Actuator

Abstract

To provide an actuator capable of appropriately controlling drive.SOLUTION: An actuator 30 capable of applying a reaction force to a pedal lever which can be stepped by a driver, comprises a motor 31, a speed reduction mechanism 40, an actuator lever 35, and an actuator sensor 70. The speed reduction mechanism 40 has a motor gear 41 integrally rotated with the motor 31, an output gear 50 integrally rotated with an output shaft 55, and an intermediate gear 45 disposed between the motor gear 41 and the output gear 50. The actuator lever 35 is driven by the output shaft 55 and disposed so as to be brought into contact with the pedal lever 20. The actuator sensor 70 detects an actuator angle θa which is a rotation angle of an intermediate gear 45. In the intermediate gear 45, a large tooth part 451 engaging with the motor gear 41 side and a small teeth part 453 engaging with the output gear 50 side are integrally formed.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to an actuator. [Background technology]

[0002] Conventionally, there are known actuators that apply a reaction force to an accelerator pedal. For example, in Patent Document 1, a reaction force is applied to the accelerator pedal to resist the accelerator pedal pressure based on the monitoring results of a pedal monitoring device that monitors the operation status of the accelerator pedal. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6038768 Summary of the Invention [Problem to be solved by the invention]

[0004] When a reaction force is applied to the accelerator pedal by a rotating lever as in Patent Document 1, even if the same torque is output, the contact angle changes depending on the opening of the lever, and therefore the output load fluctuates depending on the opening.

[0005] The present invention has been made in view of the above-mentioned problems, and an object of the present invention is to provide an actuator whose drive can be appropriately controlled. [Means for solving the problem]

[0006] The actuator of the present invention is capable of applying a reaction force to a pedal lever 20 that can be depressed by a driver, and includes a motor (31), a speed reduction mechanism (40), an actuator lever (35), and an angle detection unit (70). The speed reduction mechanism has a motor gear (41) that rotates integrally with the motor, an output gear (50) that rotates integrally with an output shaft (55), and an intermediate gear (45) provided between the motor gear and the output gear. The actuator lever is driven by the output shaft and is provided so as to be able to abut against the pedal lever. The angle detection unit detects the rotation angle of the intermediate gear.

[0007] The intermediate gear is integrally formed with a large-tooth portion (451) that meshes with the motor gear side and a small-tooth portion (453) that meshes with the output gear side. By using the detection value of the angle detection unit in drive control calculations, it is possible to appropriately control the drive of the actuator. The intermediate gear is rotatably supported by bearing members (48, 91), and the angle detection portion, large tooth portion, small tooth portion, and bearing member are arranged in this order from one side in the axial direction of the intermediate gear. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a schematic diagram showing an accelerator device according to a first embodiment. [Figure 2] FIG. 1 is a plan view showing an actuator according to a first embodiment. [Figure 3] FIG. 3 is a cross-sectional view taken along line III-III in FIG. 2. [Figure 4] FIG. 2 is a plan view showing the actuator according to the first embodiment with the cover removed. [Figure 5] FIG. 5 is a cross-sectional view taken along line VV in FIG. [Figure 6] 1 is a schematic diagram showing an accelerator device according to a first embodiment mounted on a vehicle; [Figure 7] 5 is a schematic diagram illustrating a moment acting on a bearing of an output shaft in the first embodiment. FIG. [Figure 8] 5 is a schematic diagram illustrating a moment acting on a bearing of an intermediate shaft in the first embodiment. FIG. [Figure 9] 5A to 5C are schematic diagrams illustrating an external force acting on an intermediate shaft according to the first embodiment. [Figure 10]FIG. 10 is a cross-sectional view showing an actuator according to a second embodiment. [Figure 11] 10A and 10B are schematic diagrams illustrating an external force acting on an intermediate shaft according to the second embodiment. [Figure 12] FIG. 10 is a cross-sectional view showing an actuator according to a third embodiment. [Figure 13] FIG. 10 is a cross-sectional view showing an actuator according to a fourth embodiment. [Figure 14] 10A is a schematic diagram showing a bearing of an intermediate shaft according to a reference example, and FIG. 10B is a schematic diagram illustrating an external force acting on the intermediate shaft according to a reference example. DETAILED DESCRIPTION OF THE INVENTION

[0009] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An actuator according to the present invention will be described below with reference to the accompanying drawings. In the following, substantially identical components in a plurality of embodiments will be designated by the same reference numerals, and the description thereof will be omitted.

[0010] (First embodiment) An actuator according to a first embodiment is shown in Figures 1 to 9. As shown in Figure 1, an actuator 30 is applied to an accelerator device 1. The accelerator device 1 includes a pedal lever 20, an actuator 30, an actuator controller 80, and the like.

[0011] The pedal lever 20 has a pad 21, an arm 23, a pedal 25, etc., and is driven as a unit by the driver's depression or the like. The pad 21 is provided so that it can be depressed by the driver. The pad 21 is rotatably supported by a fulcrum member 22 provided on the housing H. FIG. 1 shows a so-called floor-standing type (organ type) in which the pad 21 is provided so as to extend in a direction along one surface of the housing H, but it may also be a hanging type (pendant type). In FIG. 1, the parts of the housing that are not driven by the drive of the motor 31 or the depression of the pedal lever 20, such as the pedal housing and motor housing, are collectively referred to as the "housing H."

[0012] The arm 23 connects the pad 21 and the pedal 25. One end of the pedal 25 is rotatably supported on the housing H by a fulcrum member 26, and the other end is connected to the arm 23. As a result, when the driver operates the pad 21, the pad 21, the arm 23, and the pedal 25 are driven integrally. A pedal opening sensor 29 that detects the pedal opening θp is provided on one end of the pedal 25.

[0013] The pedal biasing member 27 is a compression coil spring, one end of which is fixed to the pedal 25 and the other end of which is fixed to the housing H, and which biases the pedal 25 in the accelerator closing direction. In Figure 1 etc., the positions of the pad 21 when the accelerator is fully opened and fully closed are appropriately indicated by two-dot chain lines.

[0014] As shown in FIGS. 1 to 5, the actuator 30 includes a motor 31 as a drive source, an actuator lever 35, a speed reduction mechanism 40, a housing 60, and a cover 65. The motor 31 is, for example, a DC motor with brushes. The driving force of the motor 31 is transmitted to the pedal lever 20 via the speed reduction mechanism 40 and the actuator lever 35. Details of the speed reduction mechanism 40 and the like will be described later.

[0015] The actuator lever 35 abuts against the pedal lever 20 at a tip end 351. In FIG. 1, the actuator lever 35 abuts against the pad 21, but it may be configured to abut against the arm 23 or the pedal 25. The tip end 351 is formed in a spherical shape.

[0016] 1, the actuator lever 35 is biased in a reaction force application direction by an actuator lever biasing member 36. The actuator lever biasing member 36 is, for example, a compression coil spring, and has a spring force set so that the actuator lever 35 is always in contact with the pedal lever 20.

[0017] The actuator controller 80 has a drive circuit 81 and a control unit 85. The drive circuit 81 is configured by, for example, an H-bridge circuit, and has a switching element (not shown) related to switching the power supply to the motor 31.

[0018] The control unit 85 is mainly composed of a microcomputer or the like, and includes a CPU, ROM, RAM, I / O, and bus lines connecting these components (all not shown). Each process in the control unit 85 may be software processing in which the CPU executes a program stored in advance in a physical memory device (i.e., a readable non-transitory tangible recording medium) such as a ROM, or may be hardware processing using a dedicated electronic circuit.

[0019] The control unit 85 has a driving force calculation unit 86 as a functional block. The driving force calculation unit 86 calculates a target reaction force F * The target torque T * The control unit 85 calculates the target torque T * The driving of the motor 31 is controlled by controlling the drive circuit 81 with a duty corresponding to the value.

[0020] The driving force calculation unit 86 calculates the target torque T using the actuator angle θa based on the detection value of the actuator sensor 70. * Instead of the actuator angle θa, a pedal opening θp based on the detection value of the pedal opening sensor 29 may be used. The pedal opening θp may be obtained directly from the pedal opening sensor 29, or may be obtained from a higher-level ECU via communication or the like.

[0021] The control unit 85 learns the detection value of the actuator sensor 70 when the pedal lever 20 is in a fully closed state as a reference position, and can convert the actuator angle θa into the pedal opening θp by converting it using the gear ratio, lever length ratio, etc. In this embodiment, when a starter switch such as an ignition switch is turned on, the pedal lever 20 is considered to be fully closed, and the detection value of the actuator sensor 70 at this time is learned as the reference position. Furthermore, calibration may be performed by comparing the detection value of the pedal opening sensor 29 with the detection value of the actuator sensor 70, for example, while the vehicle is traveling.

[0022] When the pedal lever 20 is depressed, there is a shift in the position and contact angle of the pedal contact point Pc, which is the contact point between the pedal lever 20 and the actuator lever 35. Therefore, if the representative point where the driver's foot contacts is defined as the reaction force off point Poff, when a constant motor torque Tact is output, the reaction force Foff applied to the reaction force off point Poff changes depending on the pedal opening θp.

[0023] Therefore, in this embodiment, the reaction force Foff applied at the reaction force off point Poff is equal to the target reaction force F * The motor torque is corrected using the actuator angle θa so that the applied reaction force can be appropriately controlled.

[0024] 2 to 5, the housing 60 accommodates the motor 31 and is provided with a flange 63. Holes 631 are formed in the flange 63, and the housing 60 is attached to the vehicle body B (see FIG. 6) by bolts (not shown) that are inserted into the holes 631. A connector 66 is provided on the cover 65, and is fixed to the housing 60 by bolts 68.

[0025] The reduction gear mechanism 40 has a motor gear 41, an intermediate gear 45, and an output gear 50, and is housed in a space formed by a housing 60 and a cover 65. There is play between the components that make up the reduction gear mechanism 40, and hereinafter, the play between the components will be referred to as "backlash" where appropriate. The motor gear 41 is provided so as to be rotatable integrally with the motor shaft 311.

[0026] The intermediate gear 45 has a large-toothed portion 451 and a small-toothed portion 453, and is integrally formed from, for example, resin. The large-toothed portion 451 has a larger diameter than the motor gear 41 and the small-toothed portion 453, and meshes with the motor gear 41. The small-toothed portion 453 is provided on the opposite side of the large-toothed portion 451 from the cover 65, and meshes with the output gear 50.

[0027] One end of the intermediate shaft 47 is insert-molded into the intermediate gear 45, and the other end protrudes from the small tooth portion 453 side. The intermediate shaft 47 is rotatably supported on the housing 60 by a bearing member 48 on the side opposite the cover 65. This allows the intermediate gear 45 to be rotatably supported on the housing 60. In this embodiment, the bearing member 48 is two ball bearings 481, 482, and is housed in a bearing housing portion 61 formed in the housing 60. Three or more ball bearings may be used.

[0028] The output gear 50 has a gear portion 501 that meshes with the small tooth portion 453 of the intermediate gear 45, and a shaft portion 502, and is integrally formed from, for example, metal. One end of the output shaft 55 is press-fitted across flats into the shaft portion 502. The other end of the output shaft 55 is provided to protrude from the housing 60, and the actuator lever 35 is press-fitted across flats.

[0029] The output shaft 55 is rotatably supported in the housing 60 by a bearing member 56. The bearing member 56 in this embodiment is two ball bearings, and is accommodated in a bearing accommodating portion 62 formed in the housing 60.

[0030] A torsion spring 58 is provided radially outside the bearing accommodating portion 62. One end of the torsion spring 58 is fixed to the housing 60, and the other end is fixed to the output gear 50. As a result, by biasing the output gear 50, it is possible to eliminate backlash between the intermediate gear 45 and the output gear 50 when a load is output, and therefore it is possible to calculate the rotation angle of the output shaft 55 from the rotation angle of the intermediate gear 45.

[0031] The actuator sensor 70 has a sensor unit 71, a magnet 72, and a magnetic yoke 73. The sensor unit 71 is, for example, a Hall IC, and is held by a protrusion 651 that protrudes from the cover 65. The sensor unit 71 is disposed radially inside the magnetic yoke 73 so as to be able to detect the magnetic flux of the magnetic circuit formed by the magnet 72 and the magnetic yoke 73. This allows the sensor unit 71 to detect the rotation of the intermediate gear 45.

[0032] The magnet 72 and magnetic yoke 73 are fixed to a magnetic circuit housing portion 455 formed in the intermediate gear 45, and rotate integrally with the intermediate gear 45. The magnetic yoke 73 is formed in a substantially annular shape, and holds the magnet 72 therebetween at a predetermined interval (for example, 180°).

[0033] In this embodiment, the actuator sensor 70 is provided so as to be able to detect the rotation of the intermediate gear 45. This allows the area around the output shaft 55 to be made smaller than when the actuator sensor is configured to detect the rotation of the output gear 50. As shown in FIG. 6, by making the area around the output shaft smaller, interference with the range of movement of the driver's toe Ft, indicated by the two-dot chain line Lf, can be avoided, improving mountability. Note that in FIG. 6, the actuator 30 is shown with the cover 65 removed.

[0034] The output shaft 55 has a relatively small operating angle of approximately 30° to 50°. On the other hand, the intermediate shaft 47 has a wider operating angle than the output shaft 55, so its rotational position can be detected with relatively high accuracy. The gear ratio is set so that the rotational angle of the intermediate shaft 47 is less than 360°.

[0035] As shown in Fig. 7, the output shaft 55 is supported between the output gear 50 and the actuator lever 35. Therefore, the moment Mout due to the gear external force acting on the output shaft 55 is expressed by equation (1). Here, the moment due to the force F3 applied from the small tooth portion 453 of the intermediate gear 45 and the moment due to the force F4 applied from the actuator lever 35 are in the same direction (clockwise on the page) with respect to the bearing, so the moment Mout becomes large and the amount of deformation of the end becomes large. In Fig. 7, the portion closer to the motor gear 41 than the axis of the small tooth portion 453 is omitted.

[0036] In this embodiment, the actuator sensor 70 is disposed on the intermediate gear 45, and the intermediate shaft 47 is supported on the opposite side of the actuator sensor 70. From the cover 65 side, the actuator sensor 70, large tooth portion 451, small tooth portion 453, and bearing member 48 are arranged in this order.

[0037] As shown in Fig. 8, the moment Mmid acting on the intermediate shaft 47 due to the external gear force is expressed by equation (2). Here, the moment due to the force F1 applied from the motor gear 41 and the moment due to the force F2 applied from the output gear 50 are in opposite directions relative to the bearing, so the moment Mmid is smaller and the amount of deformation at the end is also smaller. In other words, when the bearing rigidity is equivalent, the intermediate shaft 47 is subjected to a smaller external force in the shaft tilt direction than the output shaft 55, making it advantageous in terms of detection accuracy.

[0038] Mout = F3 × L3 + F4 × L4 (1) Mmid = -F1 × L1 + F2 × L2 (2)

[0039] In the formula, L1 is the distance between the meshing position of the motor gear 41 and the large tooth portion 451 and the bearing member 48, L2 is the distance between the meshing position of the small tooth portion 453 and the output gear 50 and the bearing member 48, L3 is the distance between the meshing position of the small tooth portion 453 and the output gear 50 and the bearing member 56, and L4 is the distance between the fitting point of the actuator lever 35 and the output shaft 55 and the bearing member 56.

[0040] As described above, in this embodiment, the intermediate shaft 47 is rotatably supported by the housing 60 in a so-called "cantilever" state by the bearing member 48. Here, in a reference example in which the intermediate shaft 47 is supported by one ball bearing 489 as shown in FIG. 14(a), when an external gear force is applied, the intermediate shaft 47 tilts (arrow Fi) even if the internal clearance is negative, as shown by arrow Fe in FIG. 14(b). When the actuator sensor 70 is provided on the intermediate gear 45, tilting of the intermediate shaft 47 deteriorates detection accuracy.

[0041] Therefore, in this embodiment, the bearing member 48 is configured with two ball bearings 481, 482, and the intermediate shaft 47, which has an inner ring, is press-fitted into an outer ring provided in the housing 60 while pressing the balls, thereby making the internal gap between the ball bearings 481, 482 zero or less. This makes it possible to suppress tilt of the intermediate shaft 47 due to external gear forces, as shown by arrow Fb in Fig. 9. Furthermore, compared to the output shaft 55, the external force applied to the intermediate shaft 47 is smaller before deceleration, which is advantageous.

[0042] By supporting the intermediate shaft 47 with two ball bearings 481, 482, shaft play is reduced, which makes it possible to suppress fluctuations in the meshing ratio and backlash. This makes it possible to suppress torque fluctuations and operation noise caused by pedal force vibrations when operating the pedal.

[0043] As described above, the actuator 30 of this embodiment is capable of applying a reaction force to the pedal lever 20 that can be depressed by the driver, and includes the motor 31, the speed reduction mechanism 40, the actuator lever 35, and the actuator sensor 70. The speed reduction mechanism 40 has a motor gear 41 that rotates integrally with the motor 31, an output gear 50 that rotates integrally with the output shaft 55, and an intermediate gear 45 provided between the motor gear 41 and the output gear 50.

[0044] The actuator lever 35 is driven by an output shaft 55 and is provided so as to be able to abut against the pedal lever 20. An actuator sensor 70 serving as an angle detection unit detects an actuator angle θa, which is the rotation angle of the intermediate gear 45.

[0045] The intermediate gear 45 is integrally formed with a large tooth portion 451 that meshes with the motor gear 41 side and a small tooth portion 453 that meshes with the output gear 50 side. By using the actuator angle θa in drive control calculations, the drive of the actuator 30 can be appropriately controlled. In particular, output control and fault diagnosis can be performed according to the actuator angle θa. By performing output control according to the actuator angle θa, the applied reaction force can be controlled with high precision. Furthermore, by integrally forming the large tooth portion 451 and the small tooth portion 453, load transmission is possible without any backlash between the gears, improving responsiveness.

[0046] The intermediate gear 45 is rotatably supported by a bearing member 48. This makes it possible to suppress vibration of the intermediate gear 45 due to backlash in the reduction mechanism 40, and improve the detection accuracy of the actuator sensor 70.

[0047] In the axial direction of the intermediate gear 45, the actuator sensor 70, the large tooth portion 451, the small tooth portion 453, and the bearing member 48 are arranged in this order from one side. As a result, the moment due to an external force applied to the large tooth portion 451 and the moment due to an external force applied to the small tooth portion 453 are opposed to each other, which makes it possible to suppress fluctuations in the intermediate shaft 47 and further improve the detection accuracy of the actuator sensor 70. Furthermore, holding the intermediate gear 45 in a so-called "cantilever" state contributes to a more compact actuator 30 compared to when bearings are provided in two or more locations.

[0048] The intermediate gear 45 is provided so as to be rotatable integrally with the intermediate shaft 47. The intermediate shaft 47 is rotatably supported in the housing 60 by a plurality of ball bearings 481, 482, which are a bearing member 48. In this embodiment, the bearing member 48 supports the intermediate shaft 47 with an internal gap of 0 or less. This makes it possible to suppress inclination of the intermediate shaft 47 and durability fluctuations due to backlash in the reduction mechanism 40, thereby further improving the detection accuracy of the actuator sensor 70. In addition, torque fluctuations and operation noise during pedal operation can be suppressed.

[0049] (Second embodiment) The second embodiment is shown in Figures 10 and 11. The second to fourth embodiments differ from the above-described embodiments in the bearing structure of the intermediate shaft, and this point will be mainly described. Figures 10, 12, and 13 are cross-sectional views corresponding to Figure 5 of the first embodiment.

[0050] 10, the bearing member 91 of this embodiment is made up of a needle bearing. A C-ring 92 for receiving a load in the thrust direction is provided on the opposite side of the bearing member 91 from the intermediate gear 45.

[0051] As shown in FIG. 11, when the bearing member 91 is configured as a needle bearing, if the internal gap is set to 0, tilting due to external force on the gear can be suppressed, just like when configured as two ball bearings.

[0052] In this embodiment, the intermediate shaft 47 is rotatably supported in the housing 60 by a needle bearing, which is a bearing member 91. Even when the bearing member 91 is configured as a needle bearing, it can be used with an internal clearance of zero, so as in the case of using a ball bearing, it is possible to suppress tilt of the intermediate shaft 47 and durability fluctuations due to backlash in the reduction mechanism 40. This makes it possible to further improve the detection accuracy of the actuator sensor 70. In addition, the same effects as those of the above embodiment are achieved.

[0053] (Third embodiment) 12 , in the third embodiment, one end of an intermediate shaft 49 is press-fitted and fixed into the housing 60, and the other end protrudes from the housing 60. An intermediate gear 45 is provided radially outward from the other end of the intermediate shaft 49. A bearing member 95 is provided radially inward from the intermediate gear 45, between the intermediate gear 45 and the intermediate shaft 49, and holds the intermediate gear 45 rotatable relative to the intermediate shaft 49. The bearing member 95 may be a ball bearing or a needle bearing.

[0054] In this embodiment, the bearing member 95 is provided between the intermediate gear 45 and the intermediate shaft 49 fixed to the housing 60, and supports the intermediate gear 45 rotatably relative to the intermediate shaft 49. Even with this configuration, the same effects as those of the above embodiment can be achieved.

[0055] (Fourth embodiment) As shown in Fig. 13, in the fourth embodiment, similar to the third embodiment, one end of the intermediate shaft 49 is press-fitted into the housing 60, and the other end protrudes from the housing 60. An intermediate gear 45 is rotatably held on the radially outer side of the other end of the intermediate shaft 49. In this embodiment, no separate bearing member is provided. Even with this configuration, the same effects as the above-mentioned embodiments can be achieved.

[0056] (Other embodiments) In the above embodiment, the actuator lever is constantly in contact with the pedal lever by the elastic member. In other embodiments, the actuator lever and the pedal lever may be driven integrally using a member other than the elastic member, or the elastic member may be omitted.

[0057] In other embodiments, a locking mechanism using a plunger mechanism or the like may be added to the intermediate gear. By providing a locking mechanism, the accelerator device can be used as a footrest, for example, during autonomous driving. In the above embodiment, the reduction gear mechanism is composed of three gears: a motor gear, an intermediate gear, and an output gear, and has two reduction stages. In other embodiments, the number of reduction stages may be three or more. In addition, the large tooth portion and the small tooth portion of the intermediate gear may be separate.

[0058] In the above embodiment, the drive source is a brushed DC motor. In other embodiments, a motor other than a brushed DC motor may be used as the drive source. Furthermore, the configuration of the power transmission mechanism and the arrangement of components may be different from those in the above embodiment. Furthermore, the angle detection unit may be a resolver, an encoder, or another unit different from those in the above embodiment.

[0059] As described above, the present invention is not limited to the above-described embodiment, and can be embodied in various forms without departing from the spirit of the invention. [Explanation of symbols]

[0060] 1 Accelerator device 20 Pedal lever 30 Actuator 31 Motor 35 Actuator lever 40: Reduction mechanism 41: Motor gear 45···Intermediate gear 451...Large tooth section 453...Small tooth section 46, 49: Intermediate shaft 48, 91, 95: Bearing members 50···Output gear 55···Output shaft 60···Housing 70 Actuator sensor (angle detection unit)

Claims

1. An actuator capable of applying a reaction force to a pedal lever (20) that can be depressed by a driver, A motor (31); a reduction gear mechanism (40) having a motor gear (41) that rotates integrally with the motor, an output gear (50) that rotates integrally with an output shaft (55), and an intermediate gear (45) provided between the motor gear and the output gear; an actuator lever (35) driven by the output shaft and provided so as to be able to abut against the pedal lever; an angle detection unit (70) that detects the rotation angle of the intermediate gear; Equipped with The intermediate gear is integrally formed with a large tooth portion (451) that meshes with the motor gear side and a small tooth portion (453) that meshes with the output gear side, The intermediate gear is rotatably supported by a bearing member (48, 91), An actuator in which the angle detection portion, the large tooth portion, the small tooth portion, and the bearing member are arranged in this order from one side in the axial direction of the intermediate gear.

2. The intermediate gear is provided so as to be rotatable integrally with the intermediate shaft (47), 2. The actuator according to claim 1, wherein the intermediate shaft is rotatably supported in the housing (60) by a plurality of ball bearings (481, 482) that are the bearing member (48).

3. The actuator according to claim 2 , wherein the bearing member supports the intermediate shaft with an internal gap of 0 or less.

4. The intermediate gear is provided so as to be rotatable integrally with the intermediate shaft (47), 2. The actuator according to claim 1, wherein the intermediate shaft is rotatably supported by a housing (60) by a needle bearing that is the bearing member (91).

5. 5. The actuator according to claim 4, wherein the bearing member supports the intermediate shaft in a state where an internal gap is zero.

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