Actuator, and reaction force imparting device using the same

Abstract

To provide an actuator which can suppress the generation of noise caused by wobbling between gears, and a delay of the transmission of a load by a simple constitution.SOLUTION: An output shaft 30 is provided so as to enable relative rotation with respect to a housing 11. An output gear 31 is provided so as to disable relative rotation with respect to the output shaft 30, and rotates integrally with the output shaft 30. An intermediate shaft 40 is provided so as to enable relative rotation with respect to the housing 11. The intermediate gear 41 is engaged with the output gear 31 and a drive gear 22, and is provided so as to disable relative rotation with respect to the intermediate shaft 40. An energization member 50 is provided so as to transmit an energization force to the output shaft 30 in a reaction force generation direction by a drive source 20, separately from the drive source 20. The energization gear 51 is provided so as to enable relative rotation with respect to the output gear 31, and also so as to enable relative rotation with respect to the output shaft 30, and is engaged with the intermediate gear 41. The energization member 50 is provided between the housing 11 and the energization gear 51, and can transmit the energization force to the intermediate gear 41 and the output gear 31 from the energization gear 51.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to an actuator and a reaction force application device using the actuator. [Background technology]

[0002] 2. Description of the Related Art Conventionally, there has been known a reaction force application device capable of applying a reaction force against a pedal depression force of a driver to an accelerator device having a pedal depressed by a driver.

[0003] For example, the reaction force application device of Patent Document 1 includes an actuator that generates a reaction force against a pedal. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] European Patent Application Publication No. 2607139 Summary of the Invention [Problem to be solved by the invention]

[0005] In the actuator of Patent Document 1, a torsion spring biases a lever connected to a reducer so that the lever is always in contact with the accelerator pedal lever. Therefore, when the accelerator is operated, the internal gear is also driven in accordance with the pedal operation. In such a configuration, there is a risk that abnormal noise or delay in load transmission may occur due to play caused by backlash of the gears during operation.

[0006] Scissor gears are generally known as gears that eliminate backlash, but they have a complex structure, including a spring that applies tension between coaxially arranged gears, and if they are used in the actuator of Patent Document 1, this could lead to an increase in the size of the actuator and a complex configuration.

[0007] An object of the present invention is to provide an actuator that can suppress the generation of abnormal noise and delay in load transmission caused by backlash between gears with a simple configuration, and a reaction force imparting device using the actuator. [Means for solving the problem]

[0008] The present invention relates to an actuator capable of outputting a reaction force against an external force in one direction, and includes a housing (11), a drive source (20), and a reducer (4). The drive source is provided in the housing and has a drive gear (22) that outputs a drive force. The reducer is capable of reducing the drive force from the drive source.

[0009] The reducer has an output shaft (30), an output gear (31), an intermediate shaft (40), intermediate gears (41, 44), a biasing member (50), and biasing gears (51, 52). The output shaft is rotatable relative to the housing. The output gear is non-rotatable relative to the output shaft and rotates integrally with the output shaft.

[0010] The intermediate shaft is provided so as to be rotatable or non-rotatable relative to the housing. The intermediate gear meshes with the output gear and the drive gear, and is provided so as to be rotatable or non-rotatable relative to the intermediate shaft. The biasing member is provided so as to be able to transmit a biasing force to the output shaft in a reaction force generation direction by the drive source, separately from the drive source.

[0011] The biasing gear is provided to be rotatable relative to the output shaft so as to be rotatable relative to the output gear, and meshes with the intermediate gear. The biasing member is provided between the housing and the biasing gear, and is capable of transmitting a biasing force from the biasing gear to the intermediate gear and then to the output gear.

[0012] In the present invention, the biasing force of the biasing member can generate a return force on the output shaft and can eliminate the backlash between the intermediate gear and the output gear. In other words, a single biasing member can generate a return force and eliminate the backlash between the gears. This makes it possible to suppress abnormal noise and delays in load transmission caused by backlash between the gears with a simple configuration. [Brief description of the drawings]

[0013] [Figure 1] 1A and 1B are diagrams showing an actuator according to a first embodiment, a reaction force application device using the actuator, and an accelerator device to which the reaction force application device is applied. [Diagram 2] FIG. 2 is a diagram showing a reaction force application device according to the first embodiment. [Diagram 3] FIG. 2 is a cross-sectional view showing the reaction force application device of the first embodiment. [Figure 4] FIG. 2 is a perspective view showing a drive source and a reducer of the actuator of the first embodiment. [Diagram 5] FIG. 4 is a diagram showing a gear meshing portion of the actuator according to the first embodiment. [Figure 6] FIG. 2 is a schematic cross-sectional view showing a part of the actuator according to the first embodiment. [Figure 7] FIG. 2 is a schematic cross-sectional view showing a part of the actuator according to the first embodiment. [Figure 8] FIG. 13 is a diagram showing a reaction force application device of a comparative example. [Figure 9] FIG. 11 is a cross-sectional view showing a reaction force application device of a comparative example. [Figure 10] FIG. 13 is a diagram showing a gear meshing portion of an actuator of a comparative example. [Figure 11] FIG. 11 is a cross-sectional view showing a reaction force application device according to a second embodiment. [Figure 12] FIG. 11 is a cross-sectional view showing a reaction force application device according to a third embodiment. [Figure 13] FIG. 11 is a perspective view showing an output gear and a biasing gear of an actuator according to a third embodiment. [Figure 14] FIG. 13 is a diagram showing an output gear and a biasing gear of an actuator according to a third embodiment. [Figure 15] FIG. 13 is a cross-sectional view showing a reaction force application device according to a fourth embodiment. [Figure 16] FIG. 13 is a cross-sectional view showing an intermediate gear of the actuator according to the fourth embodiment. [Figure 17] FIG. 13 is a cross-sectional view showing a reaction force application device according to a fifth embodiment. [Figure 18] FIG. 13 is a cross-sectional view showing a part of an actuator according to a sixth embodiment. [Figure 19]FIG. 13 is a cross-sectional view showing a part of an actuator according to a seventh embodiment. [Figure 20] FIG. 13 is a cross-sectional view showing a part of an actuator according to an eighth embodiment. [Figure 21] FIG. 13 is a cross-sectional view showing a part of an actuator according to a ninth embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] Hereinafter, an actuator according to a number of embodiments and a reaction force application device using the actuator will be described with reference to the drawings. Note that the same reference numerals are used to designate substantially the same components in the number of embodiments, and descriptions thereof will be omitted.

[0015] (First embodiment) FIG. 1 shows an actuator according to a first embodiment, a reaction force application device using the actuator, and an accelerator device to which the actuator is applied.

[0016] The accelerator device 70 is mounted on the vehicle 1 and is used to detect the accelerator opening corresponding to the rotation angle of a pedal 72 depressed by the driver, and to control the driving state of the vehicle 1. The accelerator device 70 employs an accelerator-by-wire system and is not mechanically connected to the throttle device of the vehicle 1. The accelerator device 70 transmits information related to the accelerator opening corresponding to the rotation angle of the pedal 72 to an electronic control unit (hereinafter referred to as "ECU"), not shown. The ECU controls the throttle device based on the accelerator opening transmitted from the accelerator device 70. In this way, the driving state of the vehicle 1 is controlled.

[0017] The reaction force application device 3 is mounted on the vehicle 1 together with the accelerator device 70, and is capable of applying a reaction force F2 to the pedal 72 of the accelerator device 70 in response to a depression force F1 by the driver. The reaction force application device 3 is capable of providing the driver with notifications such as danger notifications and fuel efficiency improvement notifications by applying a reaction force to the pedal 72 of the accelerator device 70. The reaction force application device 3 is also capable of turning the pedal 72 into a footrest by restricting the rotation of the pedal 72.

[0018] In Fig. 1, the x-axis indicates the traveling direction of the vehicle 1, the y-axis indicates the vehicle width direction, and the z-axis indicates the vertical upward direction. Unless otherwise specified, the shapes or configurations of the accelerator device 70 and the reaction force application device 3 when attached to the vehicle 1 will be described below. For example, "above" or "upper side" means the upper side or upper side when the accelerator device 70 or the reaction force application device 3 is attached to the vehicle 1. In this embodiment, the floor panel 2 has a wall surface 7 that is parallel to the yz plane, and a wall surface 8 that is inclined relative to the wall surface 7.

[0019] The accelerator device 70 includes a pedal housing 71, a pedal 72, etc. The pedal housing 71 is attached to the floor panel 2 by being fixed to the wall surface 8 of the floor panel 2 of the vehicle 1 with, for example, a mounting bolt.

[0020] Pedal 72 is rotatably supported by pedal housing 71 so as to rotate around rotation axis Ax1. Pedal 72 is provided with a pad 73 that is depressed by the driver. An accelerator opening sensor (not shown) is provided inside pedal housing 71. The accelerator opening sensor detects the accelerator opening corresponding to the rotation angle of pedal 72 that rotates when depressed by the driver, and transmits it to the ECU. Note that rotation axis Ax1 is set to be perpendicular to the z-axis and x-axis and parallel to the y-axis.

[0021] A pedal biasing member (not shown) is provided inside the pedal housing 71. The pedal 72 is biased in the accelerator closing direction by the pedal biasing member. The pedal housing 71 has a stopper that restricts rotation of the pedal 72 in the accelerator closing direction, and a stopper that restricts rotation in the accelerator opening direction. The pedal 72 is rotatable within a range in which it abuts against both stoppers. Figure 1 shows a state in which the pedal 72 abuts against the stopper in the accelerator closing direction, i.e., the accelerator is fully closed.

[0022] As shown in Figures 1 and 2, <8> The reaction force applying device 3 includes an actuator 10 and a load transmitting member 60. The load transmitting member 60 is provided so as to be unable to rotate relative to an output shaft 30 described below, and rotates integrally with the output shaft 30. The load transmitting member 60 comes into contact with a pedal 72 and applies a reaction force in the return direction of the pedal 72.

[0023] As shown in Figures 2, 3 and 4, <1> The actuator 10 includes a housing 11, a driving source 20, and a reduction gear 4. The driving source 20 is provided in the housing 11, and has a drive gear 22 that outputs a driving force. The reduction gear 4 is capable of reducing the driving force from the driving source 20.

[0024] The reducer 4 has an output shaft 30, an output gear 31, an intermediate shaft 40, an intermediate gear 41, a biasing member 50, and a biasing gear 51. The output shaft 30 is provided so as to be rotatable relative to the housing 11. The output gear 31 is provided so as not to be rotatable relative to the output shaft 30, and rotates integrally with the output shaft 30.

[0025] The intermediate shaft 40 is provided so as to be rotatable relative to the housing 11. The intermediate gear 41 meshes with the output gear 31 and the drive gear 22, and is provided so as not to be rotatable relative to the intermediate shaft 40. The biasing member 50 is provided so as to be able to transmit a biasing force to the output shaft 30 separately from the drive source 20 in the direction in which the reaction force is generated by the drive source 20.

[0026] The urging gear 51 is provided to be rotatable relative to the output shaft 30 so as to be rotatable relative to the output gear 31, and meshes with the intermediate gear 41. The urging member 50 is provided between the housing 11 and the urging gear 51, and is capable of transmitting a urging force from the urging gear 51 to the intermediate gear 41 and the output gear 31.

[0027] The configuration of the actuator 10 will be described in more detail below.

[0028] The housing 11 is attached to the floor panel 2 by being fixed to a wall surface 7 of the floor panel 2 of the vehicle 1, for example, by mounting bolts (not shown). The housing 11 has a housing main body 12 and a cover 13. The housing main body 12 is formed, for example, from metal. The cover 13 is formed, for example, from resin. The housing main body 12 and the cover 13 form a space therein capable of accommodating components and the like by abutting their openings against each other. The housing main body 12 and the cover 13 are connected, for example, by bolts (not shown).

[0029] The driving source 20 is, for example, an electric motor such as a DC motor, and is accommodated in the housing 11. The driving source 20 is capable of outputting torque as a driving force when energized. The ECU is capable of controlling the energization of the driving source 20 and controlling the operation of the driving source 20.

[0030] The driving source 20 is provided on the housing main body 12 side inside the housing 11. The driving source 20 has a shaft 21 and a driving gear 22. One end of the shaft 21 is provided to be connected to a rotor (not shown) and is capable of outputting the driving force of the driving source 20. The driving gear 22 is provided on the other end of the shaft 21. The driving gear 22 has a driving gear tooth portion 222 as external teeth on its outer circumferential wall.

[0031] The housing body 12 is formed with an output shaft hole portion 121, an intermediate shaft hole portion 122, and a housing cylinder portion 123. The output shaft hole portion 121 is formed so as to penetrate the housing body 12. The intermediate shaft hole portion 122 is formed so as to penetrate the housing body 12. The housing cylinder portion 123 is formed so as to extend in a cylindrical shape from the outer edge portion of the output shaft hole portion 121 toward the cover 13 side.

[0032] <3> The actuator 10 includes a bearing 81, a bearing 82, a bearing 83, and a bearing 84. The bearings 81, 82, 83, and 84 are, for example, ball bearings. The bearings 81 and 82 are arranged so as to be aligned in the axial direction inside the housing cylindrical portion 123 and inside the output shaft hole portion 121. The bearings 83 and 84 are arranged so as to be aligned in the axial direction inside the intermediate shaft hole portion 122.

[0033] The output shaft 30 is provided on the rotation axis Ax2 and is supported by a bearing 81 and a bearing 82 so as to be rotatable around the rotation axis Ax2. As a result, the output shaft 30 is rotatable relative to the housing 11.

[0034] The output gear 31 is formed in a plate shape, for example, from metal. An output gear hole 311 is formed in the output gear 31. The output gear hole 311 is formed so as to penetrate the output gear 31 in the plate thickness direction. The cross-sectional shape of the output gear hole 311 and one end of the output shaft 30 is formed in a non-circular shape, for example, a D-cut shape or a two-face width shape. The output gear 31 is provided so that the output gear hole 311 fits into one end of the output shaft 30. As a result, the output gear 31 is provided so as not to rotate relative to the output shaft 30, and rotates integrally with the output shaft 30. An output gear tooth portion 312 is formed as an external tooth on the end of the output gear 31 opposite to the output gear hole 311 so as to follow the circumferential direction of the output shaft 30.

[0035] The intermediate shaft 40 is rotatably supported by a bearing 83 and a bearing 84. This allows the intermediate shaft 40 to rotate relative to the housing 11.

[0036] The intermediate gear 41 is formed, for example, from resin. The intermediate gear 41 has an intermediate gear large diameter portion 42, an intermediate gear small diameter portion 43, etc. The intermediate gear large diameter portion 42 is formed, for example, in an annular shape. The intermediate gear small diameter portion 43 is formed integrally with the intermediate gear large diameter portion 42 so as to extend cylindrically from the inner edge of the intermediate gear large diameter portion 42. An intermediate gear hole portion 411 is formed on the inner side of the intermediate gear small diameter portion 43.

[0037] The intermediate gear 41 is molded integrally with the intermediate shaft 40, for example, in a state in which the intermediate shaft 40 is positioned in the intermediate gear hole portion 411. As a result, the intermediate gear 41 cannot rotate relative to the intermediate shaft 40.

[0038] An intermediate gear large diameter tooth portion 422 is formed on the outer edge of the intermediate gear large diameter portion 42 as external teeth. The intermediate gear large diameter tooth portion 422 is capable of meshing with the drive gear tooth portion 222. An intermediate gear small diameter tooth portion 432 is formed on the outer circumferential wall of the intermediate gear small diameter portion 43 as external teeth. The intermediate gear small diameter tooth portion 432 is capable of meshing with the output gear tooth portion 312.

[0039] The biasing member 50 is, for example, a coil spring. The biasing member 50 is provided on the radially outer side of the housing cylindrical portion 123.

[0040] The biasing gear 51 is formed in a plate shape from, for example, resin. A biasing gear hole 511 is formed in the biasing gear 51. The biasing gear hole 511 is formed so as to penetrate the biasing gear 51 in the plate thickness direction. The inner diameter of the biasing gear hole 511 is larger than the outer diameter of the output shaft 30. The biasing gear 51 is provided between the output gear 31 and the bearing 81 so that the output shaft 30 is positioned inside the biasing gear hole 511. This allows the biasing gear 51 to rotate relatively to the output gear 31 and the output shaft 30. In addition, <3> The biasing gear 51 is movable relative to the output shaft 30 in the axial direction between the output gear 31 and the bearing 81 .

[0041] An urging gear tooth portion 512 is formed on the end of the urging gear 51 opposite to the urging gear hole portion 511 so as to extend along the circumferential direction of the output shaft 30. The urging gear tooth portion 512 is capable of meshing with the intermediate gear small diameter tooth portion 432.

[0042] The urging member 50 is provided between the housing main body 12 and the urging gear 51, with one end engaged with the housing main body 12 and the other end engaged with the urging gear 51. The urging member 50 urges the urging gear 51 so that the urging gear 51 rotates in a rotational direction X1, which is the direction in which the output gear 31 rotates when the actuator 10 generates a reaction force due to the driving force output from the driving source 20 (see FIG. 3). This enables the urging member 50 to transmit the urging force from the urging gear 51 to the intermediate gear 41 and the output gear 31.

[0043] The load transmission member 60 is formed in a rod shape from, for example, metal. The load transmission member 60 has a load transmission member hole 61 formed therein. The load transmission member hole 61 is formed at one end of the load transmission member 60. The cross-sectional shapes of the load transmission member hole 61 and the other end of the output shaft 30 are formed in a non-circular shape, for example, a two-face width shape or a D-cut shape. The load transmission member 60 is provided such that the load transmission member hole 61 fits into the other end of the output shaft 30. As a result, the load transmission member 60 is provided in a manner that is non-rotatable relative to the output shaft 30, and rotates integrally with the output shaft 30.

[0044] The other end of the load transmission member 60 can come into contact with a pedal 72 of an accelerator device 70. When the driving source 20 is operated, a driving force is output from the driving gear 22, the intermediate gear 41 rotates, and the output gear 31 and the output shaft 30 rotate in a rotational direction X1. As a result, a reaction force F2 is applied from the load transmission member 60 to the pedal 72. When the driver's depression force F1 acts as an external force on the other end of the load transmission member 60, the load transmission member 60 and the output shaft 30 rotate in the rotational direction X2 (see FIG. 3).

[0045] 5, a biasing force SPGF1 of the biasing member 50 acts on the intermediate gear small diameter tooth portion 432 from the biasing gear tooth portion 512. In addition, a biasing force SPGF2 of the biasing member 50 via the intermediate gear 41 acts on the output gear tooth portion 312. SPGF1 and SPGF2 are balanced with an external force acting on the intermediate gear small diameter tooth portion 432. A restoring force to the initial position of the output gear 31 is generated by the backlash bias due to the load transmission and the biasing force SPGF2 of the biasing member 50 via the intermediate gear 41.

[0046] By arranging the biasing gear 51 coaxially with the output gear 31, the size can be made smaller than when the biasing gear 51 is arranged on a different shaft from the output gear 31. Also, since the loads in the rotational direction when meshing with the output gear 31 are cancelled out, the load perpendicular to the axis of the output gear 31, i.e., the load in the direction in which the axis tilts, can be reduced. This makes it possible to suppress abnormal wear and malfunctions between the gears.

[0047] <4> 6, the biasing gear 51 has a protrusion 515 that protrudes toward the output gear 31 from a predetermined area on the radially outer side of the output shaft 30 on the surface on the output gear 31 side so as to be able to come into contact with the output gear 31. Therefore, by providing a clearance between the teeth tips, i.e., the outer edge sides, of the biasing gear 51 and the output gear 31 and providing the sliding portion between the biasing gear 51 and the output gear 31 near the output shaft 30, it is possible to reduce sliding loss.

[0048] As shown in FIG. 7, the bearing 81 has an inner ring 811, an outer ring 812, and a ball 813. The inner ring 811 and the outer ring 812 are formed in a cylindrical shape. The outer ring 812 is provided radially outward of the inner ring 811. An annular bearing groove portion 814 is formed in the outer peripheral wall of the inner ring 811. An annular bearing groove portion 815 is formed in the inner peripheral wall of the outer ring 812. The ball 813 is provided between the inner ring 811 and the outer ring 812 so as to be able to roll in the bearing groove portion 814 and the bearing groove portion 815. This allows the inner ring 811 and the outer ring 812 to rotate smoothly relative to each other. In addition, the ball 813 is engaged between the bearing groove portion 814 and the bearing groove portion 815, so that the inner ring 811 and the outer ring 812 are restricted from moving relative to each other in the axial direction by more than a predetermined amount.

[0049] The inner peripheral wall of the inner ring 811 of the bearing 81 is fitted to the outer peripheral wall of the output shaft 30 so as to be unable to rotate relative to the output shaft 30. The outer peripheral wall of the outer ring 812 is fitted to the inner peripheral wall of the housing cylindrical portion 123 of the housing main body 12 so as to be unable to rotate relative to the housing cylindrical portion 123.

[0050] The biasing gear 51 has a biasing gear extension tube portion 513. The biasing gear extension tube portion 513 is formed to extend in a cylindrical shape from the biasing gear hole portion 511 toward the bearing 81 side. An end face of the biasing gear extension tube portion 513 on the bearing 81 side can come into contact with an end face of the inner ring 811 of the bearing 81 on the biasing gear 51 side. In other words, the bearing 81 side of the biasing gear 51 is configured to come into contact only with the inner ring 811 of the bearing 81.

[0051] The biasing gear 51 is provided so as to be rotatable relative to the output shaft 30, but the amount of relative rotation between the biasing gear 51 and the output shaft 30 is small compared to the amount of relative rotation between the biasing gear 51 and the housing cylindrical portion 123 of the housing 11 and the outer ring 812 of the bearing 81. Therefore, by making the contact portion with the biasing gear 51 the inner ring 811 which rotates integrally with the output shaft 30, loss of biasing force due to sliding friction can be significantly reduced.

[0052] Next, an actuator according to a comparative example will be described and compared with this embodiment.

[0053] 8 and 9, the actuator of the comparative embodiment does not include a biasing gear 51. A biasing member 50 biases the output gear 31 in a direction returning it to its initial position. As shown in Fig. 10, in the actuator of the comparative embodiment, there is backlash between the intermediate gear small diameter tooth portion 432 and the output gear tooth portion 312, which may cause abnormal noise and delay in load transmission due to collision between the tooth portions.

[0054] On the other hand, in this embodiment, the biasing force of the biasing member 50 causes the intermediate gear small diameter tooth portion 432 to be sandwiched between the biasing gear tooth portion 512 and the output gear tooth portion 312, eliminating any play due to backlash, thereby suppressing the generation of abnormal noise and delays in load transmission (see Figure 5).

[0055] As explained above, <1> In this embodiment, the biasing member 50 is provided to be capable of transmitting a biasing force to the output shaft 30 separately from the drive source 20 in the direction in which the reaction force is generated by the drive source 20 .

[0056] The urging gear 51 is provided to be rotatable relative to the output shaft 30 so as to be rotatable relative to the output gear 31, and meshes with the intermediate gear 41. The urging member 50 is provided between the housing 11 and the urging gear 51, and is capable of transmitting a urging force from the urging gear 51 to the intermediate gear 41 and the output gear 31.

[0057] In this embodiment, the biasing force of the biasing member 50 can generate a return force on the output shaft 30 and can also eliminate the backlash between the intermediate gear 41 and the output gear 31. In other words, a single biasing member 50 can generate a return force and eliminate the backlash between the gears. This makes it possible to suppress, with a simple configuration, the generation of abnormal noise and delays in load transmission due to backlash between the gears.

[0058] Also, <3> This embodiment further includes a bearing 81 provided in the housing 11 to support the output shaft 30. The biasing gear 51 is provided between the output gear 31 and the bearing 81 so as to be movable in the axial direction relative to the output shaft 30. Therefore, the movement and position of the biasing gear 51 in the axial direction of the output shaft 30 are regulated by the output gear 31 and the bearing 81.

[0059] Also, <4> The biasing gear 51 has a protrusion 515 that protrudes from the center of the surface on the output gear 31 side toward the output gear 31 so as to be able to come into contact with the output gear 31. Therefore, by providing a clearance at the tips of the teeth of the biasing gear 51 and the output gear 31, i.e., at the outer edge side, and providing the sliding portion between the biasing gear 51 and the output gear 31 near the output shaft 30, it is possible to reduce sliding loss.

[0060] <8> The present embodiment relates to a reaction force applying device 3 capable of applying a reaction force to an accelerator device 70 having a pedal 72 that is depressed by a driver, against the depression force of the pedal 72, and includes the above-mentioned actuator 10 and a load transmission member 60. The load transmission member 60 is provided so as not to rotate relative to the output shaft 30, and rotates integrally with the output shaft 30. The load transmission member 60 comes into contact with the pedal 72 and applies a reaction force in the return direction of the pedal 72.

[0061] The actuator 10 can suppress the generation of abnormal noise and delay in load transmission due to backlash between gears. Therefore, even if the driver depresses the pedal 72, the generation of abnormal noise and discomfort in operation due to backlash can be suppressed.

[0062] Second embodiment An actuator according to the second embodiment is shown in Fig. 11. The second embodiment differs from the first embodiment in the configuration around the intermediate shaft 40.

[0063] This embodiment does not include bearings 83 and 84. One end of the intermediate shaft 40 is fitted into an intermediate shaft hole 122 of the housing body 12, and is provided so as to be non-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.

[0064] As explained above, <1> In this embodiment, the intermediate shaft 40 is provided so as to be non-rotatable relative to the housing 11. Moreover, the intermediate gear 41 is provided so as to be rotatable relative to the intermediate shaft 40. Even with this configuration, as in the first embodiment, it is possible to suppress the generation of abnormal noise and delay in load transmission due to backlash between the gears.

[0065] Third embodiment An actuator according to a third embodiment is shown in Fig. 12. The third embodiment differs from the first embodiment in the arrangement of the biasing gear, etc.

[0066] 12, 13, and 14, in this embodiment, the reducer 4 has an urging gear 52. An urging gear hole 521 is formed in the urging gear 52. The urging gear 52 is provided on the opposite side of the output gear 31 to the bearing 81. An end of the output shaft 30 is inserted into the urging gear hole 521. The urging gear 52 is rotatable relative to the output shaft 30 and the output gear 31.

[0067] An urging gear tooth portion 522 is formed on the end of the urging gear 52 opposite to the urging gear hole portion 521 so as to extend along the circumferential direction of the output shaft 30. The urging gear tooth portion 522 is capable of meshing with the intermediate gear small diameter tooth portion 432.

[0068] The biasing gear 52 is formed with a biasing gear tube portion 523. The biasing gear tube portion 523 is formed in a cylindrical shape with a portion cut out in the circumferential direction, and surrounds the end portion of the output gear 31 on the output gear hole portion 311 side (see FIG. 13).

[0069] The other end of the urging member 50 is engaged with the urging gear 52. As in the first embodiment, the urging member 50 urges the urging gear 52 so that the urging gear 52 rotates in the direction in which the output gear 31 rotates when the actuator 10 generates a reaction force due to the driving force output from the driving source 20.

[0070] As described above, in this embodiment, the biasing gear 52 is provided on the opposite side of the output gear 31 to the bearing 81. Even with this configuration, similar to the first embodiment, it is possible to suppress the generation of abnormal noise and delay in load transmission due to backlash between the gears.

[0071] (Fourth embodiment) An actuator according to a fourth embodiment is shown in Fig. 15. The fourth embodiment differs from the first embodiment in the configuration of the intermediate gear, etc.

[0072] <6> This embodiment includes an intermediate gear 44. The intermediate gear 44 has a first main intermediate gear 45, a second main intermediate gear 46, a first sub intermediate gear 47, and a second sub intermediate gear 48. The first main intermediate gear 45 meshes with the biasing gear 51. The second main intermediate gear 46 rotates integrally with the first main intermediate gear 45. The first sub intermediate gear 47 meshes with the output gear 31. The second sub intermediate gear 48 rotates integrally with the first sub intermediate gear 47.

[0073] The first main intermediate gear 45 and the second main intermediate gear 46, and the first sub intermediate gear 47 and the second sub intermediate gear 48 are provided on the intermediate shaft 40 so as to be rotatable relative to one another. The second main intermediate gear 46 and the second sub intermediate gear 48 mesh with the drive gear 22. The biasing force of the biasing member 50 can be transmitted from the biasing gear 51 to the output gear 31 in the order of the first main intermediate gear 45, the second main intermediate gear 46, the drive gear 22, the second sub intermediate gear 48, and the first sub intermediate gear 47.

[0074] The first main intermediate gear 45 is positioned in the axial direction of the intermediate shaft 40 so as to mesh only with the biasing gear 51 without interfering with the output gear 31. The first sub intermediate gear 47 is positioned in the axial direction of the intermediate shaft 40 so as to mesh only with the output gear 31 without interfering with the biasing gear 51.

[0075] More specifically, the first main intermediate gear 45 and the second main intermediate gear 46 are formed separately from, for example, resin. The first main intermediate gear 45 is formed in a cylindrical shape and has an intermediate gear hole 441 formed therein. The first main intermediate gear 45 has the intermediate gear hole 441 fitted into the intermediate shaft 40 so as to be unable to rotate relative to the intermediate shaft 40 (see Figs. 15 and 16). The second main intermediate gear 46 is formed in an annular plate shape and has an intermediate gear hole 442 formed therein. The second main intermediate gear 46 is fixed by a gear fixing member 463 with the intermediate gear hole 442 fitted into the end of the intermediate shaft 40 so as to be unable to rotate relative to the intermediate shaft 40.

[0076] A first main intermediate gear tooth portion 452 is formed on the outer peripheral wall of the first main intermediate gear 45 as external teeth. The first main intermediate gear tooth portion 452 is capable of meshing with the biasing gear tooth portion 512. A second main intermediate gear tooth portion 462 is formed on the outer edge of the second main intermediate gear 46 as external teeth. The second main intermediate gear tooth portion 462 is capable of meshing with the drive gear tooth portion 222.

[0077] The first sub intermediate gear 47 and the second sub intermediate gear 48 are integrally formed, for example, from resin. The first sub intermediate gear 47 is formed in a cylindrical shape and has an intermediate gear hole 443 formed on the inside. The second sub intermediate gear 48 is formed in an annular plate shape so as to extend radially outward from one end of the first sub intermediate gear 47.

[0078] A first sub intermediate gear tooth portion 472 is formed on the outer peripheral wall of the first sub intermediate gear 47 as external teeth. The first sub intermediate gear tooth portion 472 is capable of meshing with the output gear tooth portion 312. A second sub intermediate gear tooth portion 482 is formed on the outer edge of the second sub intermediate gear 48 as external teeth. The second sub intermediate gear tooth portion 482 is capable of meshing with the drive gear tooth portion 222.

[0079] The first sub intermediate gear 47 is formed with an intermediate gear extension tube portion 473 and an intermediate gear extension tube portion 474. The intermediate gear extension tube portion 473 is formed so as to protrude in a cylindrical shape from one end face of the first sub intermediate gear 47. The intermediate gear extension tube portion 474 is formed so as to protrude in a cylindrical shape from the other end face of the first sub intermediate gear 47.

[0080] The first sub intermediate gear 47 and the second sub intermediate gear 48, which are integrally formed, are provided between the first main intermediate gear 45 and the second main intermediate gear 46 on the radially outer side of the intermediate shaft 40 (see FIG. 15). The inner diameter of the intermediate gear hole 443 is larger than the outer diameter of the intermediate shaft 40. Therefore, the first sub intermediate gear 47 and the second sub intermediate gear 48 are rotatable relative to the first main intermediate gear 45 and the second main intermediate gear 46, and are movable relative to them in the axial direction. The end face of the intermediate gear extension tube portion 473 can come into contact with the end face of the first main intermediate gear 45 on the second main intermediate gear 46 side. The end face of the intermediate gear extension tube portion 474 can come into contact with the end face of the second main intermediate gear 46 on the first main intermediate gear 45 side.

[0081] By forming the intermediate gear extension cylinder portion 473 and the intermediate gear extension cylinder portion 474 on the first auxiliary intermediate gear 47 and locating the sliding portions between the first auxiliary intermediate gear 47 and the first main intermediate gear 45 and the second main intermediate gear 46 near the intermediate shaft 40, it is possible to reduce sliding loss.

[0082] A method for assembling the intermediate gear 44 to the intermediate shaft 40 will now be described.

[0083] First, the first main intermediate gear 45 is provided on the intermediate shaft 40 by insert molding or press fitting. Here, when the first main intermediate gear 45 is made of metal, the first main intermediate gear 45 may be molded integrally with the intermediate shaft 40, or the first main intermediate gear 45 may be provided on the intermediate shaft 40 by press fitting.

[0084] Next, the intermediate shaft 40 is inserted through the intermediate gear hole 443 of the integrally molded first sub intermediate gear 47 and second sub intermediate gear 48. Next, the gear fixing member 463, which is insert molded into the second main intermediate gear 46, is fixed to the end of the intermediate shaft 40 by press fitting, crimping, welding, or the like. This completes the assembly of the intermediate gear 44 to the intermediate shaft 40.

[0085] In addition, Figure 16 shows in cross-section the first sub intermediate gear 47 and the second sub intermediate gear 48 which are molded integrally, and the intermediate shaft 40, the first main intermediate gear 45 and the second main intermediate gear 46 in a state where the first sub intermediate gear 47 and the second sub intermediate gear 48 are not assembled.

[0086] With the above-mentioned configuration, the biasing force of the biasing member 50 is transmitted from the biasing gear 51 to the output gear 31 in the order of 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. This makes it possible to eliminate backlash between the gears.

[0087] As explained above, <6> This embodiment includes an intermediate gear 44. The intermediate gear 44 has a first main intermediate gear 45, a second main intermediate gear 46, a first sub intermediate gear 47, and a second sub intermediate gear 48. The first main intermediate gear 45 meshes with the biasing gear 51. The second main intermediate gear 46 rotates integrally with the first main intermediate gear 45. The first sub intermediate gear 47 meshes with the output gear 31. The second sub intermediate gear 48 rotates integrally with the first sub intermediate gear 47.

[0088] The first main intermediate gear 45 and the second main intermediate gear 46, and the first sub intermediate gear 47 and the second sub intermediate gear 48 are provided on the intermediate shaft 40 so as to be rotatable relative to one another. The second main intermediate gear 46 and the second sub intermediate gear 48 mesh with the drive gear 22. The biasing force of the biasing member 50 can be transmitted from the biasing gear 51 to the output gear 31 in the order of the first main intermediate gear 45, the second main intermediate gear 46, the drive gear 22, the second sub intermediate gear 48, and the first sub intermediate gear 47.

[0089] The first main intermediate gear 45 is positioned in the axial direction of the intermediate shaft 40 so as to mesh only with the biasing gear 51 without interfering with the output gear 31. The first sub intermediate gear 47 is positioned in the axial direction of the intermediate shaft 40 so as to mesh only with the output gear 31 without interfering with the biasing gear 51.

[0090] Even when a reduction gear is added as in this embodiment, the backlash at the meshing portion of the added gear can be eliminated by the biasing force of the biasing member 50. Therefore, the generation of abnormal noise and delay in load transmission due to backlash between the gears can be suppressed.

[0091] Fifth embodiment An actuator according to a fifth embodiment is shown in Fig. 17. The fifth embodiment differs from the fourth embodiment in the arrangement of the biasing gear, etc.

[0092] <7> In this embodiment, the reducer 4 has the biasing gear 52 shown in the third embodiment. As in the third embodiment, the biasing gear 52 is provided on the opposite side of the output gear 31 to the bearing 81. The other end of the biasing member 50 is engaged with the biasing gear 52.

[0093] The biasing gear tooth portion 522 can mesh with the first sub intermediate gear tooth portion 472. That is, the first sub intermediate gear 47 meshes with the biasing gear 52. The output gear tooth portion 312 can mesh with the first main intermediate gear tooth portion 452. That is, the first main intermediate gear 45 meshes with the output gear 31.

[0094] In this embodiment, the biasing force of the biasing member 50 can be transmitted to the output gear 31 from the biasing gear 52, via 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.

[0095] The first main intermediate gear 45 is positioned in the axial direction of the intermediate shaft 40 so as to mesh only with the output gear 31 without interfering with the biasing gear 52. The first sub intermediate gear 47 is positioned in the axial direction of the intermediate shaft 40 so as to mesh only with the biasing gear 52 without interfering with the output gear 31.

[0096] As explained above, <7> This embodiment includes an intermediate gear 44. The intermediate gear 44 has a first main intermediate gear 45, a second main intermediate gear 46, a first sub intermediate gear 47, and a second sub intermediate gear 48. The first main intermediate gear 45 meshes with the output gear 31. The second main intermediate gear 46 rotates integrally with the first main intermediate gear 45. The first sub intermediate gear 47 meshes with the biasing gear 51. The second sub intermediate gear 48 rotates integrally with the first sub intermediate gear 47.

[0097] The first main intermediate gear 45 and the second main intermediate gear 46, and the first sub intermediate gear 47 and the second sub intermediate gear 48 are provided on the intermediate shaft 40 so as to be rotatable relative to one another. The second main intermediate gear 46 and the second sub intermediate gear 48 mesh with the drive gear 22. The biasing force of the biasing member 50 can be transmitted from the biasing gear 51 to the output gear 31 in the order of the first sub intermediate gear 47, the second sub intermediate gear 48, the drive gear 22, the second main intermediate gear 46, and the first main intermediate gear 45.

[0098] The first main intermediate gear 45 is positioned in the axial direction of the intermediate shaft 40 so as to mesh only with the output gear 31 without interfering with the biasing gear 51. The first sub intermediate gear 47 is positioned in the axial direction of the intermediate shaft 40 so as to mesh only with the biasing gear 51 without interfering with the output gear 31.

[0099] Even when a reduction stage is added and the arrangement of the biasing gear 52 and the output gear 31 is changed as in this embodiment, the backlash at the meshing portion of the added gear can be eliminated by the biasing force of the biasing member 50. Therefore, the generation of abnormal noise and delay in load transmission due to backlash between the gears can be suppressed.

[0100] Sixth embodiment Part of an actuator according to the sixth embodiment is shown in Fig. 18. The sixth embodiment differs from the first embodiment in the configuration around the biasing gear 51, etc.

[0101] <2> In this embodiment, the biasing gear 51 is provided so that its relative axial movement with respect to the output shaft 30 is restricted, and a gap S1 is formed between the biasing gear 51 and the output gear 31.

[0102] More specifically, the actuator 10 further includes a bearing 85. The bearing 85 is, for example, a ball bearing, and has the same configuration as the bearing 81. The inner peripheral wall of the inner ring of the bearing 85 is fitted into the outer peripheral wall of the output shaft 30 so as to be unable to rotate relative to the output shaft 30. The outer peripheral wall of the outer ring of the bearing 85 is fitted into the inner peripheral wall of the biasing gear hole portion 511 so as to be unable to rotate relative to the biasing gear 51. This restricts the biasing gear 51 from moving axially relative to the output shaft 30 and the output gear 31 by a predetermined amount or more. Therefore, the biasing gear 51 and the output gear 31 are always separated from each other, and a gap S1 is always formed between them.

[0103] As explained above, <2> In this embodiment, the biasing gear 51 is provided so that its relative axial movement with respect to the output shaft 30 is restricted, and a gap S1 is formed between the output gear 31 and the biasing gear 51. Therefore, the output gear 31 and the biasing gear 51 do not come into contact with each other, and loss of biasing force due to friction between them can be reduced.

[0104] Seventh embodiment Part of an actuator according to the seventh embodiment is shown in Fig. 19. The seventh embodiment differs from the first embodiment in the configurations of the output gear 31 and the biasing gear 51, etc.

[0105] In this embodiment, the biasing gear 51 does not have the protrusion 515 shown in the first embodiment.

[0106] <4> In this embodiment, the output gear 31 has a protrusion 315 that protrudes toward the biasing gear 51 from a predetermined range on the radially outer side of the output shaft 30 on the surface on the biasing gear 51 side so as to be able to come into contact with the biasing gear 51. Therefore, as in the first embodiment, by providing a clearance on the tooth tips, i.e., outer edge sides, of the biasing gear 51 and the output gear 31 and providing the sliding portion between the biasing gear 51 and the output gear 31 near the output shaft 30, it is possible to reduce sliding loss.

[0107] Eighth embodiment Part of an actuator according to an eighth embodiment is shown in Fig. 20. The eighth embodiment differs from the first embodiment in the configuration of an output gear 31 and the like.

[0108] <4> In this embodiment, the output gear 31 has a protrusion 315 that protrudes toward the biasing gear 51 from a portion of a predetermined range on the radially outer side of the output shaft 30 on the surface of the biasing gear 51 side so as to be able to come into contact with the biasing gear 51. An end face of the protrusion 315 is able to come into contact with an end face of the protrusion 515. Therefore, as in the first embodiment, by providing a clearance on the tooth tips, i.e., outer edge sides, of the biasing gear 51 and the output gear 31 and providing a sliding portion between the biasing gear 51 and the output gear 31 near the output shaft 30, it is possible to reduce sliding loss.

[0109] Ninth embodiment A part of the actuator according to the ninth embodiment is shown in Fig. 21. The ninth embodiment differs from the first embodiment in the configuration of the biasing gear 51 and the like.

[0110] In this embodiment, the biasing gear 51 does not have the protrusion 515 shown in the first embodiment.

[0111] <5> The actuator 10 of this embodiment further includes a spacer 91. The spacer 91 is provided between the output gear 31 and the biasing gear 51.

[0112] More specifically, the spacer 91 is formed in an annular shape. The spacer 91 is provided between the output gear 31 and the biasing gear 51 on the radial outside of the output shaft 30. One end face of the spacer 91 can come into contact with a portion of the surface of the output gear 31 on the biasing gear 51 side on the radial outside of the output shaft 30 within a predetermined range. The other face of the spacer 91 can come into contact with a portion of the surface of the biasing gear 51 on the output gear 31 side on the radial outside of the output shaft 30 within a predetermined range.

[0113] (Other embodiments) In the first embodiment, an example is shown in which the intermediate shaft is rotatable relative to the housing, and the intermediate gear is non-rotatable relative to the intermediate shaft. In the second embodiment, an example is shown in which the intermediate shaft is non-rotatable relative to the housing, and the intermediate gear is rotatable relative to the intermediate shaft. In contrast, in other embodiments, the intermediate shaft may be rotatable relative to the housing, and the intermediate gear may be rotatable relative to the intermediate shaft.

[0114] In other embodiments, the wall surface of the floor panel of the vehicle to which the reaction force application device and the accelerator device are attached does not have to be parallel to the yz plane. In other words, the wall surface of the floor panel may be formed at any angle relative to the vehicle.

[0115] Furthermore, the actuator according to the present invention can be applied to devices other than the reaction force application device, etc. Furthermore, the reaction force application device and accelerator device according to the present invention can be applied to vehicles other than automobiles.

[0116] The features of the present disclosure are as follows: "Disclosure 1" An actuator capable of outputting a reaction force against an external force in one direction, A housing (11); a drive source (20) provided in the housing and having a drive gear (22) for outputting a drive force; a reducer (4) capable of reducing the driving force from the driving source, The reducer includes: An output shaft (30) provided so as to be rotatable relative to the housing; an output gear (31) that is provided so as to be non-rotatable relative to the output shaft and rotates integrally with the output shaft; An intermediate shaft (40) that is rotatable or non-rotatable relative to the housing; an intermediate gear (41, 44) meshing with the output gear and the drive gear and provided so as to be non-rotatable or rotatable relative to the intermediate shaft; a biasing member (50) provided to be capable of transmitting a biasing force to the output shaft in a reaction force generation direction by the drive source separately from the drive source; and a biasing gear (51) that is provided so as to be rotatable relative to the output shaft and meshes with the intermediate gear so as to be rotatable relative to the output gear; The actuator, wherein the biasing member is provided between the housing and the biasing gear, and is capable of transmitting a biasing force from the biasing gear to the intermediate gear and the output gear. "Disclosure 2" The actuator according to Disclosure 1, wherein the biasing gear is provided such that relative movement in the axial direction with respect to the output shaft is restricted, and a gap (S1) is formed between the biasing gear and the output gear. "Disclosure 3" The engine further includes a bearing (81) provided in the housing to support the output shaft, The actuator according to Disclosure 1, wherein the biasing gear is provided between the output gear and the bearing so as to be movable in the axial direction relative to the output shaft. "Disclosure 4" The actuator described in Disclosure 3, wherein at least one of the biasing gear and the output gear has a convex portion (315, 515) that protrudes to the other side from a predetermined range of the surface of the other side on the radially outer side of the output shaft so as to be able to contact the other. "Disclosure 5" The actuator according to Disclosure 3, further comprising a spacer (91) provided between the output gear and the biasing gear. "Disclosure 6" The intermediate gear is a first main intermediate gear (45) meshing with the biasing gear; a second main intermediate gear (46) that rotates integrally with the first main intermediate gear; a first auxiliary intermediate gear (47) meshing with the output gear; a second auxiliary intermediate gear (48) that rotates integrally with the first auxiliary intermediate gear, the first main intermediate gear and the second main intermediate gear, and the first sub intermediate gear and the second sub intermediate gear are provided on the intermediate shaft so as to be rotatable relative to each other; the second main intermediate gear and the second sub intermediate gear mesh with the drive gear, the biasing force of the biasing member can be transmitted to the output gear in the following order: from the biasing gear to the first main intermediate gear, the second main intermediate gear, the drive gear, the second auxiliary intermediate gear, and the first auxiliary intermediate gear; the first main intermediate gear is positioned in the axial direction of the intermediate shaft so as to mesh only with the biasing gear without interfering with the output gear, The actuator according to any one of Disclosures 1 to 5, wherein the first auxiliary intermediate gear is positioned in the axial direction of the intermediate shaft so as to mesh only with the output gear without interfering with the biasing gear. "Disclosure 7" The intermediate gear (44) is a first main intermediate gear (45) meshing with the output gear; a second main intermediate gear (46) that rotates integrally with the first main intermediate gear; a first auxiliary intermediate gear (47) meshing with the biasing gear; a second auxiliary intermediate gear (48) that rotates integrally with the first auxiliary intermediate gear, the first main intermediate gear and the second main intermediate gear, and the first sub intermediate gear and the second sub intermediate gear are provided on the intermediate shaft so as to be rotatable relative to each other; the second main intermediate gear and the second sub intermediate gear mesh with the drive gear, the biasing force of the biasing member can be transmitted to the output gear in the following order: from the biasing gear to the first auxiliary intermediate gear, the second auxiliary intermediate gear, the drive gear, the second main intermediate gear, and the first main intermediate gear; the first main intermediate gear is positioned in the axial direction of the intermediate shaft so as to mesh only with the output gear without interfering with the biasing gear; The actuator according to any one of Disclosures 1 to 5, wherein the first auxiliary intermediate gear is positioned in the axial direction of the intermediate shaft so as to mesh only with the biasing gear without interfering with the output gear. "Disclosure 8" A reaction force imparting device capable of imparting a reaction force against a pedal depression force of a driver to an accelerator device (70) having a pedal (72) depressed by the driver, comprising: An actuator (10) according to any one of Disclosures 1 to 7; a load transmission member (60) that is provided so as not to rotate relative to the output shaft and rotates integrally with the output shaft, The load transmitting member is a reaction force applying device that contacts the pedal and applies a reaction force in the return direction of the pedal.

[0117] As such, the present disclosure is not limited to the above-described embodiment, and can be embodied in various forms without departing from the spirit and scope of the present disclosure. [Explanation of symbols]

[0118] 4 reducer, 10 actuator, 11 housing, 20 drive source, 22 drive gear, 30 output shaft, 31 output gear, 40 intermediate shaft, 41, 44 intermediate gear, 50 biasing member, 51, 52 biasing gear

Claims

1. An actuator capable of outputting a reaction force against an external force in one direction, A housing (11); a drive source (20) provided in the housing and having a drive gear (22) for outputting a drive force; A reducer (4) capable of reducing the driving force from the driving source, The reducer includes: An output shaft (30) provided so as to be rotatable relative to the housing; an output gear (31) that is provided so as not to rotate relative to the output shaft and rotates integrally with the output shaft; An intermediate shaft (40) provided so as to be rotatable or non-rotatable relative to the housing; an intermediate gear (41, 44) meshing with the output gear and the drive gear and provided so as to be non-rotatable or rotatable relative to the intermediate shaft; a biasing member (50) provided to be capable of transmitting a biasing force to the output shaft in a reaction force generation direction by the drive source separately from the drive source; and The intermediate gear is provided with an urging gear (51, 52) that is rotatable relative to the output shaft and meshes with the intermediate gear so as to be rotatable relative to the output gear, The actuator, wherein the biasing member is provided between the housing and the biasing gear, and is capable of transmitting a biasing force from the biasing gear to the intermediate gear and the output gear.

2. 2. The actuator according to claim 1, wherein the biasing gear is provided such that relative movement in the axial direction with respect to the output shaft is restricted, and a gap (S1) is formed between the biasing gear and the output gear.

3. The housing further includes a bearing (81) for supporting the output shaft. The actuator according to claim 1 , wherein the biasing gear is provided between the output gear and the bearing so as to be movable axially relative to the output shaft.

4. 4. The actuator according to claim 3, wherein at least one of the biasing gear and the output gear has a convex portion (315, 515) that protrudes to the other side from a portion of a predetermined range radially outward of the output shaft on the surface of the other side so as to be able to contact the other.

5. The actuator of claim 3, further comprising a spacer (91) disposed between the output gear and the biasing gear.

6. The intermediate gear (44) is a first main intermediate gear (45) meshing with the biasing gear; a second main intermediate gear (46) that rotates integrally with the first main intermediate gear; a first auxiliary intermediate gear (47) meshing with the output gear; A second auxiliary intermediate gear (48) that 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 provided on the intermediate shaft so as to be rotatable relative to each other; the second main intermediate gear and the second sub intermediate gear mesh with the drive gear, the biasing force of the biasing member can be transmitted to the output gear in the following order: from the biasing gear to the first main intermediate gear, the second main intermediate gear, the drive gear, the second auxiliary intermediate gear, and the first auxiliary intermediate gear; the first main intermediate gear is positioned in the axial direction of the intermediate shaft so as to mesh only with the biasing gear without interfering with the output gear, 6. The actuator according to claim 1, wherein the first auxiliary intermediate gear is positioned in the axial direction of the intermediate shaft so as to mesh only with the output gear without interfering with the biasing gear.

7. The intermediate gear (44) is a first main intermediate gear (45) meshing with the output gear; a second main intermediate gear (46) that rotates integrally with the first main intermediate gear; a first auxiliary intermediate gear (47) meshing with the biasing gear; A second auxiliary intermediate gear (48) that 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 provided on the intermediate shaft so as to be rotatable relative to each other; the second main intermediate gear and the second sub intermediate gear mesh with the drive gear, the biasing force of the biasing member can be transmitted to the output gear in the following order: from the biasing gear to the first auxiliary intermediate gear, the second auxiliary intermediate gear, the drive gear, the second main intermediate gear, and the first main intermediate gear; the first main intermediate gear is positioned in the axial direction of the intermediate shaft so as to mesh only with the output gear without interfering with the biasing gear, 6. The actuator according to claim 1, wherein the first auxiliary intermediate gear is positioned in the axial direction of the intermediate shaft so as to mesh only with the biasing gear without interfering with the output gear.

8. A reaction force imparting device capable of imparting a reaction force against a pedal depression force of a driver to an accelerator device (70) having a pedal (72) depressed by the driver, comprising: An actuator (10) according to any one of claims 1 to 5; a load transmission member (60) that is provided so as to be non-rotatable relative to the output shaft and rotates integrally with the output shaft, The load transmitting member is a reaction force applying device that contacts the pedal and applies a reaction force in the return direction of the pedal.

Images