear, and the planetary gear. The sun gear that connects the rotation axis of the planetary gear outside the other planetary gear mechanism and connects the control shaft via the sun gear connected to the input shaft and the control gear is the opposite of the sun gear via the planet gears. A force that applies force in the direction A.

  Due to the structure of the rotational speed change rate amplification unit, the rotational speed change output from the rotational speed control unit is smaller than the rotational speed change input from the control shaft. In order to increase the speed change rate amplification unit, the planetary gear mechanism is composed of a sun gear, a planetary gear, a planetary gear, and a ring gear. . In the rotation rate change rate amplification unit using one stage of the planetary gear mechanism, the ring gear of the planetary gear mechanism of the rotation rate change rate amplification unit is connected to the revolution shaft of the planetary gear of the rotation rate control unit, and the rotation rate change rate amplification unit When the revolution shaft of the planetary gear is connected to the input shaft and the output shaft is connected to the sun gear of the rotational speed change rate amplifying unit, and the planetary gear mechanism is used in two or more stages in the rotational speed change rate amplifying unit. Then, the rotational speed change rate amplifying unit connects the ring gear of the first planetary gear mechanism of the planetary gear revolution shaft of the rotational speed control unit, and connects the revolution shaft of the first planetary gear mechanism to the input shaft. The sun gear of the first stage planetary gear mechanism and the ring gear of the planetary gear mechanism of the Nth stage are connected, the revolution shaft of the planetary gear mechanism of the Nth stage is connected to the input shaft, and the planetary gear mechanism of the Nth stage planetary gear mechanism is connected. The sun gear and the ring gear of the N + 1 stage planetary gear mechanism are connected, and the N + 1 stage planetary gear machine. The revolution axis of the planetary gear is connected to the input shaft, is the concatenation of the output shaft to the sun gear of the N + 1 stage planetary gear mechanism.

  In order to achieve the above object, according to the present invention, in the rotation speed control unit, one planetary gear mechanism is used, the control shaft is connected to the sun gear, the input gear is connected to the ring gear, and the input gear is connected to the input gear. An input shaft is connected to a gear via another meshing input gear, and the ring gear and sun gear are configured so that a reverse gear is applied to the ring gear and sun gear via a planetary gear. It is.

  The rotational speed change rate amplifying unit has a structure in which the rotational speed change output from the rotational speed control unit is smaller than the rotational speed input from the control shaft. In order to increase the change, the rotational speed change rate amplifying unit uses one planetary gear mechanism, and the planetary gear revolution axis of the rotational speed change rate amplifying unit is connected to the planetary gear revolution axis of the rotational speed control unit. The ring gear of the rotational speed change rate amplification unit is connected to the ring gear of the rotational speed control unit, and the output shaft is connected to the sun gear of the rotational speed change rate amplification unit.

Since the present invention is configured as described above, the following effects can be obtained.
The present invention configured by the rotation control unit and the rotation rate change rate amplification unit has an input shaft and a control shaft in the rotation number control unit, and the force input to the input shaft by the configuration of the gear of the rotation number control unit. The control shaft controls the rotational speed of the force output from the rotation control unit with a small force.

  The rotation rate change rate amplification unit has an input unit connected to the input unit and the output unit of the rotation rate control shaft, and from the rotation rate control unit to the rotation rate change rate amplification unit by the configuration of the gear of the rotation rate change rate amplification unit. The rotation speed that rotates in one direction of the small change amount that is input is changed to the rotation speed that has a large change amount, and the output shaft is rotated forward and backward.

  Further, the rotational speed change rate amplifying unit also has an input unit connected to the input unit and the output unit of the rotational speed control shaft, and the input shaft and the output unit of the rotational speed control shaft are configured according to the gear configuration of the rotational speed change rate amplifier unit. The force output to the output shaft is the sum of the input shaft and the input unit, and the force of the input unit can be smaller than the output force.

  As described above, the rotational speed of the control shaft is changed with a torque smaller than the transmission torque transmitted between the input shaft and the output shaft, and the forward / reverse rotation of the large torque output from the output shaft is controlled.

  In FIG. 1, the input shaft 1 is connected to the revolution shafts of the sun gear 7 and the planetary gears 10 and 11, the rotation shafts of the planetary gear 6 and the planetary gear 8 are connected, and the revolution shafts of the planetary gears 5, 6, and 8 are the same. The sun gear 4 and the control gear 15 are connected via the planetary gear 6 meshing with the planetary gear 5, and the control shaft 2 is coupled to the control gear 13 via the control gear 14 meshing with the control gear 15. The ring gear 12 is connected to the revolution shafts of the planetary gears 5, 6, 8, and the output shaft 3 is connected to the sun gear 9 via the planetary gears 10, 11.

  The first embodiment of the present invention will be described with reference to FIGS. 3, 9, 10, 11, 12, 13, and 14. When the torque T is applied like the rotating shaft illustrated in FIG. 9, The expression with the force F at the position of the radius r of the rotation axis is

で表わされる。

It is represented by

FIG. 3 is a diagram in which the housing of FIG. 1 is eliminated to make it easy to see the gear meshing structure, and FIG. 10 is a simplified diagram of the rotation speed control unit of FIG.
The planetary gear mechanism shown in FIG. 10 has an input shaft torque T1, a control shaft torque T3, a sun gear G1 connected to the input shaft, a sun gear G1 radius r1, and a force F1 at a radius r1. The planetary gear meshing with the sun gear G1 is G2, the torque of the rotation shaft of the planetary gear G2 is T2, the radius of the planetary gear G2 is r2, the force F2 at the position of the radius r2, the sun gear connected to the control shaft is G3, The radius of the gear G3 is r3, the force F3 at the position of the radius r3, the planetary gear G4 that meshes with the sun gear G3, the planetary gear G5 that meshes with the planetary gear G4, the torque of the rotation axis of the planetary gear G5 is T5, and the planetary gear The G5 radius is r5, the force F5 is the position of the radius r5, the planetary gear G2 and the planetary gear G5 are connected to each other, and the planetary gear G2, the planetary gear G4, and the planetary gear G5 are revolved around the control axis as a central axis. , Planetary gear G2 and planetary gear G The force at the position on the center line A2-A2 of the rotation axis is F6, the radius r1 and the radius r3 of the sun gear G1 and the sun gear G3 are smaller than the radius r1, and the planetary gear G2 and the planetary gear are smaller. The radius r2 and the radius r5 of the gear G5 are larger than the radius r2, and the input shaft and the control shaft are independent axes having the center line A1-A1 as the center line of the shaft.

  FIG. 11 is a diagram in which the planetary gear G2 and the planetary gear G5 in FIG. 10 are taken out. The radius of the planetary gear G2 is r2, the force F2 at the position of the radius r2, the radius of the planetary gear G5 is r5, and the radius r5. The position force F5, the rotational shaft torque of the planetary gear G2 is T2, the rotational shaft torque of the planetary gear G5 is T5, the dimensions of the radius r2 and the radius r5 are larger than the radius r2, and the torque T2 Torque T5 works in the opposite direction, and when torque T2 and torque T5 are balanced, the relationship between force and radius is

で表わされる。

It is represented by

  As shown in FIG. 10, when the torque T1 of the input shaft is input, a force F1 acts on the sun gear G1 connected to the input shaft, and the planetary gear G2 meshes with the sun gear G1 and has the same force as the force F1 of the sun gear G1. F2 acts on the planetary gear G2 in the direction opposite to the force F1 of the sun gear G1. The planetary gear G5 meshes with the sun gear G3 via the planetary gear G4, and when the torque T3 of the control shaft is input, the force F3 acts on the sun gear G3 connected to the control shaft, and the same force F5 as the force F3 is generated. The planetary gear G5 works in the same direction as the sun gear G3. Further, the force F2 of the planetary gear G2 and the force F5 of the planetary gear G5 act in opposite directions, the torque T2 and the torque T5 are balanced, and the planetary gear is rotated in the direction in which the revolution axes of the planetary gear G2 and the planetary gear G6 rotate. The force F6 is output on the center line of the rotation axis of G2 and G5. The sun gear G1 and the planetary gear G2 mesh and transmit force, the force F1 and the force F2 are the same force, the sun gear G3 and the planetary gear G5 also mesh via the planet gear G4, and transmit the force, The force F3 and the force F5 are the same force.

となり、半径ｒ５は半径ｒ２より大きく、半径ｒ１は半径ｒ３より大きいので、数３の式の右辺に示される２つの分数は、２つの分数とも１より大きくなり、数３の式より、制御軸のトルクＴ３は入力軸のトルクＴ１より小さなトルクですむ。

Since the radius r5 is larger than the radius r2 and the radius r1 is larger than the radius r3, the two fractions shown on the right side of the equation (3) are both larger than 1, and the control axis is derived from the equation (3). Torque T3 of the input shaft can be smaller than the input shaft torque T1.

  FIG. 12 is a simplified view of the rotational speed change rate amplification section of FIG. 3. In the planetary gear mechanism of FIG. 12, the sun gear is G6, the planetary gear meshing with the sun gear G6 is G7, and the planetary gear G7. Planet gears meshing with G8, ring gears meshing with planetary gears G9, radius of sun gear G6 r6, radius of planetary gear G7 r7, radius of planetary gear G8 r8, planet gears from the center of sun gear G6 When the center of the rotation shaft of G8 is r10, the radius of the ring gear G9 is r9, the torque T10 is applied to the revolution shafts of the planetary gears G7 and G8 as input torque, and the torque T9 is applied to the ring gear G9 as control torque. The position force F10 due to the torque T10 acts on the planetary gear G8, and the position force F9 due to the torque T9 acts on the planetary gear G8 in the opposite direction to the position force F10. When 衡 comes off, by equation 1, equation of torque T9 control the torque T10 of the input

となり、太陽歯車Ｇ６から出力されるトルクＴ６は入力のトルクＴ１０と制御のトルクＴ９を加算した値であるから、制御のトルクＴ９と出力のトルクＴ６の関係式は

Since the torque T6 output from the sun gear G6 is a value obtained by adding the input torque T10 and the control torque T9, the relational expression between the control torque T9 and the output torque T6 is

となり、数５の式の右辺に示される分数は分子より分母のほうが大きく、数５の式の右辺に示される分数は１より小さく、出力のトルクＴ６は制御のトルクＴ９より大きなトルクであり、出力のトルクＴ６より制御のトルクＴ９のほうが小さい。また、半径ｒ９は半径ｒ１０より大きく、数４の式の右辺に示される分数は１より大きくなり、入力のトルクＴ１０より制御のトルクＴ９のほうが大きい。また、図７のように遊星歯車機構を２段以上連結することにより、入力のトルクＴ１０より制御のトルクＴ９のトルクを小さくすることができる。

The fraction shown on the right side of the formula 5 is larger in the denominator than the numerator, the fraction shown on the right side of the formula 5 is smaller than 1, and the output torque T6 is larger than the control torque T9. The control torque T9 is smaller than the output torque T6. Further, the radius r9 is larger than the radius r10, the fraction shown on the right side of the equation (4) is larger than 1, and the control torque T9 is larger than the input torque T10. Further, by connecting two or more planetary gear mechanisms as shown in FIG. 7, the torque of the control torque T9 can be made smaller than the input torque T10.

  FIG. 13 is a simplified diagram of FIG. 12. In the planetary gear mechanism of FIG. 13, the sun gear is G6, the planetary gear meshing with the sun gear G6 is G7, and the planetary gear meshing with the planetary gear G7 is G8. The ring gear meshing with the planetary gear G8 is G9, the radius of the sun gear G6 is r6, the radius of the ring gear G9 is r9, the rotational speed of the sun gear G6 in the C direction is nc, and the planetary gears G7, G8 The rotation speed in the D direction of the revolving shaft is nd, the rotation speed in the A direction of the ring gear G9 is na, the rotation speed nd of the revolution shafts of the planetary gears G7 and G8 is rotated at a constant rotation speed, and the ring gear Changing the rotation speed of G9

となる。

It becomes.

  For example, when the rotation speed nd of the revolution shafts of the planetary gears G7 and G8 is changed to 1000 rpm, the rotation speed na of the ring gear G9 is changed from 0 to 1000 rpm, r6 is set to 25 cm, and r9 is set to 5 cm. When calculated by the equation, the output rotational speed, the rotational speed nc of the sun gear G6, is −4000 rpm to 1000 rpm, compared to when the input rotational speed, that is, the rotational speed na of the ring gear G9 is changed from 0 to 1000 rpm. The change is five times, and the graph shown in FIG. 14 is obtained.

  Based on the above, this is an embodiment for controlling the forward / reverse rotation speed of the output shaft 3 simply by changing the rotation speed of the control shaft 2 with a torque smaller than the transmission torque transmitted from the input shaft 1 to the output shaft 3. .

  In Example 2 of the present invention, in FIG. 4, the ring gear 43 is connected to the sun gear 9 of FIG. 3, the revolution shafts of the planetary gears 41 and 42 are connected to the input shaft 1, and the planetary gears 41 and 42 are connected. By connecting the output shaft 3 to the interposed sun gear 40 and making the planetary gear mechanism of the rotational speed change rate amplifying unit in two stages, a small amount of change input from the rotational speed control unit to the rotational speed change rate amplifying unit is achieved. This is an example for rotating the output shaft forward and backward by changing the rotational speed rotating in one direction to a rotational speed with a larger amount of change than the rotational speed change rate amplifier of Fig. 3.

  In Embodiment 3 of the present invention, in FIG. 5, instead of the planetary gear 5 in FIG. 4, planetary gears 5 a and 5 b connected to the rotation shaft are replaced, and the transmission torque for transmitting the output shaft from the input shaft to the device in FIG. Furthermore, this is an example to control the forward / reverse rotation speed of the output shaft simply by changing the rotation speed of the control shaft with a small torque.

  Embodiment 4 of the present invention is an embodiment when the speed change rate amplifying unit of FIG. 3 is used alone in FIG.

  Embodiment 5 of the present invention is an embodiment in which the rotational speed change rate amplification section in FIG. 4 is used alone in FIG.

  The sixth embodiment of the present invention will be described with reference to FIGS. 8, 15, and 16. In FIG. 8, the control shaft 51 is connected to the sun gear 55, and the revolution shafts of the planetary gears 56 and 58 are the same revolution shaft. The ring gear 57 of the two planetary gear mechanisms has the same shape, the ring gear 57 is connected to the input gear 54, the input shaft 50 is connected to the input gear 52 via the input gear 53 that meshes with the input gear 54, and the planetary gear This device is used by connecting the output shaft 60 to the sun gear 59 that meshes with the gear 58.

  FIG. 15 is a simplified view of the rotational speed control unit of FIG. 8, and in the planetary gear mechanism of FIG. 15, the sun gear is G11, the planetary gear meshing with the sun gear G11 is G12, and the ring meshing with the planetary gear G12. The gear is G13, the radius of the sun gear G11 is r11, the radius of the planetary gear G12 is r12, the radius of the ring gear G13 is r13, the torque T13 is applied to the ring gear G13 as an input torque, and the control gear is applied to the sun gear G11. When the torque T11 is applied, a position force F13 caused by the torque T13 acts on the planetary gear G12, and a position force F11 caused by the torque T11 acts on the planetary gear G12 in a direction opposite to the position force F13, thereby causing the position forces F11 and F13. Is balanced, the relational expression between the input torque T13 and the control torque T11 is as follows:

となり、半径ｒ１３は半径ｒ１１より大きく、数７式の右辺に示される分数は、１よりも小さくなり、数７の式より、制御軸のトルクＴ１１は入力のトルクＴ１３より小さなトルクですむ。

The radius r13 is larger than the radius r11, the fraction shown on the right side of Equation 7 is smaller than 1, and the torque T11 of the control shaft can be smaller than the input torque T13 from Equation 7.

  FIG. 16 is a simplified diagram of the rotational speed change rate amplifying unit of FIG. 8. In the planetary gear mechanism of FIG. 15, the sun gear is G15, the planetary gear meshing with the sun gear G15 is G16, and the planetary gear G16 is meshed. The matching ring gear is G17, the radius of the sun gear G15 is r15, the radius of the planetary gear G16 is r16, the radius of the ring gear G17 is r17, the rotational speed of the sun gear G15 in the G direction is ng, and the revolution axis of the planetary gear G16 is H. The rotational speed in the direction is nh, the rotational speed in the E direction of the ring gear G17 is ne, the rotational speed ne of the ring gear G17 is rotated at a constant rotational speed, and the rotational speed nh of the revolution shaft of the planetary gear G16 is changed. When

となり、数８の式は数６の式と同じになり、遊星歯車Ｇ１６の公転軸の回転数ｎｈの回転数の変化が小さくても、太陽歯車Ｇ１５の回転数ｎｇの回転数の変化は大きくなる。

Equation 8 is the same as Equation 6, and even if the change in the rotation speed nh of the revolution shaft of the planetary gear G16 is small, the change in the rotation speed ng of the sun gear G15 is large. Become.

  Based on the above, this is an embodiment for controlling the forward / reverse rotational speed of the output shaft 60 only by changing the rotational speed of the control shaft 51 with a torque smaller than the transmission torque transmitted from the input shaft 50 to the output shaft 60. .

It is sectional drawing of the Example of the apparatus which controls the normal / reverse rotation speed of the big torque of an output shaft only by changing the rotation speed of a control shaft by torque smaller than the torque which transmits an input shaft and an output shaft. It is a figure of the gear train of FIG. It is the figure which erase | eliminated the housing of FIG. FIG. 2 is a diagram of an embodiment in which the housing of FIG. 1 is deleted and the planetary gear mechanism of the rotation speed change rate amplifying unit is arranged in two stages. FIG. 2 is a diagram of an embodiment in which the housing of FIG. 1 is deleted, the planetary gear mechanism of the rotation speed change rate amplifying unit is arranged in two stages, and the gear ratio of the planetary gear of the rotation speed control unit is changed. It is a figure of the Example which used the planetary gear mechanism of the rotation speed change rate amplification part of FIG. 3 alone. It is a figure of the Example which used the planetary gear mechanism of the rotation speed change rate amplification part of FIG. 4 alone. It is the figure which exchanged the attachment position of the input shaft and control shaft of FIG. 1, and used the planetary gear mechanism of the rotation speed control part by one. It is a figure showing the relationship between torque and force. It is a figure showing the relationship between the torque and force of a rotation speed control part. It is the figure which took out the part of the planetary gear of the rotation speed control part of FIG. 10, and represented the relationship between torque and force. It is a figure showing the relationship between the torque of a rotation speed change rate amplification part, and force. It is a figure showing the relationship of the rotation speed of a rotation speed change rate amplification part. It is the figure which represented the relationship between the rotation speed of the input of the rotation speed change rate amplification part of FIG. 13, and an output with a graph. It is a figure showing the relationship between the torque and force of the rotation speed control part of FIG. It is a figure showing the relationship of the rotation speed of the rotation speed change rate amplification part of FIG.

Explanation of symbols

50 input shaft
51 Control axis
3, 60 Output shaft
4, 7, 9, 40, 55, 59 Sun gear
5, 5a, 5b, 6, 8, 10, 11
41, 42, 56, 58 planetary gears
12, 43, 57 Ring gear
13, 14, 15 Control gear
16, 17, 18, 19, 20, 21 Bearing
22, 23, 24 Oil seal
25, 26, 27 colors
28 pins
29, 30, 31 retaining ring
32 Front lid
33 Housing
34 Rear lid
52, 53, 54 Input gear
T, T1, T2, T3, T5, T6
T9, T10, T11, T13
T14 torque
F, F1, F2, F3, F5, F9
F10, F11, F13 force
r, r1, r2, r3, r5, r6
r7, r8, r9, r10, r11
r12, r13, r14, r15
r16, r17 Gear radius
G1, G3, G6, G11, G15 Sun gear
G2, G4, G5, G7, G8
G12, G16 planetary gear
G9, G13, G17 Ring gear
na, nc, nd, ne, ng, nh Gear rotation speed
A1-A1, A2-A2, B1-B1
B2-B2, C1-C1, C2-C2 Centerline of gear shaft

Claims (6)

  A planetary gear mechanism comprising a sun gear (4), a planetary gear (5) meshing with the sun gear (4), and a planetary gear (6) meshing with the planetary gear (5); a sun gear (7) and the sun A planetary gear mechanism constituted by a planetary gear (8) meshing with the gear (7), a planetary gear (10) meshing with the sun gear (9) and the sun gear (9), and a planetary gear (10). Using a planetary gear mechanism comprising a planetary gear (11) and a ring gear (12) meshing with the planetary gear (11), the input shaft (1) is attached to the sun gear (7), and the planetary gear (8) The rotating shaft of the planetary gear (6) is connected, the revolution shafts of the planetary gears (5, 6, 8) are the same, the sun gear (4) and the control gear (15) are connected, and mesh with the control gear (15). The control shaft (2) is connected to the control gear (13) via the matching control gear (14), and the sun gear (7) has a radius of sun gear ( ) And the radius of the planetary gear (6) is larger than the radius of the planetary gear (8), and the control shaft (2 ) Of the planetary gear (5, 6, 8) and the revolution speed control unit for controlling the rotational speed of the large output torque output from the revolution shaft of the planetary gear (5, 6, 8), and the input shaft (1) for the planetary gear (10, 11) Revolving shaft, ring gear (12) is connected to the revolving shaft of planetary gear (5, 6, 8), and ring gear of the gear mechanism is connected to sun gear (9) and output shaft (3). An input shaft (1) and a control shaft (2) comprising a rotation speed change amplifying unit that changes a large rotation speed change output from the output shaft (3) in response to a small rotation speed change input to (12). The transmission shaft that transmits the output shaft (3) from the input shaft (1) without changing the rotation direction Only by the output shaft to vary the rotational speed of the control shaft (2) at a small torque than click (3) device for controlling the forward and reverse rotation of large torque.   The planetary gear (41) meshed with the sun gear (40), the planetary gear (42) meshed with the planetary gear (41), and the ring gear (43) meshed with the planetary gear (42). The planetary gear mechanism is used, and the ring gear (43) is connected to the sun gear (9), which is the output of the rotational speed change rate amplifying part of the device constituted by the rotational speed control part and the rotational speed change rate amplifying part according to claim 1. ), The output shaft (3) is connected to the sun gear (40), and the planetary gear mechanism of the rotation rate change rate amplification unit has two stages, three stages or more. Without changing the rotation direction of the input shaft (1) and the control shaft (2), the input shaft (1) is composed of a rotation speed change rate amplifying section that changes the rotation speed to a smaller rotation speed change. Of the control shaft (2) with a torque smaller than the transmission torque for transmitting the output shaft (3) from Apparatus for controlling the forward and reverse rotation of large torque of the output shaft (3) by simply changing the.   The planetary gear (5a) meshed with the sun gear (4) and the planetary gear (5b) meshed with the planetary gear (6) instead of the planetary gear (5) of the rotational speed control unit according to claim 1 Torque smaller than the torque input to the input shaft (1) of the rotational speed control unit having the structure of the planetary gear (5a) having a larger radius than the planetary gear (5b) using the connected planetary gears (5a, 5b). The rotational speed control unit for changing the rotational speed of the control shaft (2) and controlling the rotation of a large output torque using the revolution shaft of the planetary gear (5a, 5b, 6, 8) as an output, and the sun gear (40 ) And a planet gear (41) meshing with the sun gear (40), a planet gear (42) meshing with the planet gear (41), and a ring gear (43) meshing with the planet gear (42). The rotation speed control unit and the rotation speed change rate amplification unit according to claim 1 are used. The ring gear (43) is connected to the sun gear (9), which is the output of the rotational speed change rate amplifying unit of the device formed, and the output shaft (3) is connected to the sun gear (40), so that the rotational speed change rate is amplified. The planetary gear mechanism of the part is composed of two stages, three stages or more, and a rotation speed change rate amplifying part that changes a large change in rotation speed with respect to a change in rotation speed smaller than that of the rotation speed change rate amplification part. Without changing the rotation direction of the input shaft (1) and the control shaft (2), the rotational speed of the control shaft (2) is reduced with a torque smaller than the transmission torque transmitted from the input shaft (1) to the output shaft (3). A device that controls forward and reverse rotation of a large torque of the output shaft (3) simply by changing it.   When the speed change rate amplifying unit according to claim 1 is used alone, the sun gear (9) according to claim 1 and the planetary gear (10) meshing with the sun gear (9) are engaged with the planetary gear (10). Using a planetary gear mechanism in which two planetary gears constituted by a matching planetary gear (11) and a ring gear (12) meshing with the planetary gear (11) are used, and input to the revolution shaft of the planetary gears (10, 11). The shaft (1) is connected, the control shaft (2) is connected to the control gear (13), and the ring gear (12) is connected to the control gear (15) via the control gear (14) engaged with the control gear (13). And a planetary gear mechanism that meshes with a sun gear, a planetary gear, and a ring gear when the speed change rate amplifying unit according to claim 1 is used as a single unit. Compared to the dimensions of the rotation axis, revolution axis and center of the planetary gear (11) meshing with the ring gear, Transmission torque that can freely set the radius dimension of the positive gear (9) and transmit the output shaft (3) from the input shaft (1) without changing the rotation direction of the input shaft (1) and the control shaft (2). A device that controls forward / reverse rotation of the output shaft (3) only by changing the rotational speed of the control shaft (2) with a smaller torque.   When the speed change rate amplifying unit according to claim 2 is used alone, the sun gear (9) and the planetary gear (10) meshing with the sun gear (9) according to claim 2 are meshed with the planetary gear (10). A planetary gear mechanism composed of a matching planetary gear (11) and a ring gear (12) meshing with the planetary gear (11), a planetary gear (41) meshing with the sun gear (40) and the sun gear (40), and the planetary gear A planetary gear mechanism comprising a planetary gear (42) meshing with the gear (41) and a ring gear (43) meshing with the planetary gear (42) is used, and the revolving shaft and planetary gear of the planetary gear (10, 11) are used. (41, 42) The input shaft (1) is connected to the revolution shaft, the control shaft (2) is connected to the control gear (13), and the control is performed via the control gear (14) engaged with the control gear (13). The ring gear (12) is connected to the gear (15), and the ring gear (43 is connected to the sun gear (9). When the rotational speed change rate amplifying unit according to claim 2 is used as a single unit, the rotational directions of the input shaft (1) and the control shaft (2) are connected. Without changing the torque, forward and reverse rotation of the output shaft (3) with a large torque just by changing the rotation speed of the control shaft (2) with a torque smaller than the torque transmitted from the input shaft (1) to the output shaft (3). Device to control. A planetary gear mechanism comprising a sun gear (55), a planetary gear (56) meshing with the sun gear (55), and a ring gear (57) meshing with the planetary gear (56), a sun gear (59) and the sun A planetary gear mechanism composed of a planetary gear (58) meshing with the gear (59) and a ring gear (57) meshing with the planetary gear (58) is used, and the control shaft (51) is attached to the sun gear (55). Mounting, a ring gear (57) and an input gear (54) are connected, and an input shaft (50) is connected to an input gear (52) via an input gear (53) meshing with the input gear (54). Rotational speed control for changing the rotational speed of the control shaft (51) with a torque smaller than the torque input to the input shaft (50) and controlling the rotational speed of a large output torque with the planetary gear (56) revolution shaft as an output. And the revolution axis of the planetary gear (58) The ring gear (57) meshing with the planetary gear (58) is an integral gear with the ring gear (57) meshing with the planetary gear (56) of the rotational speed control unit, A small change input to the revolution shaft of the planetary gear (58) of the gear mechanism in which the output shaft (60) is connected to the sun gear (59) meshing with the gear (58) is output from the output shaft (60). The output shaft (60) is transmitted from the input shaft (50) without changing the rotational direction of the input shaft (1) and the control shaft (2), which is composed of a rotational speed change rate amplifying section that changes to a large rotational speed change. A device that controls forward and reverse rotation of a large torque of the output shaft (60) only by changing the rotational speed of the control shaft (51) with a torque smaller than the transmission torque.

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