Actuator and reaction force application device using the same

Abstract

An output shaft (30) is rotatable relative to a housing (11). An output gear (31) is not rotatable relative to the output shaft (30), so that it rotates integrally with the output shaft (30). An intermediate shaft (40) is rotatable relative to the housing (11). An intermediate gear (41) engages with the output gear (31) and a drive gear (22) and is not rotatable relative to the intermediate shaft (40). A preload element (50) is configured such that it transmits a preload force to the output shaft (30) separately from a drive source (20) in a reaction force generation direction, the drive source (20) being configured in the same direction to generate the reaction force. A preload gear (51, 52) engages with the intermediate gear (41) and is rotatable relative to the output shaft (30), so that the intermediate gear rotates relative to the output gear (31).The preload element (50) is arranged between the housing (11) and the preload wheel (51) and is configured such that it transmits the preload force via the preload wheel (51) to the intermediate wheel (41) and the output wheel (31).

Description

Cross-reference to related registration

[0001] This application is based on the Japanese patent application No. 2023-127338 filed on August 3, 2023, the contents of which are incorporated herein by reference. Technical field

[0002] The present disclosure relates to an actuator and a reaction force application device using the same. General state of the art

[0003] So far, a reaction force application device is known which is configured in such a way that it applies a reaction force against a pedal force of a human driver on a pedal of an accelerator pedal device to be pressed down by the human driver.

[0004] For example, the reaction force application device of patent literature 1 includes an actuator configured in such a way that it generates the reaction force to be applied to the pedal. List of patent literature

[0005] Patent literature 1: EP 2 607 139 A1 Summary of the invention

[0006] In the actuator described in patent literature 1, a lever connected to a reduction gear or speed reducer is pre-tensioned by a torsion spring so that it is constantly in contact with an accelerator pedal lever. Accordingly, when the accelerator pedal is actuated, internal gears are driven in accordance with the pedal's action. In such a configuration, backlash caused by a gear's flank can lead to looseness, abnormal noise, or delays in load transmission during operation.

[0007] In general, scissor gears are known as gears that eliminate backlash. However, these have a complex structure in which a spring is provided to apply tension between coaxially arranged gears. Therefore, when such gears are used in the actuator described in patent literature 1, the actuator may become larger or its structure may become more complicated.

[0008] One objective of the present disclosure is to provide an actuator and a reaction force application device using the actuator, which can suppress abnormal noise and delays in load transmission caused by backlash between the gears with a simple structure.

[0009] According to the present disclosure, an actuator is provided which is configured to output a reaction force against an external force applied in one direction. The actuator comprises a housing, a drive source, and a speed or rotational speed reducer. The drive source is arranged in the housing and comprises a drive wheel which is configured to output a driving force. The speed reducer is configured to reduce the speed of a rotation or rotational speed output by the drive source as the driving force.

[0010] The speed reducer comprises an output shaft, an output gear, an intermediate shaft, an intermediate gear, a preload element, and a preload gear. The output shaft is rotatable relative to the housing. The output gear is not rotatable relative to the output shaft, so it rotates integrally with the output shaft.

[0011] The intermediate shaft is either rotatable or non-rotatable relative to the housing. The intermediate gear is engaged with the output gear and the drive gear and is either non-rotatable or rotatable relative to the intermediate shaft. The preload element is configured to transmit a preload force to the output shaft in a reaction force-generating direction, separately from the drive source, with the drive source configured to generate the reaction force in the same direction.

[0012] The preload wheel engages with the intermediate wheel and is rotatable relative to the output shaft, causing the output shaft to rotate relative to the output wheel. The preload element is located between the housing and the preload wheel and is configured to transmit the preload force via the preload wheel to the intermediate wheel and the output wheel.

[0013] In the present disclosure, the preload force of the preload element can generate a restoring force for the output shaft and simultaneously compensate for backlash between the intermediate gear and the output gear. In other words, the single preload element makes it possible to both generate the restoring force and absorb or compensate for backlash between the gears. This makes it possible to suppress the generation of abnormal noise and delays in load transmission caused by backlash between the gears, all with a simple configuration. Brief description of the illustrations

[0014] The present disclosure, along with its additional functions, features and advantages, is best understood from the following description with reference to the accompanying illustrations. Fig. Figure 1 is a view showing an actuator of a first embodiment, a reaction force application device using the actuator, and an accelerator pedal device to which the reaction force application device is applied. Fig. Figure 2 is a view showing the reaction force application device of the first embodiment. Fig. Figure 3 is a sectional view showing the reaction force application device of the first embodiment. Fig. Figure 4 is a perspective view showing a drive source and a speed reducer of the actuator of the first embodiment. Fig. Figure 5 is a view showing an engagement section of gears of the actuator according to the first embodiment. Fig. Figure 6 is a schematic sectional view showing part of the actuator of the first embodiment. Fig. Figure 7 is a schematic sectional view showing the part of the actuator of the first embodiment. Fig. Figure 8 is a view showing a reaction force application device of a comparative example. Fig. Figure 9 is a sectional view showing the reaction force application device of the comparison example. Fig. Figure 10 is a view showing an engagement section of gears of an actuator of the comparison example. Fig. Figure 11 is a sectional view showing a reaction force application device according to a second embodiment. Fig. Figure 12 is a sectional view showing a reaction force application device according to a third embodiment. Fig. Figure 13 is a perspective view showing an output wheel and a preload wheel of an actuator of the third embodiment. Fig. Figure 14 is a view showing the output wheel and the preload wheel of the actuator of the third embodiment. Fig. Figure 15 is a sectional view showing a reaction force application device according to a fourth embodiment. Fig. Figure 16 is a sectional view showing an intermediate gear of an actuator of the fourth embodiment. Fig. Figure 17 is a sectional view showing a reaction force application device according to a fifth embodiment. Fig. Figure 18 is a sectional view showing part of an actuator according to a sixth embodiment. Fig. Figure 19 is a sectional view showing part of an actuator according to a seventh embodiment. Fig. Figure 20 is a sectional view showing part of an actuator according to an eighth embodiment. Fig. Figure 21 is a sectional view showing part of an actuator according to a ninth embodiment. Description of embodiments

[0015] The following describes an actuator and a reaction force application device using the same actuator according to various embodiments, with reference to the figures. Essentially the same sections are designated with the same reference numerals in the embodiments, and redundant descriptions are omitted for the sake of simplicity. (First embodiment)

[0016] Fig. Figure 1 shows an actuator, a reaction force application device using the actuator, and an accelerator pedal device using the reaction force application device according to the first embodiment.

[0017] The accelerator pedal device 70 is installed on a vehicle (automobile) 1 to detect the accelerator pedal opening degree, corresponding to the rotation angle of a pedal 72 actuated by a human user (hereinafter referred to as the driver) of the vehicle, and to control the driving state of the vehicle 1. The accelerator pedal device 70 uses a wired accelerator pedal system and is not mechanically coupled to a throttle device of the vehicle 1. The accelerator pedal device 70 transmits information about the accelerator pedal opening degree, corresponding to the rotation angle of the pedal 72, to an electronic control unit (hereinafter referred to as the ECU), which is not shown in the figure. The ECU controls the throttle device based on the accelerator pedal opening degree transmitted by the accelerator pedal device 70. Consequently, the driving state of the vehicle 1 is controlled.

[0018] The reaction force application device 3 is installed on the vehicle 1 together with the accelerator pedal device 70 and is configured to apply a reaction force F2 against a pedal force F1 of the driver on the pedal 72 of the accelerator pedal device 70. The reaction force application device 3 is configured to provide driver notification(s) by applying the reaction force to the pedal 72 of the accelerator pedal device 70, such as a hazard warning notification and a fuel economy improvement notification. The reaction force application device 3 is also configured to transform the pedal 72 into a footrest by limiting the rotation of the pedal 72.

[0019] In Fig. Figure 1 shows an x-axis indicating the direction of travel of the vehicle 1, and a y-axis indicating the vehicle's width. Additionally, a z-axis indicates a vertical upward direction. Unless otherwise specified, the following describes the designs or configurations of the accelerator pedal device 70 and the reaction force application device 3 in their installed state on the vehicle 1. For example, "top" or "upper" refers to the upper or top surface in the state in which the accelerator pedal device 70 or the reaction force application device 3 is installed on the vehicle 1. In the present embodiment, a base plate 2 has a wall surface 7 that is parallel to a yz-plane and a wall surface 8 that is inclined relative to the wall surface 7.

[0020] The accelerator pedal assembly 70 comprises a pedal housing 71 and the pedal 72. The pedal housing 71 is attached to the base plate 2 of the vehicle 1, for example by being fixed to the wall surface 8 of the base plate 2 with mounting screws.

[0021] The pedal 72 is rotatably mounted by the pedal housing 71, allowing the latter to rotate about a pivot axis Ax1. The pedal 72 has a plate 73 configured to be depressed by the driver. An accelerator pedal opening degree sensor (not shown) is installed on the inside of the pedal housing 71. The accelerator pedal opening degree sensor detects the accelerator pedal opening degree, which corresponds to the rotation angle of the pedal 72 as it is rotated by the driver's depressing action, and then transmits this information to the ECU. The pivot axis Ax1 is configured to be perpendicular to the z-axis and x-axis and parallel to the y-axis.

[0022] A pedal preload element (not shown) is installed on the inside of the pedal housing 71. The pedal 72 is preloaded by the pedal preload element in an accelerator pedal closing direction. The pedal housing 71 has: a stop that limits the rotation of the pedal 72 in the accelerator pedal closing direction; and another stop that limits the rotation of the pedal 72 in an accelerator pedal opening direction. The pedal 72 is rotatable within a range extending from a contact position where the pedal 72 contacts one stop to another contact position where the pedal 72 contacts the other stop. Fig. Figure 1 shows a state in which the pedal 72 is in contact with one stop in the accelerator pedal closing direction, i.e., is in a fully closed state of the accelerator pedal.

[0023] As in the Fig. 1 and Fig. As shown in Figure 2, the reaction force application device 3 comprises an actuator 10 and a load transmission element 60. The load transmission element 60 is not rotatable relative to an output shaft 30 described later and is rotatable integrally with the output shaft 30. The load transmission element 60 is in contact with the pedal 72 and applies a restoring force to the pedal 72 in a restoring direction (hereinafter referred to as the restoring direction of the pedal 72) in which the pedal 72 returns to its original position.

[0024] As in the Fig. 2, Fig. 3 and Fig. As shown in Figure 4, the actuator 10 comprises a housing 11, a drive source 20, and a speed reducer 4. The drive source 20 is arranged in the housing 11 and has a drive wheel 22 that outputs a driving force. The speed reducer 4 is configured to reduce the rotational speed output by the drive source 20 as the driving force and then outputs the rotation.

[0025] The speed reducer 4 comprises the output shaft 30, an output gear 31, an intermediate shaft 40, an intermediate gear 41, a preload element 50, and a preload gear 51. The output shaft 30 is rotatable relative to the housing 11. The output gear 31 is not rotatable relative to the output shaft 30, so that it rotates integrally with the output shaft 30.

[0026] The intermediate shaft 40 is rotatable relative to the housing 11. The intermediate gear 41 engages with the output gear 31 and the drive gear 22 and is not rotatable relative to the intermediate shaft 40. The preload element 50 is configured such that it transmits a preload force to the output shaft 30 in a reaction force generation direction, independently of the drive source 20, with the drive source 20 being configured to generate the reaction force in the same direction.

[0027] The preload wheel 51 engages with the intermediate wheel 41 and is rotatable relative to the output shaft 30, so that the latter rotates relative to the output wheel 31. The preload element 50 is arranged between the housing 11 and the preload wheel 51 and is configured such that it transmits the preload force via the preload wheel 51 to the intermediate wheel 41 and the output wheel 31.

[0028] The structure of actuator 10 is described in detail below.

[0029] The housing 11 is mounted to the base plate 2 of the vehicle 1, for example by fixing it to the wall surface 7 of the base plate 2 with mounting screws (not shown). The housing 11 comprises a main housing body 12 and a cover 13. The main housing body 12 is made of metal, for example. The cover 13 is made of resin, for example. When an opening of the main housing body 12 and an opening of the cover 13 come into contact, the main housing body 12 and the cover 13 together form a space for receiving the elements. The main housing body 12 and the cover 13 are connected to each other, for example by screws (not shown).

[0030] The drive source 20 is, for example, an electric motor, such as a DC motor, which is housed in the casing 11. The drive source 20 can deliver torque as the driving force when it is energized. The ECU can control the energization or excitation of the drive source 20 to control its operation.

[0031] The drive source 20 is arranged in the main housing body 12 of the housing 11. The drive source 20 comprises a shaft 21 and the drive wheel 22. The shaft 21 is arranged such that one end section of the shaft 21 is coupled to a rotor (not shown), and the shaft 21 is configured to output the driving force from the drive source 20. The drive wheel 22 is mounted on the other end section of the shaft 21. The drive wheel 22 has a plurality of drive wheel teeth 222 as external teeth on an outer circumferential wall of the drive wheel 22.

[0032] The main housing body 12 has an output shaft hole 121, an intermediate shaft hole 122, and a tubular housing section 123. The output shaft hole 121 extends through the main housing body 12. The intermediate shaft hole 122 extends through the main housing body 12. The tubular housing section 123 is tubular in shape and extends from an outer circumference of the output shaft hole 121 towards the cover 13.

[0033] The actuator 10 comprises a bearing 81, a bearing 82, a bearing 83, and a bearing 84. Each of the bearings 81-84 is a ball bearing. The bearings 81 and 82 are installed inside the tubular housing section 123 and inside the output shaft hole 121, respectively, such that the bearings 81 and 82 are oriented axially. The bearings 83 and 84 are installed in an inner surface of the intermediate shaft hole 122, also such that the bearings 83 and 84 are oriented axially.

[0034] The output shaft 30 is mounted on a pivot axis Ax2 and supported by bearings 81 and 82, allowing it to rotate about the pivot axis Ax2. Accordingly, the output shaft 30 is rotatable relative to the housing 11.

[0035] The output wheel 31 is formed in a plate shape and is made, for example, of metal. An output wheel hole 311 is formed in the output wheel 31. The output wheel hole 311 extends through the output wheel 31 in a plate thickness direction. A cross-section of the output wheel hole 311 and a cross-section of an end section of the output shaft 30 are each formed in a non-circular shape, such as a D-shaped recess or a doubly flattened shape. The output wheel 31 is arranged such that the output wheel hole 311 fits onto one end section of the output shaft 30. This prevents the output wheel 31 from rotating relative to the output shaft 30, so that it rotates integrally with the output shaft 30.A counter-end section of the output gear 31 opposite the output gear hole 311 has a plurality of output gear teeth 312, which serve as external teeth and are arranged in a circumferential direction of the output shaft 30.

[0036] The intermediate shaft 40 is rotatably mounted by the bearings 83, 84. Accordingly, the intermediate shaft 40 is rotatable relative to the housing 11.

[0037] The intermediate gear 41 is made of resin, for example. The intermediate gear 41 comprises a large-diameter intermediate gear section 42 and a small-diameter intermediate gear section 43. The large-diameter intermediate gear section 42 is, for example, formed in a ring shape. The small-diameter intermediate gear section 43 is integrally formed with the large-diameter intermediate gear section 42 in one piece, such that the small-diameter intermediate gear section 43 is tubular and extends from an inner circumference of the large-diameter intermediate gear section 42. An intermediate gear bore 411 is formed within the small-diameter intermediate gear section 43.

[0038] The intermediate gear 41 is integrally formed with the intermediate shaft 40, for example in a state where the intermediate shaft 40 is arranged in the intermediate gear bore 411. Accordingly, the intermediate gear 41 is not rotatable relative to the intermediate shaft 40.

[0039] A plurality of large-diameter intermediate gear teeth 422 are formed on an outer circumference of the large-diameter intermediate gear section 42, serving as external teeth. These large-diameter intermediate gear teeth 422 are configured to mesh with the drive gear teeth 222. A plurality of small-diameter intermediate gear teeth 432, serving as external teeth, are formed on an outer circumferential wall of the small-diameter intermediate gear section 43. These small-diameter intermediate gear teeth 432 are configured to mesh with the output gear teeth 312.

[0040] The preload element 50 is, for example, a coil spring, that is, a torsion spring. The preload element 50 is arranged on a radially outer side of the tubular housing section 123.

[0041] The preload wheel 51 is designed in a plate-like form and is made, for example, of resin. A preload wheel hole 511 is formed in the preload wheel 51. The preload wheel hole 511 extends through the preload wheel 51 in a plate-thickness direction. The inner diameter of the preload wheel hole 511 is larger than the outer diameter of the output shaft 30. The preload wheel 51 is arranged between the output wheel 31 and the bearing 81 such that the output shaft 30 is positioned within the preload wheel hole 511. Accordingly, the preload wheel 51 is rotatable relative to the output wheel 31 and the output shaft 30. Furthermore, the preload wheel 51 is axially movable relative to the output shaft 30 between the output wheel 31 and the bearing 81.

[0042] An end section of the preload gear 51, which is opposite the preload gear bore 511, has a plurality of preload gear teeth 512, which are arranged in the circumferential direction of the output shaft 30. The preload gear teeth 512 are configured such that they mesh with the intermediate gear teeth 432 of the small diameter.

[0043] The preload element 50 is arranged between the main housing body 12 and the preload wheel 51 such that one end section of the preload element 50 is locked to the main housing body 12 and the other end section of the preload element 50 is locked to the preload wheel 51. The preload element 50 preloads the preload wheel 51 so that the preload wheel 51 rotates in the direction X1, which corresponds to the direction of rotation of the output wheel 31, when the actuator 10 generates a reaction force in response to the drive force output by the drive source 20 (see Fig. 3).

[0044] Accordingly, the preloading element 50 can transmit the preload force via the preloading wheel 51 and the intermediate wheel 41 to the output wheel 31.

[0045] The load transfer element 60 is designed in a rod or bar shape and is made, for example, of metal. A load transfer element hole 61 is formed in the load transfer element 60. The load transfer element hole 61 is formed in one end section of the load transfer element 60. A cross-section of the load transfer element hole 61 and a cross-section of the other end section of the output shaft 30 are each formed in a non-circular shape, such as a doubly flattened shape or a D-shaped recess. The load transfer element 60 is arranged such that the load transfer element hole 61 fits onto the other end section of the output shaft 30. This prevents the load transfer element 60 from rotating relative to the output shaft 30, so that it rotates integrally with the output shaft 30.

[0046] The other end section of the load transmission element 60 is configured to be in contact with the pedal 72 of the accelerator pedal assembly 70. When the drive source 20 is activated, the drive force is delivered by the drive wheel 22. Therefore, the intermediate wheel 41 is rotated by the drive force, and this rotates the output wheel 31 and the output shaft 30 in the direction of rotation X1. Thus, the reaction force F2 is transmitted from the load transmission element 60 to the pedal 72. When the driver's pedal force F1 acts as an external force on the other end section of the load transmission element 60, the load transmission element 60 and the output shaft 30 are rotated in the direction of rotation X2 (see Fig. 3).

[0047] As in Fig. As shown in Figure 5, a preload force SPGF1 acts from the preload element 50 via the preload gear teeth 512 on the intermediate gear teeth 432 of the small diameter. Additionally, a preload force SPGF2 acts from the preload element 50 via the intermediate gear 41 on the output gear teeth 312. The preload forces SPGF1 and SPGF2 counteract the external force acting on the intermediate gear teeth 432 of the small diameter to achieve equilibrium. A restoring force for returning the output gear 31 to its initial position is generated by eliminating the backlash through the preload force resulting from the load transmission and the preload force SPGF2 of the preload element 50 transmitted via the intermediate gear 41.

[0048] By arranging the preload gear 51 coaxially with the output gear 31, the overall size can be made more compact compared to a case where the preload gear 51 is arranged on an axis different from that of the output gear 31. Furthermore, since the load in the direction of rotation on the output gear 31 is lifted during engagement, the load acting in the direction perpendicular to the axis of the output gear 31, i.e., the load acting in the direction of tilting the axis, can be reduced. This allows wear anomalies and operational disturbances between gears to be suppressed.

[0049] As in Fig. As shown in Figure 6, the preload gear 51 has a projection 515 that extends from a surface of the preload gear 51 towards the output gear 31 in a predetermined region of the surface of the preload gear 51, which is located radially outside the output shaft 30. The projection 515 is configured such that it comes into contact with the output gear 31. By providing clearance on the tooth tip side, i.e., the outer circumferential side of the preload gear 51 and the output gear 31, and by providing the sliding contact section between the preload gear 51 and the output gear 31 near the output shaft 30, sliding losses can therefore be reduced.

[0050] As in Fig. As shown in Figure 7, the bearing 81 comprises an inner ring 811, an outer ring 812, and a plurality of balls 813. The inner ring 811 and the outer ring 812 are each tubular in shape. The outer ring 812 is arranged on a radially outer side of the inner ring 811. An outer circumferential wall of the inner ring 811 has a bearing groove 814, which is annular in shape. An inner circumferential wall of the outer ring 812 has a bearing groove 815, which is annular in shape. The balls 813 are held between the inner ring 811 and the outer ring 812 such that the balls 813 are rotatable along the bearing groove 814 and the bearing groove 815. As a result, the inner ring 811 and the outer ring 812 can rotate frictionlessly relative to each other.Since the balls 813 are held between the bearing groove 814 and the bearing groove 815, axial relative movement between the inner ring 811 and the outer ring 812 is also limited beyond a predetermined extent.

[0051] An inner circumferential wall of the inner ring 811 of the bearing 81 is fitted to an outer circumferential wall of the output shaft 30 such that the inner ring 811 is not rotatable relative to the output shaft 30. An outer circumferential wall of the outer ring 812 is fitted into an inner circumferential wall of the tubular housing section 123 of the main housing body 12, so that the outer ring 812 is not rotatable relative to the tubular housing section 123.

[0052] The preload wheel 51 has a tubular preload wheel extension 513. The tubular preload wheel extension 513 is formed in a tubular shape and extends from the preload wheel hole 511 towards the bearing 81. An end surface of the tubular preload wheel extension 513, which faces the bearing 81, is configured such that it is in contact with an end surface of the inner ring 811 of the bearing 81, which faces the preload wheel 51. In other words, the end section of the preload wheel 51, which faces the bearing 81, is configured such that it is in contact only with the inner ring 811 of the bearing 81.

[0053] Although the preload wheel 51 is rotatable relative to the output shaft 30, the amount of relative rotation of the preload wheel 51 relative to the output shaft 30 is relatively small compared to the amount of relative rotation of the preload wheel 51 relative to the tubular housing section 123 of the housing 11 or the outer ring 812 of the bearing 81. Therefore, by using the inner ring 811, which rotates integrally with the output shaft 30, as the contact section for the preload wheel 51, the loss of preload force due to sliding friction can be significantly reduced.

[0054] Next, an actuator will be described according to a comparative example and compared with the present embodiment.

[0055] As in the Fig. 8 and Fig. As shown in Figure 9, the actuator of the comparison example does not have the preload wheel 51. The preload element 50 pushes or preloads the output wheel 31 in one direction towards a starting position in order to return it to the starting position. As shown in Figure 9, the actuator of the comparison example does not have the preload wheel 51. The preload element 50 pushes or preloads the output wheel 31 in one direction towards a starting position in order to return it to the starting position. Fig. As shown in Figure 10, in the actuator of the comparison example, backlash leads to play between the intermediate gear teeth 432 of the small diameter and the output gear teeth 312. Therefore, the play can cause abnormal noise due to a collision between the teeth or a delay in load transmission.

[0056] On the other hand, in the present embodiment, each corresponding tooth of the small-diameter intermediate gear teeth 432 is held in a state in which the small-diameter intermediate gear tooth 432 is sandwiched between the corresponding preload gear tooth 512 and the corresponding output gear tooth 312 due to the preload force of the preload element 50. Therefore, the backlash caused by flank clearance is absorbed, thereby suppressing the generation of anomalous noise and delays in load transmission (see Fig. 5).

[0057] As described above, in the present embodiment the preload element 50 is configured such that it transmits the preload force separately from the drive source 20 in the reaction force generation direction to the output shaft 30, wherein the drive source 20 is configured to generate the reaction force in the same.

[0058] The preload wheel 51 engages with the intermediate wheel 41 and is rotatable relative to the output shaft 30, so that the latter rotates relative to the output wheel 31. The preload element 50 is arranged between the housing 11 and the preload wheel 51 and is configured such that it transmits the preload force via the preload wheel 51 to the intermediate wheel 41 and the output wheel 31.

[0059] In the present embodiment, the preload force of the preload element 50 can generate a restoring force for the output shaft 30 and simultaneously compensate for the backlash between the intermediate gear 41 and the output gear 31. In other words, the single preload element 50 makes it possible to both generate the restoring force and compensate for the backlash between the gears. In this way, the generation of abnormal noise and a delay in load transmission due to backlash between the gears can be suppressed, all with a simple configuration.

[0060] Furthermore, the actuator 10 of the present embodiment includes the bearing 81, which is installed on the housing 11 to rotatably support the output shaft 30. The preload wheel 51 is axially movable relative to the output shaft 30 between the output wheel 31 and the bearing 81. Therefore, the movement and position of the preload wheel 51 in the axial direction of the output shaft 30 are limited by the output wheel 31 and the bearing 81.

[0061] Furthermore, the preload gear 51 has the projection 515, which extends from the central section of the surface facing the output gear 31 towards the output gear 31, so that it can come into contact with the output gear 31. By providing a clearance on the tooth tip side, i.e., the outer circumferential side of the preload gear 51 and the output gear 31, and by providing the sliding contact section between the preload gear 51 and the output gear 31 near the output shaft 30, the sliding losses can therefore be reduced.

[0062] According to the present embodiment, the reaction force application device 3 is provided, which is configured to apply the reaction force against the pedal force of the human driver to the pedal 72 of the accelerator pedal device 70, which is to be depressed by the human driver. The reaction force application device 3 comprises the actuator 10 and the load transmission element 60, as described above. The load transmission element 60 is not rotatable relative to the output shaft 30 and is rotatable integrally with the output shaft 30. The load transmission element 60 is in contact with the pedal 72 and applies the reaction force to the pedal 72 in the return direction of the pedal 72.

[0063] The actuator 10 makes it possible to suppress the generation of anomalous noises and a delay in load transmission caused by backlash between the gears. Therefore, even when the pedal 72 is depressed by the human driver, the generation of anomalous noises and a feeling of discomfort during operation caused by backlash can be suppressed. (Second embodiment)

[0064] Fig. Figure 11 shows an actuator according to the second embodiment. The second embodiment differs from the first embodiment with regard to the structure around the intermediate shaft 40.

[0065] In the present embodiment, bearings 83 and 84 are not provided. An end section of the intermediate shaft 40 is fitted into the intermediate shaft hole 122 of the main housing body 12 and is not rotatable relative to the housing 11. The inner diameter of the intermediate gear hole 411 is larger than the outer diameter of the intermediate shaft 40. Therefore, the intermediate gear 41 is rotatable relative to the intermediate shaft 40.

[0066] As described above, in the present embodiment the intermediate shaft 40 is not rotatable relative to the housing 11. Furthermore, the intermediate gear 41 is rotatable relative to the intermediate shaft 40. In this configuration, as in the first embodiment, the generation of abnormal noise and the delay in load transmission due to backlash between the gears can be suppressed. (Third embodiment)

[0067] Fig. Figure 12 shows an actuator according to the third embodiment. The third embodiment differs from the first embodiment with regard to the arrangement of the preload wheel.

[0068] As in the Fig. 12, Fig. 13 and Fig. As shown in Figure 14, the speed reducer 4 in the present embodiment comprises a preload wheel 52. A preload wheel bore 521 is formed in the preload wheel 52. The preload wheel 52 is arranged on the side of the output wheel 31 opposite the bearing 81. An end section of the output shaft 30 is inserted through the preload wheel bore 521. The preload wheel 52 is rotatable relative to the output shaft 30 and the output wheel 31.

[0069] A counter-end section of the preload gear 52, opposite the preload gear bore 521, has a plurality of preload gear teeth 522 arranged in the circumferential direction of the output shaft 30. The preload gear teeth 522 are configured such that they mesh with the intermediate gear teeth 432 of the small diameter.

[0070] The preload wheel 52 has a tubular preload wheel section 523. The tubular preload wheel section 523 is designed in a tubular shape such that a circumferential part of the tubular preload wheel section 523 is cut out, and the tubular preload wheel section 523 surrounds the circumference of the end section of the output wheel 31 that faces the output wheel bore 311 (see Fig. 13).

[0071] The other end section of the preload element 50 is locked to the preload wheel 52. Similar to the first embodiment, the preload element 50 preloads the preload wheel 52 so that the preload wheel 52 is rotated in the same direction as the output wheel 31 when the actuator 10 generates the reaction force in response to the drive force output by the drive source 20.

[0072] As described above, in the present embodiment the preload gear 52 is arranged on the side of the output gear 31 opposite the bearing 81. With this configuration, as in the first embodiment, the generation of abnormal noise and the delay in load transmission due to backlash between the gears can also be suppressed. (Fourth embodiment)

[0073] Fig. Figure 15 shows an actuator according to the fourth embodiment. The fourth embodiment differs from the first embodiment with regard to the configuration of the intermediate gear.

[0074] In the present embodiment, an intermediate gear 44 is provided. The intermediate gear 44 comprises a first main intermediate gear 45, a second main intermediate gear 46, a first auxiliary intermediate gear 47, and a second auxiliary intermediate gear 48. The first main intermediate gear 45 engages with the preload gear 51. The second main intermediate gear 46 is configured such that it rotates integrally with the first main intermediate gear 45. The first auxiliary intermediate gear 47 engages with the output gear 31. The second auxiliary intermediate gear 48 is configured such that it rotates integrally with the first auxiliary intermediate gear 47.

[0075] The first main intermediate gear 45 and the second main intermediate gear 46, as well as the first auxiliary intermediate gear 47 and the second auxiliary intermediate gear 48, are mounted on the intermediate shaft 40 such that the first main intermediate gear 45 and the second main intermediate gear 46 are rotatable relative to the first auxiliary intermediate gear 47 and the second auxiliary intermediate gear 48. The second main intermediate gear 46 and the second auxiliary intermediate gear 48 are engaged with the drive gear 22. The preload force of the preload element 50 can be transmitted to the output gear 31 via the preload gear 51, the first main intermediate gear 45, the second main intermediate gear 46, the drive gear 22, the second auxiliary intermediate gear 48, and the first auxiliary intermediate gear 47 in that order.

[0076] The first main intermediate gear 45 is arranged axially along the intermediate shaft 40 such that it engages only with the preload gear 51 without interacting with the output gear 31. The first auxiliary intermediate gear 47 is arranged axially along the intermediate shaft 40 such that it engages only with the output gear 31 without interacting with the preload gear 51.

[0077] In particular, the first main intermediate gear 45 and the second main intermediate gear 46 are designed as separate bodies, for example made of resin. The first main intermediate gear 45 is tubular in shape and has an intermediate gear bore 441 formed therein. The intermediate gear bore 441 of the first main intermediate gear 45 is fitted onto the intermediate shaft 40, so that the first main intermediate gear 45 is not rotatable relative to the intermediate shaft 40 (see Fig. 15 and Fig. 16) The second main intermediate gear 46 is designed in the form of a ring plate and has an intermediate gear hole 442 formed therein. The second main intermediate gear 46 is fixed by a gear fixing element 463 in a state in which the intermediate gear hole 442 is aligned with the end section of the intermediate shaft 40, so that the second main intermediate gear 46 is not rotatable relative to the intermediate shaft 40.

[0078] A plurality of first main intermediate gear teeth 452, which serve as external teeth, are formed on an outer circumferential wall of the first main intermediate gear 45. The first main intermediate gear teeth 452 are configured such that they mesh with the preload gear teeth 512. A plurality of second main intermediate gear teeth 462, which serve as external teeth, are formed on an outer circumference of the second main intermediate gear 46. The second main intermediate gear teeth 462 are configured such that they mesh with the drive gear teeth 222.

[0079] The first intermediate gear 47 and the second intermediate gear 48 are formed in one piece, for example from resin. The first intermediate gear 47 is tubular and has an intermediate gear bore 443 formed within it. The second intermediate gear 48 is ring-shaped, such that the second intermediate gear 48 extends radially outwards from an end section of the first intermediate gear 47.

[0080] A plurality of first intermediate gear teeth 472, which serve as external teeth, are formed on an outer circumferential wall of the first intermediate gear 47. The first intermediate gear teeth 472 are configured such that they mesh with the output gear teeth 312. A plurality of second intermediate gear teeth 482, which serve as external teeth, are formed on an outer circumference of the second intermediate gear 48. The second intermediate gear teeth 482 are configured such that they mesh with the drive gear teeth 222.

[0081] A tubular intermediate gear extension 473 and a tubular intermediate gear extension 474 are formed on the first auxiliary intermediate gear 47. The tubular intermediate gear extension 473 is tubular in shape and projects from one end surface of the first auxiliary intermediate gear 47. The tubular intermediate gear extension 474 is tubular in shape and projects from the other end surface of the first auxiliary intermediate gear 47.

[0082] The first auxiliary intermediate gear 47 and the second auxiliary intermediate gear 48, which are integrally formed in one piece, are arranged between the first main intermediate gear 45 and the second main intermediate gear 46 on a radially outer side of the intermediate shaft 40 (see Fig. 15) The inner diameter of the intermediate gear bore 443 is larger than the outer diameter of the intermediate shaft 40. Therefore, the first auxiliary intermediate gear 47 and the second auxiliary intermediate gear 48 are rotatable relative to the first main intermediate gear 45 and the second main intermediate gear 46, and are also axially movable relative to the first main intermediate gear 45 and the second main intermediate gear 46. An end surface of the tubular intermediate gear extension 473 is configured such that it is in contact with an end surface of the first main intermediate gear 45 facing the second main intermediate gear 46. An end surface of the tubular intermediate gear extension 474 is configured such that it is in contact with an end surface of the second main intermediate gear 46 facing the first main intermediate gear 45.

[0083] The sliding loss can be reduced by forming the tubular intermediate gear extension 473 and the tubular intermediate gear extension 474 on the first auxiliary intermediate gear 47 and by providing a sliding section between the first auxiliary intermediate gear 47 and the first main intermediate gear 45 and a sliding section between the first auxiliary intermediate gear 47 and the second main intermediate gear 46 near the intermediate shaft 40.

[0084] The following describes a method for mounting the intermediate gear 44 on the intermediate shaft 40.

[0085] First, the first main intermediate gear 45 is provided on the intermediate shaft 40 by overmolding or press-fitting. In a case where the first main intermediate gear 45 is made of metal, it can be formed integrally with the intermediate shaft 40, or it can be provided on the intermediate shaft 40 by press-fitting.

[0086] Next, the intermediate shaft 40 is inserted through the intermediate gear bore 443 of the first secondary intermediate gear 47 and the second secondary intermediate gear 48, which are integrally formed in one piece. Subsequently, the gear locking element 463, which is injection-molded into the second main intermediate gear 46, is attached to the end section of the intermediate shaft 40, for example by pressing, riveting, or welding. This completes the assembly of the intermediate gear 44 onto the intermediate shaft 40.

[0087] Fig. Figure 16 shows in sectional views the first auxiliary intermediate gear 47 and the second auxiliary intermediate gear 48, which are integrally formed in one piece, as well as the intermediate shaft 40, the first main intermediate gear 45 and the second main intermediate gear 46 in a state in which the first auxiliary intermediate gear 47 and the second auxiliary intermediate gear 48 are not mounted on it.

[0088] In the configuration described above, the preload force is transmitted from the preload element 50 via the preload gear 51, the first main intermediate gear 45, the second main intermediate gear 46, the drive gear 22, the second auxiliary intermediate gear 48, and the first auxiliary intermediate gear 47, in that order, to the output gear 31. This eliminates backlash between the gears.

[0089] As described above, the intermediate gear 44 is provided in the present embodiment. The intermediate gear 44 comprises the first main intermediate gear 45, the second main intermediate gear 46, the first auxiliary intermediate gear 47, and the second auxiliary intermediate gear 48. The first main intermediate gear 45 engages with the preload gear 51. The second main intermediate gear 46 is configured to rotate integrally with the first main intermediate gear 45. The first auxiliary intermediate gear 47 engages with the output gear 31. The second auxiliary intermediate gear 48 is configured to rotate integrally with the first auxiliary intermediate gear 47.

[0090] The first main intermediate gear 45 and the second main intermediate gear 46, as well as the first auxiliary intermediate gear 47 and the second auxiliary intermediate gear 48, are mounted on the intermediate shaft 40 such that the first main intermediate gear 45 and the second main intermediate gear 46 are rotatable relative to the first auxiliary intermediate gear 47 and the second auxiliary intermediate gear 48. The second main intermediate gear 46 and the second auxiliary intermediate gear 48 are engaged with the drive gear 22. The preload force of the preload element 50 can be transmitted to the output gear 31 via the preload gear 51, the first main intermediate gear 45, the second main intermediate gear 46, the drive gear 22, the second auxiliary intermediate gear 48, and the first auxiliary intermediate gear 47 in that order.

[0091] The first main intermediate gear 45 is positioned in the axial direction of the intermediate shaft 40 such that it engages only with the preload gear 51 without interacting with the output gear 31. The first auxiliary intermediate gear 47 is arranged in the axial direction of the intermediate shaft 40 such that it engages only with the output gear 31 without interacting with the preload gear 51.

[0092] As in the present embodiment, even when the reduction stage is added, the backlash at the engagement section of the added gear can be absorbed by the preload force of the preload element 50. Therefore, it is possible to suppress the generation of anomalous noise and the delay in load transmission caused by the backlash between the gears. (Fifth embodiment)

[0093] Fig. Figure 17 shows an actuator according to the fifth embodiment. The fifth embodiment differs from the fourth embodiment with regard to the arrangement of the preload wheel.

[0094] In the present embodiment, the speed reducer 4 comprises the preload wheel 52 discussed in the third embodiment. As in the third embodiment, the preload wheel 52 is arranged on the side of the output wheel 31 opposite the bearing 81. The other end section of the preload element 50 is locked to the preload wheel 52.

[0095] The pre-loading gear teeth 522 are configured to mesh with the first auxiliary intermediate gear teeth 472. The first auxiliary intermediate gear 47 meshes with the pre-loading gear 52. The output gear teeth 312 are configured to mesh with the first main intermediate gear teeth 452. The first main intermediate gear 45 meshes with the output gear 31.

[0096] In the present embodiment, the preload force can be transmitted from the preload element 50 via the preload wheel 52, the first auxiliary intermediate wheel 47, the second auxiliary intermediate wheel 48, the drive wheel 22, the second main intermediate wheel 46 and the first main intermediate wheel 45 in this order to the output wheel 31.

[0097] The first main intermediate gear 45 is arranged in the axial direction of the intermediate shaft 40 such that the first main intermediate gear 45 engages only with the output gear 31, without interacting with the preload gear 52. The first auxiliary intermediate gear 47 is arranged in the axial direction of the intermediate shaft 40 such that the first auxiliary intermediate gear 47 engages only with the preload gear 52, without interacting with the output gear 31.

[0098] As described above, in the present embodiment, the intermediate gear 44 is provided. The intermediate gear 44 comprises the first main intermediate gear 45, the second main intermediate gear 46, the first auxiliary intermediate gear 47, and the second auxiliary intermediate gear 48. The first main intermediate gear 45 engages with the output gear 31. The second main intermediate gear 46 is configured such that it rotates integrally with the first main intermediate gear 45. The first auxiliary intermediate gear 47 engages with the preload gear 52. The second auxiliary intermediate gear 48 is configured such that it rotates integrally with the first auxiliary intermediate gear 47.

[0099] The first main intermediate gear 45 and the second main intermediate gear 46, as well as the first auxiliary intermediate gear 47 and the second auxiliary intermediate gear 48, are mounted on the intermediate shaft 40 such that the first main intermediate gear 45 and the second main intermediate gear 46 are rotatable relative to the first auxiliary intermediate gear 47 and the second auxiliary intermediate gear 48. The second main intermediate gear 46 and the second auxiliary intermediate gear 48 are engaged with the drive gear 22. The preload force from the preload element 50 can be transmitted to the output gear 31 via the preload gear 51, the first auxiliary intermediate gear 47, the second auxiliary intermediate gear 48, the drive gear 22, the second main intermediate gear 46, and the first main intermediate gear 45 in that order.

[0100] The first main intermediate gear 45 is positioned in the axial direction of the intermediate shaft 40 such that it engages only with the output gear 31 without interacting with the preload gear 52. The first auxiliary intermediate gear 47 is arranged in the axial direction of the intermediate shaft 40 such that it engages only with the preload gear 52 without interacting with the output gear 31.

[0101] As in the present embodiment, even when the reduction gear stage is added and the arrangement of the preload gear 52 and the output gear 31 is changed, the backlash at the engagement section of the added gear can be absorbed by the preload force of the preload element 50. Therefore, it is possible to suppress the generation of anomalous noise and the delay in load transmission caused by the backlash between the gears. (Sixth embodiment)

[0102] Fig. Figure 18 shows part of an actuator according to the sixth embodiment. The sixth embodiment differs from the first embodiment with respect to the configuration around the preload wheel 51.

[0103] In the present embodiment, the preload wheel 51 is arranged such that movement of the preload wheel 51 relative to the output shaft 30 is restricted in the axial direction, thereby forming a gap S1 between the preload wheel 51 and the output wheel 31.

[0104] In particular, the actuator 10 further comprises a bearing 85. The bearing 85 is, for example, a ball bearing and has the same configuration as the bearing 81. An inner circumferential wall of an inner ring of the bearing 85 is attached to or fitted against the outer circumferential wall of the output shaft 30 such that the inner ring is not rotatable relative to the output shaft 30. An outer circumferential wall of an outer ring of the bearing 85 is attached to or fitted against an inner circumferential wall of the preload wheel bore 511 such that the outer ring is not rotatable relative to the preload wheel 51. This limits the axial movement of the preload wheel 51 relative to the output shaft 30 and the output wheel 31, so that the movement of the preload wheel 51 does not exceed a predetermined amount. Therefore, the preload wheel 51 and the output wheel 31 are always spaced apart from each other, and the gap S1 between the preload wheel 51 and the output wheel 31 is kept constant.

[0105] As described above, in the present embodiment the preload wheel 51 is arranged such that its axial movement relative to the output shaft 30 is restricted, thereby forming the gap S1 between the preload wheel 51 and the output wheel 31. Thus, the output wheel 31 and the preload wheel 51 do not come into contact with each other, thereby reducing the loss of preload force caused by friction between the output wheel 31 and the preload wheel 51. (Seventh embodiment)

[0106] Fig. Figure 19 shows part of an actuator according to the seventh embodiment. The seventh embodiment differs from the first embodiment with regard to the configuration of the output wheel 31 and the preload wheel 51.

[0107] In the present embodiment, the preload wheel 51 does not have the projection 515 discussed in the first embodiment.

[0108] In the present embodiment, the output gear 31 has a projection 315 that extends from a surface of the output gear 31 towards the preload gear 51 in a predetermined region of the surface of the output gear 31, located radially outside the output shaft 30. The projection 315 is configured such that it comes into contact with the preload gear 51. By providing clearance on the tooth tip side, i.e., the outer circumferential side of the preload gear 51 and the output gear 31, and by providing the sliding contact section between the preload gear 51 and the output gear 31 near the output shaft 30, sliding losses can therefore be reduced. (Eighth embodiment)

[0109] Fig. Figure 20 shows part of an actuator according to the eighth embodiment. The eighth embodiment differs from the first embodiment with regard to the configuration of the output wheel 31.

[0110] In the present embodiment, the output gear 31 has a projection 315 that extends from the surface of the output gear 31 towards the preload gear 51 in a predetermined area of ​​the output gear 31's surface, located radially outside the output shaft 30. The projection 315 is configured to contact the preload gear 51. An end surface of the projection 315 is configured to contact an end surface of the projection 515. By providing clearance on the tooth tip side, i.e., the outer circumferential side of the preload gear 51 and the output gear 31, and by providing the sliding contact section between the preload gear 51 and the output gear 31 near the output shaft 30, sliding losses can therefore be reduced. (Ninth embodiment)

[0111] Fig.Figure 21 shows part of an actuator according to the ninth embodiment. The ninth embodiment differs from the first embodiment with respect to the configuration of the preload wheel 51.

[0112] In the present embodiment, the preload wheel 51 does not have the projection 515 discussed in the first embodiment.

[0113] The actuator 10 of the present embodiment further comprises a spacer 91. The spacer 91 is arranged between the output wheel 31 and the preload wheel 51.

[0114] In particular, the spacer 91 is designed in an annular shape. The spacer 91 is arranged between the output gear 31 and the preload gear 51 on the radially outer side of the output shaft 30. One end surface of the spacer 91 is configured such that it is in contact with the surface of the output gear 31 facing the preload gear 51 in a predetermined region of the surface of the output gear 31 that is located radially outside the output shaft 30. The other end surface of the spacer 91 is configured such that it is in contact with the surface of the preload gear 51 facing the output gear 31 in a predetermined region of the surface of the preload gear 51 that is located radially outside the output shaft 30. (Other embodiments)

[0115] In the first embodiment, the intermediate shaft is rotatable relative to the housing, and the intermediate gear is not rotatable relative to the intermediate shaft. In the second embodiment, the intermediate shaft is additionally not rotatable relative to the housing, and the intermediate gear is rotatable relative to the intermediate shaft. In a further embodiment, the intermediate shaft can be rotatable relative to the housing, and the intermediate gear can be rotatable relative to the intermediate shaft.

[0116] Furthermore, in another embodiment, the wall surface of the vehicle's base plate, on which the reaction force application device and the accelerator pedal device are installed, is not necessarily parallel to the yz-plane. That is, the wall surface of the base plate can be formed at any angle relative to the vehicle.

[0117] Furthermore, the actuator of the present disclosure can be applied to a device other than the reaction force application device. Moreover, the reaction force application device and the accelerator pedal device according to the present disclosure can also be applied to vehicles other than automobiles.

[0118] The characteristics of the present disclosure are as follows. (Revelation 1)

[0119] According to disclosure 1, an actuator is provided which is configured to output a reaction force against an external force applied in one direction, wherein the actuator has: a case (11); a drive source (20) which is arranged in the housing and comprises a drive wheel (22) which is configured to output a driving force; and a reduction gear or a speed reducer (4) configured to reduce a speed output by the drive source as the driving force, wherein: The speed reducer includes: an output shaft (30) which is rotatable relative to the housing; an output wheel (31) which is not rotatable relative to the output shaft, so that it rotates integrally with the output shaft; an intermediate shaft (40) which is rotatable or non-rotatable relative to the housing; an intermediate gear (41, 44) which engages with the output gear and the drive gear and is not rotatable or rotatable relative to the intermediate shaft; a preload element (50) configured such that it transmits a preload force to the output shaft in a reaction force generation direction separately from the drive source, wherein the drive source is configured to generate the reaction force in the same direction; and a preload wheel (51, 52) which engages with the intermediate wheel and is rotatable relative to the output shaft, so that the latter rotates relative to the output wheel; and The preload element is arranged between the housing and the preload wheel and is configured in such a way that it transmits the preload force via the preload wheel to the intermediate wheel and the output wheel. (Revelation 2)

[0120] According to disclosure 2, the actuator according to disclosure 1 is provided, wherein the preload wheel is configured such that axial movement of the preload wheel relative to the output shaft is restricted, so that a gap (S1) is formed between the preload wheel and the output wheel. (Revelation 3)

[0121] According to disclosure 3, the actuator according to disclosure 1 is provided, comprising a bearing (81) which is installed on the housing to rotatably support the output shaft, wherein: The preload wheel is positioned between the output wheel and the bearing and is configured such that it moves axially relative to the output shaft. (Revelation 4)

[0122] According to disclosure 4, the actuator according to disclosure 3 is provided, wherein the preload wheel and / or the output wheel has a projection (315, 515) which extends from one surface of the preload wheel and / or the output wheel towards the other of the preload wheel and the output wheel in a predetermined area of ​​the surface which is radially outside the output shaft, wherein the projection is configured such that it comes into contact with the other of the preload wheel and the output wheel. (Revelation 5)

[0123] According to Disclosure 5, the actuator according to Disclosure 3 is provided, which has a spacer (91) arranged between the output wheel and the preload wheel. (Revelation 6)

[0124] According to Revelation 6, the actuator is provided according to one of Revelations 1 to 5, wherein: The intermediate gear includes: a first main intermediate gear (45) which engages with the preload gear; a second main intermediate gear (46) which is configured such that it rotates integrally with the first main intermediate gear; a first auxiliary intermediate gear (47) which engages with the output gear; and a second auxiliary intermediate gear (48) which is configured such that it rotates integrally with the first auxiliary intermediate gear; the first main intermediate gear and the second main intermediate gear and the first auxiliary intermediate gear and the second auxiliary intermediate gear are mounted on the intermediate shaft, so that the first main intermediate gear and the second main intermediate gear are rotatable relative to the first auxiliary intermediate gear and the second auxiliary intermediate gear; the second main intermediate gear and the second auxiliary intermediate gear are engaged with the drive gear; the preload force of the preload element can be transferred to the output wheel via the preload wheel, the first main intermediate wheel, the second main intermediate wheel, the drive wheel, the second auxiliary intermediate wheel and the first auxiliary intermediate wheel in this order; the first main intermediate gear is positioned in an axial direction of the intermediate shaft such that the first main intermediate gear is only engaged with the preload gear, without interfering with or interacting with the output gear; and The first auxiliary intermediate gear is positioned in the axial direction of the intermediate shaft in such a way that the first auxiliary intermediate gear engages only with the output gear, without interacting with the preload gear. (Revelation 7)

[0125] According to Revelation 7, the actuator is provided according to one of Revelations 1 to 5, wherein: The intermediate gear includes: a first main intermediate gear (45) which engages with the output gear; a second main intermediate gear (46) which is configured such that it rotates integrally with the first main intermediate gear; a first auxiliary intermediate gear (47) which engages with the preload gear; and a second auxiliary intermediate gear (48) which is configured such that it rotates integrally with the first auxiliary intermediate gear; the first main intermediate gear and the second main intermediate gear and the first auxiliary intermediate gear and the second auxiliary intermediate gear are mounted on the intermediate shaft, so that the first main intermediate gear and the second main intermediate gear are rotatable relative to the first auxiliary intermediate gear and the second auxiliary intermediate gear; the second main intermediate gear and the second auxiliary intermediate gear are engaged with the drive gear; the preload force of the preload element can be transferred to the output wheel via the preload wheel, the first auxiliary intermediate wheel, the second auxiliary intermediate wheel, the drive wheel, the second main intermediate wheel and the first main intermediate wheel in this order; the first main intermediate gear is positioned in an axial direction of the intermediate shaft such that the first main intermediate gear engages only with the output gear, without interacting with the preload gear; and The first auxiliary intermediate gear is positioned in the axial direction of the intermediate shaft in such a way that the first auxiliary intermediate gear engages only with the preload gear, without interacting with the output gear. (Revelation 8)

[0126] According to disclosure 8, a reaction force application device is provided which is configured to apply a reaction force against a pedal force of a human driver on a pedal (72) of an accelerator pedal device (70) which is to be depressed by the human driver, wherein the reaction force application device comprises: the actuator (10) according to one of the revelations 1 to 7; and a load transmission element (60) which is not rotatable relative to the output shaft, so that it rotates integrally with the output shaft, wherein: The load transfer element is configured in such a way that it is in contact with the pedal and applies the reaction force to the pedal in a return direction.

[0127] As described above, the present disclosure is not limited to the embodiments described above and can be implemented in various forms without deviating from the basic idea of ​​the present disclosure.

[0128] The present disclosure has been described with reference to the embodiments. However, the present disclosure is not limited to the aforementioned embodiments and the structures described therein. The present disclosure also includes various variants and variations within the equivalence range. Furthermore, a wide variety of combinations and forms, as well as other combinations and forms that comprise only one element, more or less, fall within the scope and ideology of the present disclosure. QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] JP 2023-127338

[0001] EP 2 607 139 A1

[0005]

Claims

[1] Actuator configured to produce a reaction force against an external force applied in one direction, wherein the actuator has: a case (11); a drive source (20) which is arranged in the housing and comprises a drive wheel (22) which is configured to output a driving force; and a speed reducer (4) configured to reduce a speed output by the drive source as the driving force, wherein: The speed reducer includes: an output shaft (30) which is rotatable relative to the housing; an output wheel (31) which is not rotatable relative to the output shaft, so that it rotates integrally with the output shaft; an intermediate shaft (40) which is rotatable or non-rotatable relative to the housing; an intermediate gear (41, 44) which engages with the output gear and the drive gear and is not rotatable or rotatable relative to the intermediate shaft; a preload element (50) configured such that it transmits a preload force to the output shaft in a reaction force generation direction separately from the drive source, wherein the drive source (20) is configured in the same direction to generate the reaction force; and a preload wheel (51, 52) which engages with the intermediate wheel and is rotatable relative to the output shaft, so that the latter rotates relative to the output wheel; and The preload element is arranged between the housing and the preload wheel and is configured in such a way that it transmits the preload force via the preload wheel to the intermediate wheel and the output wheel. [2] Actuator according to claim 1, wherein the preload wheel is configured such that axial movement of the preload wheel relative to the output shaft is restricted, so that a gap (S1) is formed between the preload wheel and the output wheel. [3] Actuator according to claim 1, comprising a bearing (81) which is installed in the housing to rotatably support the output shaft, wherein: The preload wheel is positioned between the output wheel and the bearing and is configured such that it moves axially relative to the output shaft. [4] Actuator according to claim 3, wherein the preload wheel and / or the output wheel has a projection (315, 515) which extends from one surface of the preload wheel and / or the output wheel towards the other of the preload wheel and the output wheel in a predetermined area of ​​the surface which is radially outside the output shaft, wherein the projection is configured such that it comes into contact with the other of the preload wheel and the output wheel. [5] Actuator according to claim 3, comprising a spacer (91) which is arranged between the output wheel and the preload wheel. [6] Actuator according to any one of claims 1 to 5, wherein: The intermediate gear includes: a first main intermediate gear (45) which engages with the preload gear; a second main intermediate gear (46) which is configured such that it rotates integrally with the first main intermediate gear; a first auxiliary intermediate gear (47) which engages with the output gear; and a second auxiliary intermediate gear (48) which is configured such that it rotates integrally with the first auxiliary intermediate gear; the first main intermediate gear and the second main intermediate gear, as well as the first auxiliary intermediate gear and the second auxiliary intermediate gear, are mounted on the intermediate shaft in such a way that the first main intermediate gear and the second main intermediate gear are rotatable relative to the first auxiliary intermediate gear and the second auxiliary intermediate gear; the second main intermediate gear and the second auxiliary intermediate gear are engaged with the drive gear; the preload force of the preload element can be transferred to the output wheel via the preload wheel, the first main intermediate wheel, the second main intermediate wheel, the drive wheel, the second auxiliary intermediate wheel and the first auxiliary intermediate wheel in this order; the first main intermediate gear is positioned in an axial direction of the intermediate shaft such that the first main intermediate gear engages only with the preload gear, without interacting with the output gear; and The first auxiliary intermediate gear is positioned in the axial direction of the intermediate shaft in such a way that the first auxiliary intermediate gear engages only with the output gear, without interacting with the preload gear. [7] Actuator according to any one of claims 1 to 5, wherein: The intermediate gear includes: a first main intermediate gear (45) which engages with the output gear; a second main intermediate gear (46) which is configured such that it rotates integrally with the first main intermediate gear; a first auxiliary intermediate gear (47) which engages with the preload gear; and a second auxiliary intermediate gear (48) which is configured such that it rotates integrally with the first auxiliary intermediate gear; the first main intermediate gear and the second main intermediate gear, as well as the first auxiliary intermediate gear and the second auxiliary intermediate gear, are mounted on the intermediate shaft in such a way that the first main intermediate gear and the second main intermediate gear are rotatable relative to the first auxiliary intermediate gear and the second auxiliary intermediate gear; the second main intermediate gear and the second auxiliary intermediate gear are engaged with the drive gear; the preload force of the preload element can be transferred to the output wheel via the preload wheel, the first auxiliary intermediate wheel, the second auxiliary intermediate wheel, the drive wheel, the second main intermediate wheel and the first main intermediate wheel in this order; the first main intermediate gear is positioned in an axial direction of the intermediate shaft such that the first main intermediate gear engages only with the output gear, without interacting with the preload gear; and The first auxiliary intermediate gear is positioned in the axial direction of the intermediate shaft in such a way that the first auxiliary intermediate gear engages only with the preload gear, without interacting with the output gear. [8] A reaction force application device configured to apply a reaction force against a pedal force of a human driver on a pedal (72) of an accelerator pedal device (70) which is to be depressed by the human driver, wherein the reaction force application device comprises: the actuator (10) according to any one of claims 1 to 5; and a load transmission element (60) which is not rotatable relative to the output shaft, so that it rotates integrally with the output shaft, wherein: The load transfer element is configured in such a way that it is in contact with the pedal and applies the reaction force to the pedal in a return direction.

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